Forklift control method based on tire pressure detection

Abstract

The invention discloses a forklift control method based on tire pressure detection. The forklift control method comprises the following steps that 1, forklift tire pressure parameters are obtained; 2, the front and rear tire air pressure difference and the left front wheel and right front wheel air pressure difference are obtained through the obtained forklift tire air pressure; 3, the air pressure difference between the front and rear tires is larger than P1, or the absolute value of the air pressure difference between the left front wheel and the left rear wheel is larger than P2; and 4, when the forklift is in the non-safe state, the forklift is controlled not to run, and the forklift portal frame cannot be lifted and only can descend, the air pressure of the tires of the forklift is detected in real time, the current state of the forklift is obtained according to the air pressure difference of the different tires, and when the forklift is in the non-safe state of overload or side loading, the forklift is controlled to run. The operation authority of the forklift is controlled in time, so that the forklift can only carry out fork descending operation and cannot carry out running and fork lifting operation, the safety performance of the forklift is improved, and the overturning risk of the forklift is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of forklift control, in particular to a forklift control method based on tire pressure detection. Background Art

[0002] Forklifts, as material handling equipment, operate based on torque balance and stability, with the core principle being to balance the overturning moment generated by the load through counterweights. Overloading a forklift—for example, if the weight of the cargo exceeds the vehicle's permitted weight or the center of gravity of the cargo exceeds the load center—can easily lead to dangerous situations such as the vehicle tipping over. Summary of the Invention

[0003] The object of the present invention is to provide a forklift control method based on tire pressure detection to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A forklift control method based on tire pressure detection includes the following steps:

[0006] Step 1: Obtain the tire pressure parameters of the forklift;

[0007] Step 2: Obtain the front and rear tire pressure difference and the left front wheel and right front wheel pressure difference by using the obtained tire pressure of the forklift;

[0008] Step 3: The front and rear tire pressure difference is greater than △P1, or the absolute value of the pressure difference between the left front wheel and the left rear wheel is greater than △P2;

[0009] Step 4: The forklift is in an unsafe state. The forklift cannot be driven, and the mast cannot be raised and can only be lowered.

[0010] As a further solution of the present invention: the forklift wheel pressure parameters include the left front wheel pressure, the right front wheel pressure, the left rear wheel pressure, and the right rear wheel pressure.

[0011] As a further solution of the present invention: the forklift wheel pressure parameters are obtained by a signal acquisition unit, and the signal acquisition unit includes a left front wheel pressure sensor, a right front wheel pressure sensor, a left rear wheel pressure sensor and a right rear wheel pressure sensor.

[0012] As a further solution of the present invention: the signal acquisition unit is signal-connected to a control unit, and the control unit includes a vehicle controller, a hydraulic operating handle, a travel controller and a travel gear control handle.

[0013] As a further solution of the present invention: the control unit is signal-connected to an execution unit, and the execution unit includes a hydraulic system solenoid valve and a travel solenoid valve.

[0014] As a further solution of the present invention: the forklift unsafe state includes an overload state and an unbalanced load state. When the pressure difference between the front and rear tires is greater than △P1, the forklift is in an overload state. When the absolute value of the pressure difference between the left front wheel and the left rear wheel is greater than △P2, the forklift is in an unbalanced load state.

[0015] As a further solution of the present invention: when the forklift is in an overloaded state, the vehicle controller signal interacts with the travel controller, the travel solenoid valve does not respond to the signal of the travel gear control handle, the travel state of the entire vehicle does not change, and the vehicle controller does not respond to the lifting signal of the hydraulic control handle, but only responds to the lowering signal of the hydraulic control handle. The forklift mast can only descend but not rise.

[0016] As a further solution of the present invention: when the forklift is in an overloaded state, the vehicle controller interacts with the travel controller through signals, the travel solenoid valve does not respond to the signal of the travel gear control handle, the travel state of the entire vehicle does not change, and the vehicle controller does not respond to the lifting signal of the hydraulic operating handle, but only responds to the lowering signal of the hydraulic operating handle. The forklift mast can only descend but not rise.

[0017] As a further solution of the present invention: during the lowering process of the forklift mast, the opening degree of the hydraulic control handle for the lowering operation is obtained and compared with a preset opening threshold. If it is greater than the preset opening value, the forklift fork performs the lowering operation; if it is not less than the opening threshold, the forklift fork does not perform the lowering operation.

[0018] Compared with the prior art, the beneficial effects of the present invention are: the present application detects the air pressure of the forklift tires in real time, and obtains the current status of the forklift based on the air pressure difference of different tires. When the forklift is in an unsafe state of overload or side load, the operating authority of the forklift is controlled in time, so that the forklift can only perform the fork lowering operation and cannot perform the fork raising and driving operations, thereby improving the safety performance of the forklift and reducing the risk of the forklift overturning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of the forklift super control system of this embodiment;

[0020] Figure 2 Flowchart of the forklift control method of this embodiment.

[0021] In the picture:

[0022] 10-Signal acquisition unit, 101-Left front wheel pressure sensor, 102-Right front wheel pressure sensor, 103-Left rear wheel pressure sensor, 104-Right rear wheel pressure sensor;

[0023] 20-control unit, 201-vehicle controller, 202-hydraulic operating handle, 203-travel controller, 204-travel gear control handle;

[0024] 30-Execution unit, 301-Hydraulic system solenoid valve, 302-Travel solenoid valve. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1-2 In an embodiment of the present invention, a forklift control method based on tire pressure detection includes a signal acquisition unit 10, a control unit 20 and an execution unit 30.

[0027] The signal acquisition unit 10 includes a left front wheel pressure sensor 101 , a right front wheel pressure sensor 102 , a left rear wheel pressure sensor 103 and a right rear wheel pressure sensor 104 , and is used to detect tire pressure values ​​at four positions of the forklift in real time and feed them back to the control unit 20 .

[0028] The control unit 20 includes a vehicle controller 201 , a hydraulic operating handle 202 , a travel controller 203 and a travel gear control handle 204 .

[0029] The execution unit 30 includes a hydraulic system solenoid valve 301 and a travel solenoid valve 302. The hydraulic system solenoid valve 301 controls the gantry movement by changing its state (open or closed). The travel solenoid valve 302 controls the vehicle movement by changing its state.

[0030] The vehicle controller 201 collects and compares the values ​​fed back by the tire pressure sensors of the signal acquisition unit 10. It also drives the hydraulic system solenoid valve 301 in the actuator unit 30 based on the signal from the hydraulic control handle 202. Furthermore, it communicates the compared tire pressure information with the travel controller 203. The travel controller 203 drives the travel solenoid valve 302 based on the signal from the travel gear control handle 204 and the signal from the vehicle controller 201.

[0031] The forklift control method includes the following steps:

[0032] Step 1: Obtain tire pressure parameters of the forklift. The tire pressure parameters of the forklift are obtained by the signal acquisition unit 10. The tire pressure parameters of the forklift include the left front wheel pressure, the right front wheel pressure, the left rear wheel pressure, and the right rear wheel pressure.

[0033] Step 2: Obtain the front and rear tire pressure difference and the left front wheel and right front wheel pressure difference by using the obtained tire pressure of the forklift;

[0034] Step 3: The pressure difference between the front and rear tires is greater than △P1, or the absolute value of the pressure difference between the left front wheel and the left rear wheel is greater than △P 2， In this embodiment, the value of ΔP1 is 0.3 bar and the value of is 0.4 bar. The specific value range can be set according to the type and model of the forklift;

[0035] Step 4: The forklift is in an unsafe state. The forklift is controlled to be unable to travel, and the forklift mast cannot be raised and can only be lowered. In this embodiment, the unsafe state of the forklift includes an overload state and an unbalanced load state. When the pressure difference between the front and rear tires is greater than △P1, the forklift is in an overload state. When the absolute value of the pressure difference between the left front wheel and the left rear wheel is greater than △P2, the forklift is in an unbalanced load state.

[0036] When the forklift is in an overloaded state, the vehicle controller 201 signal interacts with the travel controller 203, the travel solenoid valve 302 does not respond to the signal of the travel gear control handle 204, the travel state of the entire vehicle does not change, and the vehicle controller 201 does not respond to the lifting signal of the hydraulic control handle 202, but only responds to the lowering signal of the hydraulic control handle 202. The forklift mast can only descend but not rise.

[0037] When the forklift is in an overloaded state, the vehicle controller 201 interacts with the travel controller 203 through signals. The travel solenoid valve 302 does not respond to the signal of the travel gear control handle 204, and the travel state of the entire vehicle does not change. The vehicle controller 201 also does not respond to the lifting signal of the hydraulic operating handle 202, but only responds to the lowering signal of the hydraulic operating handle 202. The forklift mast can only descend, but not rise.

[0038] During the lowering process of the forklift mast, the opening degree of the hydraulic operating handle 202 for the lowering operation is obtained and compared with a preset opening threshold. If it is greater than the preset opening value, the forklift fork performs the lowering operation. If it is not less than the opening threshold, the forklift fork lowering operation is not performed. In this embodiment, the preset opening threshold is 10% of the full stroke opening degree of the hydraulic operating handle 202 for the lowering operation.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0040] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A forklift control method based on tire pressure detection, characterized in that: The steps include: Step 1: Obtain the tire pressure parameters of the forklift; Step 2: Obtain the front and rear tire pressure difference and the left front wheel and right front wheel pressure difference by using the obtained tire pressure of the forklift; Step 3: The air pressure difference between the front and rear tires is greater than △P1, or the absolute value of the air pressure difference between the left front wheel and the left rear wheel is greater than △P2; Step 4: The forklift is in an unsafe state. The forklift cannot be driven, and the mast cannot be raised and can only be lowered.

2. A forklift control method based on tire pressure detection according to claim 1, characterized in that: The forklift wheel air pressure parameters include the left front wheel air pressure, the right front wheel air pressure, the left rear wheel air pressure, and the right rear wheel air pressure.

3. A forklift control method based on tire pressure detection according to claim 2, characterized in that: The forklift wheel air pressure parameters are acquired through a signal acquisition unit (10), wherein the signal acquisition unit (10) comprises a left front wheel air pressure sensor (101), a right front wheel air pressure sensor (102), a left rear wheel air pressure sensor (103), and a right rear wheel air pressure sensor (104).

4. A forklift control method based on tire pressure detection according to claim 3, characterized in that: The signal acquisition unit (10) is signal-connected to a control unit (20), and the control unit (20) comprises a vehicle controller (201), a hydraulic operating handle (202), a travel controller (203), and a travel gear control handle (204).

5. A forklift control method based on tire pressure detection according to claim 4, characterized in that: The control unit (20) is signal-connected to an execution unit (30), and the execution unit (30) includes a hydraulic system solenoid valve 301 and a travel solenoid valve 302.

6. A forklift control method based on tire pressure detection according to claim 5, characterized in that: The forklift unsafe state includes an overload state and an unbalanced load state. When the pressure difference between the front and rear tires is greater than ΔP1, the forklift is in an overload state. When the absolute value of the pressure difference between the left front wheel and the left rear wheel is greater than ΔP2, the forklift is in an unbalanced load state.

7. The forklift control method based on tire pressure detection according to claim 5, characterized in that: When the forklift is in an overloaded state, the vehicle controller (201) signals interact with the travel controller (203), the travel solenoid valve (302) does not respond to the signal of the travel gear control handle (204), the travel state of the entire vehicle does not change, the vehicle controller (201) does not respond to the lifting signal of the hydraulic control handle (202), and only responds to the lowering signal of the hydraulic control handle (202), so the forklift mast can only be lowered but not raised.

8. The forklift control method based on tire pressure detection according to claim 5, characterized in that: When the forklift is in an overloaded state, the vehicle controller (201) exchanges signals with the travel controller (203), the travel solenoid valve (302) does not respond to the signal of the travel gear control handle (204), the travel state of the entire vehicle does not change, and the vehicle controller (201) does not respond to the lifting signal of the hydraulic control handle (202), but only responds to the lowering signal of the hydraulic control handle (202), so the forklift mast can only be lowered but not raised.

9. A forklift control method based on tire pressure detection according to claim 7 or 8, characterized in that: During the forklift mast lowering process, the opening of the hydraulic operating handle (202) for the lowering operation is obtained and compared with a preset opening threshold. If the opening is greater than the preset opening value, the forklift fork performs the lowering operation; if the opening is not less than the opening threshold, the forklift fork does not perform the lowering operation.

Images