A forklift lifting and moving control system and method

Abstract

The present invention discloses a forklift lifting and moving control system and method, and the forklift lifting and moving control system includes a sensor assembly, an ECU controller, and a valve-controlled switch. The sensor assembly includes a tilt detection sensor A, a tilt detection sensor B, a tilt detection sensor C, an upper limit sensor, a lower limit sensor, a sensor A, a sensor B, a sensor A1, and a sensor B1. The tilt detection sensors A, B, and C are respectively installed at different positions of the frame and the gantry, and can detect the tilt angles of the forklift and the gantry in all directions and at multiple angles. The upper limit sensor and the lower limit sensor are respectively set at the extreme positions of the fork lifting and lowering, effectively preventing the fork from being damaged or causing accidents due to excessive lifting and lowering. Sensor A, sensor B, sensor A1, and sensor B1 are used to detect the state of the fork at specific positions such as rising, falling, and telescoping, and can accurately locate the fork and trigger corresponding actions. Fewer sensors are used to simplify the system, reduce costs, and complete complex control logic at the same time.

Description

Technical Field

[0001] The present invention relates to the field of intelligent sensor control, and in particular to a forklift lifting and moving control system and method. Background Art

[0002] In the forklift fork operation control system, complex control logic needs to be implemented, such as rising stop, inward extension, retraction stop, outward extension, etc. However, too many sensors will increase the complexity and cost of the system. How to use fewer sensors, simplify the system structure, reduce costs, and complete the goal of complex control logic at the same time.

[0003] In addition, during the lifting and moving process of the forklift's forks, it is necessary to accurately detect the signal that the forks have reached a specific position (such as above the frame, directly below the working position, etc.) and transmit the signal to the control system for logical judgment; at the same time, the arrangement of sensors is crucial to the reliability, stability and subsequent maintenance and upgrades of the system. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a forklift lifting and moving control system.

[0005] The present invention also provides a forklift lifting and movement control method having the forklift lifting and movement control system.

[0006] According to the first aspect of the present invention, a forklift lifting and moving control system is provided, comprising: a sensor assembly, an ECU controller, and a valve-controlled switch. The sensor assembly comprises a tilt detection sensor A, a tilt detection sensor B, a tilt detection sensor C, an upper limit sensor, a lower limit sensor, a sensor A, a sensor B, a sensor A1, and a sensor B1. The tilt detection sensor A, the tilt detection sensor B, and the tilt detection sensor C are respectively installed at different positions of the frame and the mast, and are used to detect the tilt angles of the forklift and the mast; the upper limit sensor and the lower limit sensor are respectively set at the limit positions of the fork lifting and lowering, and are used to detect whether the fork reaches the upper and lower limits; the sensor A, the sensor B, the sensor A1, and the sensor B1 are used to detect the state of the fork at specific positions such as rising, falling, and telescopic, so as to realize the function of fork positioning and triggering corresponding actions. The ECU controller is responsible for receiving signals from each of the sensors, performing calculations and judgments, and controlling the connection or disconnection of the valve-controlled switch. The valve-controlled switch is controlled by the ECU controller to realize the regulation of the lifting and moving action of the forklift.

[0007] Beneficial effects:

[0008] The tilt detection sensor B and the tilt detection sensor C are installed at different positions of the frame and the gantry respectively, and can detect the tilt angles of the forklift and the gantry in all directions and at multiple angles. This design improves the system's ability to monitor the stability of the forklift, ensuring that the forklift can remain safe and stable when operating on a tilted or uneven ground; the upper limit sensor and the lower limit sensor are respectively set at the extreme positions of the fork lifting and lowering, effectively preventing the fork from being damaged or causing accidents due to excessive lifting. They provide physical boundaries for the lifting and lowering operations of the fork, ensuring the safety of the operation; the sensor A, the sensor B, the sensor A1, and the sensor B1 are used to detect the state of the fork in specific positions such as rising, falling, and telescoping, and can accurately locate the fork and trigger corresponding actions. This design improves the system's recognition accuracy of the fork position, making the fork control more accurate and efficient.

[0009] According to the forklift lifting and movement control system described in the embodiment of the first aspect of the present invention, the upper limit sensor and the lower limit sensor are respectively installed at the upper and lower limit positions of the fork along the lifting of the mast.

[0010] According to the forklift lifting and movement control system described in the embodiment of the first aspect of the present invention, the sensor A and the sensor B are installed between the upper and lower limit positions, the sensor A1 and the sensor B1 are installed on the fork, and the sensor A, the sensor B, the sensor A1, and the sensor B1 are used together to detect the extension and extension and lifting status of the fork and trigger the corresponding action of the fork.

[0011] According to the forklift lifting and movement control system described in the embodiment of the first aspect of the present invention, the tilt detection sensor B is installed on the side of the portal frame to detect the horizontal position of the portal frame; the tilt detection sensor C is installed on the side of the portal frame to detect the tilt angle of the portal frame; the tilt detection sensor A is installed at the connection between the fork and the portal frame to detect the overall dumping state of the portal frame and the fork.

[0012] According to a second aspect of the present invention, a forklift lifting and movement control method is provided, which adopts any of the forklift lifting and movement control systems described above, and comprises the following steps:

[0013] After the system is started, each sensor starts to collect data in real time and sends it to the ECU controller;

[0014] The ECU controller makes judgments and decisions based on sensor data and preset control logic;

[0015] According to the judgment result, the ECU controller controls the valve-controlled switch to realize intelligent control of the lifting and tilting actions of the forklift fork.

[0016] According to the forklift lifting and movement control method described in the second aspect of the present invention, the signal collection of each sensor includes:

[0017] The upper limit sensor and the lower limit sensor are used to detect the lifting position status of the fork in real time, and the sensor electrical signal data is transmitted to the ECU controller. At the same time, the tilt detection sensor A, the tilt detection sensor B, and the tilt detection sensor C detect the tilt angle of the forklift and the mast in real time, and transmit the sensor electrical signal data to the ECU controller.

[0018] According to the forklift lifting and movement control method described in the second aspect of the present invention, the intelligent control of the lifting and moving of the fork and the special position includes:

[0019] Step S201, when the fork rises, a height measuring device is used to detect and obtain a pulse signal corresponding to the lifting height of the fork in real time, and transmit it to the ECU controller;

[0020] Step S202, the ECU controller calculates the lifting height data of the fork according to the pulse signal, and if the position of the upper limit sensor or the lower limit sensor is reached, the valve control switch is controlled to be closed to stop the fork from rising or falling; if the position of the upper limit sensor or the lower limit sensor is not reached, the following steps are continued;

[0021] Step S203, during the lifting process of the fork, the fork positioning is realized and the corresponding action is triggered according to the cooperation between the sensor A, the sensor B, the sensor A1 and the sensor B1.

[0022] According to the forklift lifting movement control method described in the second aspect of the present invention, fork positioning and triggering corresponding actions include:

[0023] When the fork rises above the frame and the sensor B and the sensor A1 detect signals at the same time, the ECU controller gives a rising stop signal and an inward extension signal, and the mast moves inward;

[0024] When the mast and the fork are directly below the working position, when the sensor B and the sensor B1 detect signals at the same time, the CU controller E gives a retraction stop signal and triggers subsequent lifting operations;

[0025] During the rising process, the sensor B1 and the upper limit sensor jointly limit the rising height of the fork;

[0026] When the fork lowering mast and the fork are located directly below the working position, the sensor A and the sensor B1 detect signals at the same time, and the ECU controller gives a signal to stop lowering and extend outward;

[0027] When the fork returns to the top of the frame, the sensor A and the sensor A1 detect signals at the same time, and the ECU controller gives a signal to stop extending and descend to the ground;

[0028] When the fork is between the sensor A1 and the sensor B1, if the signal of the sensor A1 and the sensor B1 is not detected, the ECU controller prohibits the fork from moving up and down.

[0029] According to the forklift lifting movement control method described in the second aspect of the present invention, the forklift tilt intelligent control includes:

[0030] Step S301, the ECU controller calibrates according to the data of the tilt detection sensor C, the tilt detection sensor B, and the tilt detection sensor A, and determines whether the tilt angle of the forklift and the mast is greater than a preset tilt safety value;

[0031] Step S302: If the tilt angle is greater than the preset tilt safety value, the ECU controller controls the tilt valve control switch to be disconnected to prevent the forklift from continuing to tilt; if the tilt angle is less than the preset tilt safety value, the forklift is allowed to continue to operate.

[0032] According to the forklift lifting movement control method described in the second aspect of the present invention, the height measuring device includes a height encoder, a reference block and a proximity switch, which are used to detect the lifting height of the forks. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described below in conjunction with the accompanying drawings and embodiments;

[0034] Figure 1 A three-dimensional diagram of a forklift according to an embodiment of the present invention;

[0035] Figure 2 It is a partial schematic diagram of the mast of a forklift lifting and movement control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, top, bottom, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0039] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0040] Reference Figure 1 to Figure 2 A forklift lifting and moving control system includes: a sensor assembly, an ECU controller, and a valve-controlled switch. The sensor assembly includes a tilt detection sensor A110, a tilt detection sensor B120, a tilt detection sensor C130, an upper limit sensor 140, a lower limit sensor 150, a sensor A160, a sensor B170, a sensor A1180, and a sensor B1190. The tilt detection sensor A110, the tilt detection sensor B120, and the tilt detection sensor C130 are respectively installed at different positions of the frame and the mast, and are used to detect the tilt angle of the forklift and the mast; the upper limit sensor 140 and the lower limit sensor 150 are respectively set at the limit positions of the fork lifting and lowering, and are used to detect whether the fork reaches the upper and lower limits; the sensor A160, the sensor B170, the sensor A1180, and the sensor B1190 are used to detect the state of the fork in specific positions such as rising, falling, and telescopic, so as to realize the function of fork positioning and triggering corresponding actions. The ECU controller is responsible for receiving signals from each sensor, calculating, judging, and controlling the connection or disconnection of the valve-controlled switch. The valve-controlled switch is controlled by the ECU controller to regulate the lifting and moving action of the forklift forks.

[0041] It is easy to understand that the tilt detection sensor B and the tilt detection sensor C are installed at different positions of the frame and the mast respectively, and can detect the tilt angle of the forklift and the mast in all directions and at multiple angles. This design improves the system's ability to monitor the stability of the forklift, ensuring that the forklift can remain safe and stable when operating on a tilted or uneven ground; the upper limit sensor and the lower limit sensor are respectively set at the extreme positions of the fork lifting and lowering, effectively preventing the fork from being damaged or causing accidents due to excessive lifting. They provide physical boundaries for the lifting and lowering operations of the fork, ensuring the safety of the operation; sensor A, sensor B, sensor A1, and sensor B1 are used to detect the state of the fork in specific positions such as rising, falling, and telescoping, and can accurately locate the fork and trigger corresponding actions. This design improves the system's recognition accuracy of the fork position, making the fork control more accurate and efficient.

[0042] Reference Figure 2 The upper limit sensor 140 and the lower limit sensor 150 are respectively installed at the upper and lower limit positions of the fork along the lifting of the mast.

[0043] Reference Figure 1 , Figure 2 , sensor A 160 and sensor B 170 are installed between the upper and lower limit positions, sensor A 1180 and sensor B 1190 are installed on the fork, and sensor A 160, sensor B 170, sensor A 1180, and sensor B 1190 are used together to detect the extension and lifting status of the fork and trigger the corresponding action of the fork.

[0044] Reference Figure 1 The tilt detection sensor B120 is installed on the side of the mast to detect the horizontal position of the mast; the tilt detection sensor C130 is installed on the side of the mast to detect the tilt angle of the mast; the tilt detection sensor A110 is installed at the connection between the fork and the mast to detect the overall dumping state of the mast and fork.

[0045] An embodiment of the present invention provides a forklift lifting and movement control method, which adopts the above forklift lifting and movement control system and includes the following steps:

[0046] After the system is started, each sensor starts to collect data in real time and sends it to the ECU controller;

[0047] The ECU controller makes judgments and decisions based on sensor data and preset control logic;

[0048] According to the judgment result, the ECU controller controls the valve-controlled switch to realize intelligent control of the forklift's fork lifting, tilting and other actions.

[0049] Specifically, the signal collection of each sensor includes:

[0050] The upper limit sensor and the lower limit sensor are used to detect the lifting position status of the fork in real time, and transmit the sensor electrical signal data to the ECU controller. At the same time, the tilt detection sensor A110, the tilt detection sensor B120, and the tilt detection sensor C130 detect the tilt angle of the forklift and the mast in real time, and transmit the sensor electrical signal data to the ECU controller.

[0051] Specifically, the intelligent control of fork lifting and special positions includes:

[0052] Step S201, when the fork rises, the height measuring device is used to detect and obtain the pulse signal corresponding to the lifting height of the fork in real time, and transmit it to the ECU controller;

[0053] Step S202, the ECU controller calculates the lifting height data of the fork according to the pulse signal. If the position of the upper limit sensor or the lower limit sensor is reached, the control valve switch is closed to stop the fork from rising or falling; if the position of the upper limit sensor or the lower limit sensor is not reached, the following steps are continued;

[0054] Step S203, during the lifting process of the fork, the fork positioning and triggering of corresponding actions are achieved according to the cooperation of sensor A 160, sensor B 170, sensor A 1180, and sensor B 1190:

[0055] When the fork rises above the frame and sensor B 170 and sensor A 1180 detect signals at the same time, the ECU controller gives a rising stop signal and an inward extension signal, and the mast moves inward;

[0056] When the mast and forks are directly below the working position, and sensor B170 and sensor B1901 detect signals at the same time, the ECU controller gives a retraction stop signal and triggers subsequent lifting operations;

[0057] During the rising process, the rising height of the fork is limited by the sensor B1190 and the upper limit sensor 140;

[0058] When the fork lowering mast and the fork are located directly below the working position, sensor A160 and sensor B1190 detect signals at the same time, and the ECU controller gives a signal to stop lowering and extend outward;

[0059] When the fork returns to the top of the frame, sensor A160 and sensor A1180 detect signals at the same time, and the ECU controller gives a signal to stop extending and descend to the ground;

[0060] When between sensor A1180 and sensor B1190, if no signal from sensor A1180 or sensor B1190 is detected, the ECU controller prohibits the fork from moving up and down.

[0061] Specifically, the forklift tilt intelligent control includes:

[0062] Step S301, the ECU controller calibrates according to the data of the tilt detection sensor C130, the tilt detection sensor B1520, and the tilt detection sensor A110 to determine whether the tilt angle of the forklift and the mast is greater than a preset tilt safety value;

[0063] Step S302: If the tilt angle is greater than the preset tilt safety value, the ECU controller controls the tilt valve control switch to be disconnected to prevent the forklift from continuing to tilt; if the tilt angle is less than the preset tilt safety value, the forklift is allowed to continue to operate.

[0064] It is easy to understand that the height measuring device includes a height encoder, a reference block and a proximity switch, which are used to detect the lifting height of the fork.

[0065] The workflow and control logic are as follows:

[0066] Fork lift control:

[0067] When the fork rises, the height encoder sends a pulse signal to the ECU controller, and the controller calculates the fork lifting height based on the pulse signal.

[0068] If the fork reaches the upper limit sensor position, the ECU controller controls the lifting and lowering valve control switch to disconnect and stop the fork from rising.

[0069] If the fork descends to the lower limit sensor position, the lifting and lowering valve control switch is also disconnected to stop the fork from descending.

[0070] During the lifting process of the fork, sensors A, B and sensors A1, B1 work together to ensure that the fork stops at the specified position and adjusts its posture.

[0071] Tilt Control:

[0072] Tilt detection sensors A, B / C detect the tilt angle of the forklift and mast in real time.

[0073] If the tilt angle exceeds the preset safety value, the ECU controller controls the tilt valve control switch to disconnect to prevent the forklift from continuing to tilt.

[0074] Cargo status monitoring:

[0075] The pressure sensor detects the hydraulic oil pressure in real time, and the cargo weight calculation device calculates the cargo weight based on the pressure data.

[0076] If the cargo is overloaded, the ECU controller will disconnect the lifting and lowering valve control switch to prevent the fork from continuing to be raised or lowered.

[0077] The specific implementation details are as follows:

[0078] Height measurement and control:

[0079] The reference block and proximity switch set the initial height H0, and the height encoder continuously sends pulse signals to the ECU controller.

[0080] The ECU controller calculates the fork lifting height based on the pulse signal and compares it with the preset height safety value.

[0081] If the lifting height of the fork reaches or exceeds the height safety value, the ECU controller controls the lifting and lowering valve control switch to disconnect to prevent the fork from continuing to rise.

[0082] Tilt detection and control:

[0083] Tilt detection sensors A, B, and C detect the tilt angle of the forklift and mast in real time.

[0084] The ECU controller is calibrated with the data of the tilt detection sensors A, B, and C to determine whether the tilt angle of the forklift is greater than the preset tilt safety value.

[0085] If the tilt angle is greater than the preset value, the ECU controller controls the tilt valve control switch to disconnect to prevent the forklift from continuing to tilt.

[0086] Cargo status monitoring and control:

[0087] The pressure sensor measures the hydraulic oil pressure in real time, and the ECU controller calculates the cargo weight based on the pressure data.

[0088] If the cargo weight exceeds the preset weight threshold, the ECU controller controls the lifting and lowering valve control switch to disconnect to prevent overloading operation.

[0089] Position detection and control:

[0090] Sensors A and B work together with the upper limit sensor and the lower limit sensor to detect the status of the fork at a specific position.

[0091] The ECU controller controls the extension and extension and lifting of the fork according to the sensor signal to ensure that the fork stops at the specified position and adjusts its posture.

[0092] The actual application is as follows:

[0093] During the forklift operation, the system can monitor the fork's lifting height, tilt angle, loading status and position information in real time.

[0094] When the fork approaches the upper and lower limit positions, the system can automatically stop the fork lifting action to prevent misoperation.

[0095] When the forklift or gantry tilts too much, the system can automatically cut off the tilting action to ensure safe operation.

[0096] When the cargo is overloaded, the system can automatically stop the lifting of the fork to prevent the forklift from being damaged or the cargo from falling.

[0097] The forklift fork integrated control system provided in this embodiment can realize comprehensive monitoring and control of forklift fork operation, improve operation safety and accuracy. At the same time, the system has a high degree of integration and intelligence, which can reduce the difficulty of operation and the risk of misoperation, and improve the efficiency of forklift operation.

[0098] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A forklift lifting and moving control system, comprising a frame, a gantry, and a fork, characterized in that: include: Sensor assembly, including: Tilt detection sensor A, tilt detection sensor B, tilt detection sensor C: installed at different positions of the frame and the mast, respectively, to detect the tilt angle of the forklift and the mast; Upper limit sensor and lower limit sensor: respectively set at the upper and lower limit positions of the fork, used to detect whether the fork has reached the upper and lower limit positions; Sensor A, Sensor B, Sensor A1, Sensor B1: used to detect the status of the fork in specific positions such as rising, falling, and retracting, to achieve fork positioning and trigger corresponding actions; ECU controller: responsible for receiving signals from the above sensors, performing calculations, judgments, and controlling the connection or disconnection of the valve-controlled switch; Valve-controlled switch: controlled by the ECU controller to achieve regulation of the lifting and moving action of the forklift fork.

2. The forklift lifting and moving control system according to claim 1, characterized in that: The upper limit sensor and the lower limit sensor are respectively installed at the upper and lower limit positions of the fork along the lifting of the door frame.

3. The forklift lifting and moving control system according to claim 1, characterized in that: The sensor A and the sensor B are installed between the upper and lower limit positions, the sensor A1 and the sensor B1 are installed on the fork, and the sensor A, the sensor B, the sensor A1, and the sensor B1 are used together to detect the telescopic and lifting status of the fork and trigger the corresponding action of the fork.

4. The forklift lifting and moving control system according to claim 1, characterized in that: The tilt detection sensor B is installed on the side of the mast to detect the horizontal position of the mast; the tilt detection sensor C is installed on the side of the mast to detect the tilt angle of the mast; the tilt detection sensor A is installed at the connection between the fork and the mast to detect the overall tipping state of the mast and the fork.

5. A forklift lifting and moving control method, characterized in that The forklift lifting and moving control system according to any one of claims 1 to 4 comprises the following steps: After the system is started, each sensor starts to collect data in real time and sends it to the ECU controller; The ECU controller makes judgments and decisions according to the preset control logic based on the data from each sensor; According to the judgment result, the ECU controller controls the valve-controlled switch to realize intelligent control of the lifting and tilting actions of the forklift fork.

6. The forklift lifting and movement control method according to claim 5, characterized in that: The signal collection of each sensor includes: The upper limit sensor and the lower limit sensor are used to detect the lifting position status of the fork in real time, and the sensor electrical signal data is transmitted to the ECU controller. At the same time, the tilt detection sensor A, the tilt detection sensor B, and the tilt detection sensor C detect the tilt angle of the forklift and the mast in real time, and transmit the sensor electrical signal data to the ECU controller.

7. The forklift lifting and movement control method according to claim 5, characterized in that: Intelligent control of fork lifting and special positions includes: Step S201, when the fork rises, a height measuring device is used to detect and obtain a pulse signal corresponding to the lifting height of the fork in real time, and transmit it to the ECU controller; Step S202, the ECU controller calculates the lifting height data of the fork according to the pulse signal, and if the position of the upper limit sensor or the lower limit sensor is reached, the valve control switch is controlled to be closed to stop the fork from rising or falling; if the position of the upper limit sensor or the lower limit sensor is not reached, the following steps are continued; Step S203, during the lifting process of the fork, the fork positioning is realized and the corresponding action is triggered according to the cooperation between the sensor A, the sensor B, the sensor A1 and the sensor B1.

8. The forklift lifting and movement control method according to claim 7, characterized in that: Fork positioning and triggering corresponding actions include: When the fork rises above the frame and the sensor B and the sensor A1 detect signals at the same time, the ECU controller gives a rising stop signal and an inward extension signal, and the mast moves inward; When the mast and the fork are located directly below the working position, when the sensor B and the sensor B1 detect signals at the same time, the ECU controller gives a retraction stop signal and triggers subsequent lifting operations; During the rising process, the sensor B1 and the upper limit sensor jointly limit the rising height of the fork; When the fork lowering mast and the fork are located directly below the working position, the sensor A and the sensor B1 detect signals at the same time, and the ECU controller gives a signal to stop lowering and extend outward; When the fork returns to the top of the frame, the sensor A and the sensor A1 detect signals at the same time, and the ECU controller gives a signal to stop extending and descend to the ground; When the fork is between the sensor A1 and the sensor B1, if the signal of the sensor A1 and the sensor B1 is not detected, the ECU controller prohibits the fork from moving up and down.

9. The forklift lifting and movement control method according to claim 5, characterized in that: Forklift tilt intelligent control includes: Step S301, the ECU controller calibrates according to the data of the tilt detection sensor C, the tilt detection sensor B, and the tilt detection sensor A, and determines whether the tilt angle of the forklift and the mast is greater than a preset tilt safety value; Step S302: If the tilt angle is greater than the preset tilt safety value, the ECU controller controls the tilt valve control switch to be disconnected to prevent the forklift from continuing to tilt; if the tilt angle is less than the preset tilt safety value, the forklift is allowed to continue to operate.

10. The forklift lifting and movement control method according to claim 5, characterized in that: The height measuring device comprises a height encoder, a reference block and a proximity switch, and is used to detect the lifting height of the fork.

Images