Forklift body control system with hardware configuration self-adaption function

Abstract

The invention discloses a forklift body control system with a hardware configuration self-adaption function, and belongs to the technical field of high-voltage lithium battery forklifts. The technical problem of identification and control of different peripheral devices is solved. According to the technical scheme, the system is characterized by comprising a displayer, a vehicle control unit and a communication wire harness, the displayer is connected with the vehicle control unit through the communication wire harness and comprises an editing interface and a display interface, the editing interface is used for inputting and setting system parameters, and the display interface is used for displaying and checking input information; the vehicle control unit is used for heating device recognition, corner potentiometer recognition, vehicle locking function recognition, frame number recognition, configuration parameter setting recognition and startup success prompt tone recognition, and can be compatible with different hardware devices by changing a software algorithm, so that a plurality of functional peripheral devices can be conveniently recognized, and the same set of hardware can be used for recognizing the vehicle locking function of the vehicle. Different peripheral devices are accessed, and the devices are managed.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage lithium battery forklifts, and in particular to a forklift body control system with hardware configuration adaptability. Background Art

[0002] New energy lithium battery forklifts have diverse configurations. For tropical environments, the heating device is omitted; according to industry standards, seat belt switches, cab door switches, and locking functions can be assembled as required. In the past, the electrical solutions were cumbersome, and the software and hardware materials were miscellaneous, adding troubles to production and procurement. Therefore, how to accurately identify functions and display them is particularly important. Summary of the Invention

[0003] In order to solve the above technical problems and drawbacks: how to identify and control multiple functional devices to meet the convenience of user operation, the present invention provides a forklift body control system with hardware configuration adaptability.

[0004] To achieve the above object and other related objects, the present invention adopts the following technical solutions:

[0005] A forklift body control system with hardware configuration adaptability includes a display, a vehicle controller, and a communication harness. The display is connected to the vehicle controller through the communication harness. The display includes an editing interface and a display interface. The editing interface is used for inputting and setting system parameters, and the display interface is used for displaying and viewing input information. The vehicle controller includes identification for heating device, corner potentiometer, locking function, frame number, configuration parameter setting, and startup success prompt sound.

[0006] Preferably, the identification device collects the frame number information through the input device, stores it inside the instrument, and then transmits it to the vehicle controller through a bus command, and the vehicle controller provides it to the battery system or the remote monitoring platform.

[0007] Preferably, the identification device collects the user configuration status through the input device and sends it to the vehicle controller in the form of a CAN message. The vehicle controller makes the following judgments based on the message status of the identification device:

[0008] If "without heating function" is identified, when the vehicle controller receives the battery message: ID: 18FF45F4 is in the heating mode, it will convert the status to "shutdown mode" and forward it to the thermal management system;

[0009] If the instrument message instruction "with heating function" is identified; when the vehicle controller receives the battery message: ID: 18FF45F4 is in the heating mode, it will convert the status to "heating mode" and forward it to the thermal management system.

[0010] Preferably, the vehicle controller determines whether there is a heating device. If the determination result is no, it does not respond to the heating instruction of the battery management system. If the determination result is yes, the battery management system sends a request heating instruction, and the vehicle controller forwards the heating instruction.

[0011] The vehicle controller determines whether there is a vehicle locking device. If the determination result is no, it does not respond to the vehicle locking and speed limit instructions of the mobile terminal. If the determination result is yes, it further determines whether the mobile terminal is connected. If the determination result is no, the vehicle is speed-limited according to the calibrated value. If the determination result is yes, it determines whether the mobile terminal sends a vehicle locking or speed limit instruction. If the determination result is yes and then it determines whether the vehicle is in a standby state. If the determination result is yes, it does not respond. If the determination result is no, it continues to determine the mobile terminal instruction: If only a speed limit instruction is sent, the maximum speed of the drive motor is executed according to the speed limit instruction; If only a first-level vehicle locking instruction is sent, the maximum speed of the drive motor in all vehicle modes becomes 50%; If only a second-level vehicle locking instruction is sent, the maximum speed of the drive motor in all vehicle modes becomes 20%; If only a third-level vehicle locking instruction is sent, the maximum speed of the drive motor in all vehicle modes becomes 0%; If both a vehicle locking and a speed limit instruction are sent, the maximum speed of the drive motor is executed according to the lowest value.

[0012] It determines whether there is a card swiping device. If the determination result is no, it operates without card swiping. If the determination result is yes, it works only when the card swiping passes at at least one place in the message.

[0013] Preferably, the vehicle controller identifies according to the communication information of the message.

[0014] Preferably, the content displayed on the display includes analog information and boolean information; The analog information includes angle sensor, multiple corner parameters, cumulative mileage, sub-total mileage, cumulative time; The boolean information includes seat belt reminder, card swiping reminder, heating system, fire extinguishing system, door open reminder, corner reminder, vehicle locking function.

[0015] In summary, the present invention includes at least one of the following beneficial technical effects:

[0016] The vehicle locking and speed limit instructions sent by the mobile terminal are not sent in a loop, and only one frame is sent for each operation. When the connection of the mobile terminal is disconnected, the vehicle speed limit defaults to 0%; Through the above technical solution, it is possible to identify each functional device on the vehicle, adapt to different types of vehicles, perform data communication for different devices, and effectively enable and control each functional device, thereby achieving efficient and real-time intelligent control. Vehicle locking and card swiping can be performed. Combining vehicle locking and card swiping, different speed control of the motor can be achieved according to different levels of vehicle locking instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the communication connection diagram of the device modules in this embodiment;

[0018] Figure 2 is the control flow chart for identifying the heating device in the embodiment;

[0019] Figure 3 is the control flow chart for identifying the car locking device in the embodiment;

[0020] Figure 4 is the control flow chart for identifying the card swiping device in the embodiment.

[0021] Explanation of the reference numerals of the main components:

[0022] 1. Display; 2. Vehicle controller; 3. Communication harness. Specific implementation manners

[0023] The following uses specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0024] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. The diagrams only show the components related to the present invention rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be changed arbitrarily, and the component layout type may also be more complex.

[0025] The following further illustrates the specific implementation manners of the present invention with reference to the accompanying drawings.

[0026] Embodiment:

[0027] An embodiment of the present invention discloses a forklift body control system with hardware configuration self - adaptation. Referring to Figure 1 , it includes a display 1, a vehicle controller 2, and a communication harness 3. The display 1 is an in - vehicle instrument device. The display 1 is connected to the vehicle controller through the communication harness. The display includes an editing interface and a display interface. The editing interface is used for inputting and setting system parameters, and the display interface is used for displaying and viewing input information. The vehicle controller 2 includes functions for identifying the heating device, the angle potentiometer, the car locking function, the frame number, the configuration parameter setting, and the startup success prompt sound. The display can have a built - in touch - screen input function.

[0028] In this solution, the identification device collects the vehicle frame number information through the input device, stores it inside the instrument, and then transmits it to the vehicle controller through a bus instruction. The vehicle controller provides it to the battery system or the remote monitoring platform.

[0029] The identification device of this solution collects the user configuration status through the input device and sends it to the vehicle controller in the form of a CAN message. The vehicle controller makes the following judgments based on the message status of the identification device:

[0030] If "without heating function" is recognized, when the vehicle controller receives the battery message: ID: 18FF45F4 is in the heating mode, it will convert the status to "shutdown mode" and forward it to the thermal management system;

[0031] If the instrument message instruction "with heating function" is recognized; when the vehicle controller receives the battery message: ID: 18FF45F4 is in the heating mode, it will convert the status to "heating mode" and forward it to the thermal management system.

[0032] Specifically, for this solution, reference can be made to Figure 2 、 Figure 3 and Figure 4 , the vehicle controller determines whether there is a heating device. If the judgment is no, it will not respond to the heating instruction of the battery management system. If the judgment is yes, the battery management system sends a request heating instruction and forwards the heating instruction.

[0033] The vehicle controller determines whether there is a card swiping device. If the judgment is no, it will operate without card swiping; if the judgment is yes, it will work only when at least one message contains the card swiping passed information.

[0034] In addition, the vehicle controller determines whether there is a vehicle locking device. If the judgment is no, it will not respond to the vehicle locking and speed limit instructions of the mobile terminal. If the judgment is yes, it will then determine whether the mobile terminal is connected. If the judgment is no, the vehicle will be speed limited according to the calibration value. If the judgment is yes, it will determine whether the mobile terminal sends a vehicle locking or speed limit instruction. If the judgment is yes, it will then determine whether the vehicle is in the standby state. If the judgment is yes, it will not respond. If the judgment is no, it will continue to judge the mobile terminal instruction: If only the speed limit instruction is sent, the maximum speed of the drive motor will be executed according to the speed limit instruction; If only the first-level vehicle locking instruction is sent, the maximum speed of the drive motor in the full mode of the vehicle will become 50%; If only the second-level vehicle locking instruction is sent, the maximum speed of the drive motor in the full mode of the vehicle will become 20%; If only the third-level vehicle locking instruction is sent, the maximum speed of the drive motor in the full mode of the vehicle will become 0%; If both the vehicle locking and speed limit instructions are sent, the maximum speed of the drive motor will be executed according to the lowest value (for example, if both the third-level vehicle locking + 10% speed limit are sent, it is actually a direct vehicle lock);

[0035] The vehicle controller identifies according to the communication information of the message.

[0036] The content displayed on the monitor includes analog information and boolean information; the analog information includes angle sensors, multiple corner parameters, cumulative mileage, sub-total mileage, and cumulative time; the boolean information includes seat belt reminder, card swiping reminder, heating system, fire extinguishing system, door open reminder, corner reminder, and car locking function. The analog information is numerical information. The boolean information is true or false information like "yes" or "no".

[0037] It can be seen that the car locking and speed limit commands sent by the mobile terminal will not be sent in a loop. Each operation only sends one frame. When the connection of the mobile terminal is disconnected, the vehicle speed limit defaults to 0%. Through the above technical solutions, it is possible to identify various functional devices on the vehicle, adapt to different types of vehicles, conduct data communication for different devices, and effectively enable and control each functional device, thus achieving efficient and real-time intelligent control. It is possible to lock the car and swipe the card. Combining car locking and card swiping, different speed control of the motor can be achieved according to different levels of car locking commands.

[0038] Among them, through the communication protocol, it is set that the above functional modules can be recognized. The message ID has a 16 - hexadecimal communication protocol encoding of 8 bytes, and the meaning expressions of different positions in the message are set according to requirements. For example, in the encoding, 00 means invalid, 01 means high speed, 10 means low speed, and 11 means fine movement. 2 - bit binary is used to carry information for communication.

[0039] In the above solution, the percentage speed limit strategy for remote car locking is executed at the highest rotational speed of the drive motor in the current vehicle mode; if the remote speed limit value is greater than the highest rotational speed in the current mode, the vehicle controller does not execute the remote speed limit command.

[0040] In one example, in the case of first - level car locking, in the standard mode, the actual rotational speed is [value not provided], the main drive target torque is 0 Nm, and the main drive target rotational speed is 1719 rpm. In the energy - saving mode, the actual rotational speed is [value not provided], the main drive target torque is 0 Nm, and the main drive target rotational speed is 1432 rpm.

[0041] In the case of second - level car locking, in the standard mode, the actual rotational speed is [value not provided], the highest rotational speed of the main drive is 687 rpm. In the energy - saving mode, the actual rotational speed is [value not provided], the highest rotational speed of the main drive is 573 rpm.

[0042] In the case of third - level car locking, in the standard mode, the actual rotational speed is [value not provided], the highest rotational speed of the main drive is 0 rpm. In the energy - saving mode, the actual rotational speed is [value not provided], the highest rotational speed of the main drive is 0 rpm.

[0043] Remote speed limit value > highest rotational speed in the powerful mode, the speed limit value is 21 km / h.

[0044] Remote speed limit value = highest rotational speed in the powerful mode, remote speed limit is 20 km / h.

[0045] The maximum speed in standard mode < the remote speed limit value < the maximum speed in strong mode, the actual speed in strong mode, the maximum speed of the main drive is 3664 rpm; the actual speed in standard mode, the maximum speed of the main drive is 3438 rpm. The actual speed in energy-saving mode, the maximum speed of the main drive is 2865 rpm.

[0046] It realizes the disabling of the instrument, cancels the vehicle-wide lock-up and speed limit strategies, restarts the instrument enabling, closes the lock-up and speed limit related strategies. During the disabling period, the vehicle does not respond to any lock-up and speed limit instructions from the terminal. All information can be displayed on the instrument.

[0047] The above embodiments merely illustrate the principles and effects of the present invention, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A forklift body control system with hardware configuration adaptation, comprising a display, a vehicle controller and a communication harness, wherein the display is connected to the vehicle controller via the communication harness, the display comprises an editing interface and a display interface, the editing interface is used for inputting and setting system parameters, and the display interface is used for displaying and viewing input information, characterized in that: The vehicle controller includes functions for heating device identification, angle potentiometer identification, vehicle locking function identification, frame number identification, configuration parameter setting identification, and successful startup prompt tone identification.

2. The forklift body control system with hardware configuration adaptation according to claim 1, characterized in that: The identification device collects the frame number information through the input device, stores it in the instrument, and then transmits it to the vehicle controller through the bus command, which is then provided to the battery system or remote monitoring platform by the vehicle controller.

3. The forklift body control system with hardware configuration adaptation according to claim 1, characterized in that: The identification device collects the user configuration status through the input device and sends it to the vehicle controller in the form of a CAN message. The vehicle controller makes the following judgments based on the identification device message status: If "without heating function" is identified, the vehicle controller receives the battery message: ID: 18FF45F4 is heating mode, then the state is converted to "off mode" and forwarded to the thermal management system; If the instrument message instruction "with heating function" is recognized; the vehicle controller receives the battery message: ID: 18FF45F4 is the heating mode, then the state is converted to "heating mode" and forwarded to the thermal management system.

4. The forklift body control system with hardware configuration adaptation according to claim 1, characterized in that: The vehicle controller determines whether there is a heating device. If the determination is no, the vehicle controller does not respond to the heating instruction of the battery management system. If the determination is yes, the battery management system sends a request for heating instruction and forwards the heating instruction. The vehicle controller determines whether there is a vehicle locking device. If the judgment is no, it does not respond to the vehicle locking and speed limit instructions of the mobile terminal. If the judgment is yes, it determines whether the mobile terminal is connected. If the judgment is no, the vehicle is limited in speed according to the calibration value. If the judgment is yes, it determines whether the mobile terminal sends a vehicle locking or speed limit instruction. If the judgment is yes, it determines whether the vehicle is in a standby state. If the judgment is yes, it does not respond. If the judgment is no, it continues to determine the mobile terminal instruction: if only the speed limit instruction is sent, the maximum speed of the drive motor is executed according to the speed limit instruction. If only the first-level locking command is sent, the maximum speed of the drive motor in the full vehicle mode becomes 50%; If only the secondary lock command is sent, the maximum speed of the drive motor in the vehicle full mode becomes 20%; If only the third-level lock command is sent, the maximum speed of the drive motor in all modes of the vehicle will become 0%; if the lock and speed limit commands are sent at the same time, the maximum speed of the drive motor will be the lowest; Determine whether there is a card swiping device. If not, operate without card swiping; if yes, operate only after at least one message is swiped through.

5. The forklift body control system with hardware configuration adaptation according to claim 1, characterized in that: The vehicle controller performs identification according to the communication information of the message.

6. The forklift body control system with hardware configuration adaptation according to claim 1, characterized in that: The content displayed on the display includes analog information and Boolean information; the analog information includes angle sensor, multiple turning angle parameters, cumulative mileage, subtotal mileage, and cumulative time; the Boolean information includes seat belt reminder, card swiping reminder, heating system, fire extinguishing system, door opening reminder, turning angle reminder, and car locking function.

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