Output power distribution method for electric forklift

Abstract

The invention discloses an output power distribution method for an electric forklift, which relates to the technical field of electric forklift control, and comprises the following steps: acquiring the current working condition of the electric forklift by using multi-dimensional data signals of the electric forklift; based on the current working condition of the electric forklift, power distribution is conducted through the multi-dimensional data signals of the electric forklift, and an initial power distribution result is obtained; and performing energy balance according to the initial power distribution result to obtain a final power distribution result. The problem of intelligent energy distribution of the walking motor and the hydraulic motor of the electric forklift under multiple working conditions is solved, meanwhile, the energy utilization rate is increased, energy balance under different battery charge states is achieved, and driving consistency is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electric forklift control, and in particular to an output power distribution method for an electric forklift. Background Art

[0002] During operation, an electric forklift's travel motor drives the vehicle, while the hydraulic motor handles steering and hydraulic lifting. Both systems draw energy from a power battery. Existing electric forklifts suffer from inefficient energy distribution across multiple energy-consuming systems (travel motor and hydraulic motor), particularly when switching between different operating modes. This can lead to power shortages and energy waste. For example, when operating in driving mode, hydraulic lifting mode, or a combination of both, there's a lack of intelligent energy allocation strategies tailored to each scenario, making it impossible to rationally prioritize power supply.

[0003] In addition, energy recovery during braking is limited by the battery status. When the energy recovered by the travel motor during braking exceeds the maximum allowable charging power of the battery, the excess energy cannot be effectively processed. In addition, the existing technology lacks an energy balance strategy, which will affect driving consistency. For example, under different battery charge states, the braking distance at the same vehicle speed may fluctuate significantly, reducing driving safety and stability.

[0004] Existing technologies fail to fully incorporate actual forklift operating scenarios (e.g., prioritizing steering assistance and lifting power), resulting in insufficient control strategy flexibility and an inability to meet the requirements for efficient and safe operation of electric forklifts in complex operating conditions. Therefore, a method for distributing output power for electric forklifts is urgently needed to address these shortcomings. Summary of the Invention

[0005] The purpose of the present invention is to propose an output power distribution method for an electric forklift to solve the problem of intelligent energy distribution of the travel motor and hydraulic motor of the electric forklift under multiple working conditions, improve energy utilization, and at the same time achieve energy balance under different battery charge states to ensure driving consistency.

[0006] To achieve the above object, the present invention provides an output power distribution method for an electric forklift, comprising the following steps: S1. Utilize the multi-dimensional data signal of the electric forklift to obtain the current working condition of the electric forklift; S2. Performing power distribution using the multi-dimensional data signal of the electric forklift based on the current operating condition of the electric forklift to obtain an initial power distribution result, wherein the initial power distribution result includes a driving distribution result and a braking distribution result; S3. Perform energy balance according to the initial power distribution result to obtain a final power distribution result.

[0007] Optionally, the multi-dimensional data signal of the electric forklift is used to obtain the current working condition of the electric forklift, including: Acquiring a multi-dimensional data signal of the electric forklift, wherein the multi-dimensional data signal of the electric forklift includes a battery status signal, a driver operation signal, a motor operation signal, and a mode signal of the electric forklift, wherein the battery status signal includes a current state of charge of the battery, a maximum allowable discharge power of the battery, and a maximum allowable charge power of the battery, and the driver operation signal includes a driver demand power and a target speed of the hydraulic motor; Screening the multi-dimensional data signal of the electric forklift to obtain a key signal for determining the working condition of the electric forklift; The electric forklift operating condition determination key signal is used to perform operating condition identification to obtain the current operating condition of the electric forklift.

[0008] Optionally, using the electric forklift operating condition determination key signal to perform operating condition identification to obtain the current operating condition of the electric forklift includes: Obtaining a threshold value of the electric forklift operating condition determination key signal using the electric forklift operating condition determination key signal, wherein the electric forklift operating condition determination key signal threshold value includes a driver demand power threshold value and a hydraulic motor idle speed; The operating condition is identified according to the electric forklift operating condition determination key signal and the electric forklift operating condition determination key signal threshold to obtain the current operating condition of the electric forklift.

[0009] Optionally, performing operating condition identification based on the electric forklift operating condition determination data signal and the electric forklift operating condition determination data signal threshold to obtain the current operating condition of the electric forklift includes: Determine whether the driver's required power is greater than the driver's required power threshold; if so, perform a first operation to obtain the current operating condition of the electric forklift; otherwise, perform a second operation to obtain the current operating condition of the electric forklift; The first operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift; The second operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the hydraulic lifting condition as the current working condition of the electric forklift; otherwise, obtain the standby condition as the current working condition of the electric forklift.

[0010] Optionally, performing power distribution based on the current working condition of the electric forklift using the multi-dimensional data signal of the electric forklift to obtain an initial power distribution result includes: Obtaining a priority strategy for the current operating condition of the electric forklift according to the current operating condition of the electric forklift; Obtaining a power distribution ratio of the electric forklift in the current working condition by using the multi-dimensional data signal of the electric forklift based on the priority distribution strategy of the electric forklift in the current working condition; Power is distributed according to the power distribution ratio of the current working condition of the electric forklift to obtain an initial power distribution result.

[0011] Optionally, obtaining a priority strategy for the current operating condition of the electric forklift according to the current operating condition of the electric forklift includes: Determine whether the current operating condition of the electric forklift is a driving operating condition; if so, obtain the priority strategy of the driving operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, perform a third operation; The third operation is to determine whether the current working condition of the electric forklift is a hydraulic lifting condition; if so, obtain the priority strategy of the hydraulic lifting condition as the priority strategy of the current working condition of the electric forklift; otherwise, perform the fourth operation; The fourth operation is: determining whether the current operating condition of the electric forklift is a composite operating condition; if so, obtaining the priority strategy of the composite operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, obtaining the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and returning to screen the multi-dimensional data signal of the electric forklift.

[0012] Optionally, the priority allocation strategy of the current working condition of the electric forklift is used to obtain the power distribution ratio of the current working condition of the electric forklift using the multi-dimensional data signal of the electric forklift, including: Calculating steering assist power using the multi-dimensional data signal of the electric forklift; Based on the steering assist power, the power requirement of the electric forklift in the current working condition is obtained by using the multi-dimensional data signal of the electric forklift; Calculating an available power threshold according to the multi-dimensional data signal of the electric forklift and the steering assist power; Obtaining a power distribution ratio of the electric forklift in the current working condition based on a priority allocation strategy of the electric forklift in the current working condition, using the power demand of the electric forklift in the current working condition, the available power threshold, and the steering assist power; Wherein, obtaining the power requirement of the electric forklift in the current working condition based on the steering assist power and utilizing the multi-dimensional data signal of the electric forklift includes: determining whether the current operating condition of the electric forklift is a driving condition; if so, obtaining a required driving power using the multi-dimensional data signal of the electric forklift as the power requirement of the current operating condition of the electric forklift; otherwise, executing a fifth operation; The fifth operation is: determining whether the current working condition of the electric forklift is a hydraulic lifting working condition; if so, obtaining the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift as the power requirement of the current working condition of the electric forklift; otherwise, obtaining the walking demand power and the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift, and combining the steering assist power to obtain the composite demand power as the power requirement of the current working condition of the electric forklift.

[0013] Optionally, the priority allocation strategy based on the current working condition of the electric forklift utilizes the power requirement of the current working condition of the electric forklift, the available power threshold, and the steering assist power to obtain the power distribution ratio of the current working condition of the electric forklift, including: Determine whether the current operating state of the electric forklift is a driving operating state, and if so, perform the sixth operation; otherwise, perform the seventh operation; The sixth operation is to determine whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, using the steering assist power in combination with the priority allocation strategy of the electric forklift in the current working condition to obtain the first travel motor allocation ratio and the first hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, using the power demand of the electric forklift in the current working condition, the available power threshold, and the steering assist power in combination with the priority allocation strategy of the electric forklift in the current working condition to obtain the second travel motor allocation ratio and the second hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; The seventh operation is: determining whether the current working state of the electric forklift is a hydraulic lifting state; if so, obtaining the remaining power by using the power requirement of the current working state of the electric forklift and the available power threshold, and executing the eighth operation; otherwise, executing the ninth operation; The eighth operation is: determining whether the remaining power is less than a remaining power threshold; if so, obtaining a third travel motor allocation ratio and a third steering assist allocation ratio as the power distribution ratio of the electric forklift in the current working condition in combination with the priority allocation strategy of the electric forklift; otherwise, obtaining a fourth travel motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition in combination with the power demand of the electric forklift in the current working condition and the remaining power in combination with the priority allocation strategy of the electric forklift; The ninth operation is: determine whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, use the power demand of the electric forklift in the current working condition, the available power threshold and the steering assist power in combination with the priority allocation strategy of the electric forklift to obtain the fifth travel motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, use the priority allocation strategy of the electric forklift in the current working condition to obtain the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio and the sixth steering assist allocation ratio as the power distribution ratio of the electric forklift in the current working condition.

[0014] Optionally, performing energy balance according to the initial power distribution result to obtain a final power distribution result includes: determining whether the initial power distribution result is a driving distribution result, and if so, executing a tenth operation; otherwise, performing a braking energy balance according to the initial power distribution result to obtain a final power distribution result; Among them, the tenth operation is: determine whether the walking motor of the initial power distribution result is in a driving state; if so, perform driving energy balance according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

[0015] Optionally, performing brake energy balancing according to the initial power distribution result to obtain a final power distribution result includes: Based on the current working condition of the electric forklift, obtaining the braking recovery energy value of the travel motor; Obtaining a safe receiving charging power for the battery according to the current state of charge of the battery, the maximum allowable charging power of the battery, and a battery temperature parameter; Performing brake energy balance using the braking recovery energy value of the travel motor and the charging power safely received by the battery to generate a brake energy balance result; Calculating the braking distance based on the initial power distribution result and the braking energy balance result to obtain an actual braking distance of the electric forklift; The strategy is adjusted based on the braking distance to obtain the final power distribution result.

[0016] Compared with the closest prior art, the present invention has the following beneficial effects: The present invention realizes intelligent energy distribution of travel motors and hydraulic motors under driving, hydraulic lifting and combined working conditions through the working condition identification technology of multi-dimensional data fusion, that is, driving working conditions give priority to ensuring travel power, thereby improving energy utilization; hydraulic lifting working conditions give priority to meeting lifting needs, thereby reducing energy consumption; combined working conditions are allocated according to the priority of "steering + lifting > driving", thereby reducing energy waste. The present invention dynamically adjusts the braking energy recovery strategy based on battery charge. When the recovered energy exceeds the battery's safe receiving power, the hydraulic motor consumes excess energy, thereby reducing the deviation in braking distances at the same vehicle speed under different battery charge states and improving braking stability. The present invention solves the problem of intelligent energy distribution of travel motors and hydraulic motors under multiple working conditions of electric forklifts, while simultaneously improving energy utilization and achieving energy balance under different battery charge states, thereby ensuring driving consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 The figure is a flow chart of an output power distribution method for an electric forklift according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding 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.

[0020] The terms used in the embodiments of the present invention are only used to explain the specific embodiments of the present invention and are not intended to limit the present invention.

[0021] like Figure 1 As shown, an embodiment of the present invention provides an output power distribution method for an electric forklift, comprising the following steps S1 to S3: S1. Utilize the multi-dimensional data signal of the electric forklift to obtain the current working condition of the electric forklift; The present invention collects multi-dimensional data signals of electric forklifts in real time, including the current state of charge of the battery, the maximum allowable discharge power of the battery, the power required by the driver, the target speed of the hydraulic motor, the current speed of the travel motor, the current speed of the hydraulic motor, the current torque of the travel motor, the current torque of the hydraulic motor, etc., and combines the driving state of the vehicle and the working state of the hydraulic system to accurately judge whether the electric forklift is currently in a driving condition, a hydraulic lifting condition, or a driving and hydraulic lifting combined driving condition. This step can quickly and accurately identify the actual working scenario of the vehicle. Compared with the existing technology, the working condition judgment of this step is more refined and dynamic, and can reflect the actual operating status of the vehicle in real time, providing a more accurate basis for subsequent power distribution, thereby improving energy utilization efficiency and the response speed of the vehicle.

[0022] S2. Performing power distribution using the multi-dimensional data signal of the electric forklift based on the current operating condition of the electric forklift to obtain an initial power distribution result, wherein the initial power distribution result includes a driving distribution result and a braking distribution result; Existing technologies use an even or fixed priority approach, with travel and lifting each accounting for 50% of the energy, often leading to overload or idleness of a single system. This step utilizes a dynamic priority strategy, for example, prioritizing lifting power (70%) under complex operating conditions. This prevents mid-lift load stagnation and reduces travel motor idling energy consumption.

[0023] S3. Perform energy balance according to the initial power distribution result to obtain a final power distribution result; Existing technologies lack an overload diversion mechanism, and braking at high charge levels can easily lead to battery overcharging (e.g., when the battery state of charge exceeds 80%). This step utilizes redundant energy in the hydraulic motor to consistently limit the battery charging power within a safe range, thus reducing battery loss. Furthermore, in existing technologies, braking distance fluctuates significantly with charge level (e.g., 2 meters at a battery state of charge of 30% and 3 meters at a battery state of charge of 80%). This step, however, stabilizes the braking torque by diverting energy, ensuring consistent braking performance at varying charge levels and reducing driver operational risks (e.g., distance prediction errors during emergency braking).

[0024] As a possible implementation, in the above embodiment, step S1 may specifically include the following steps: S1-1. Acquire a multi-dimensional data signal of an electric forklift, wherein the multi-dimensional data signal of the electric forklift includes a battery status signal, a driver operation signal, a motor operation signal, and a mode signal of the electric forklift. The battery status signal includes a current state of charge of the battery, a maximum allowable discharge power of the battery, and a maximum allowable charge power of the battery. The driver operation signal includes a driver demand power and a target speed of the hydraulic motor. This embodiment uses a battery management system (BMS) to obtain battery status signals, including the battery's current state of charge, maximum allowable discharge power, and maximum allowable charge power. The battery's current state of charge reflects the remaining battery charge and is used to determine the maximum regenerative energy the battery can receive during braking (affecting the energy balance strategy). The battery's maximum allowable discharge power is used to limit the total energy upper limit for power distribution under various operating conditions, preventing battery overload and discharge. The battery's maximum allowable charge power is used to limit the maximum input power for energy recovery in the travel motor during braking, preventing battery life loss or safety risks caused by overcharging.

[0025] Driver operation signals include the driver's requested power, obtained via pedal / handle sensors, and the hydraulic motor's target speed, obtained via the vehicle control unit (VCU). The requested power is used to identify the driver's intent, such as moving, lifting, or combined operations, triggering the power distribution logic for the corresponding operating condition. The hydraulic motor's target speed is used to calculate the base power required for steering assistance and determine the priority starting point for power distribution.

[0026] Motor sensors are used to obtain the current speed / torque of the travel motor and the hydraulic motor. The current speed / torque of the travel motor is used to monitor the load status of the travel motor in real time and dynamically adjust power distribution, for example, to avoid power shortages during driving. The current speed / torque of the hydraulic motor is used to monitor the actual power demand of the hydraulic system (such as changes in the lifting load) and optimize the remaining power distribution under complex working conditions.

[0027] The mode signal includes the current motor operating mode obtained through the motor controller (MCU) and the battery operating mode command obtained through the VCU. The current motor operating mode is used to confirm the state of the travel / hydraulic motor, such as "drive mode" or "brake recovery mode" for the travel motor, and "speed control mode" or "torque control mode" for the hydraulic motor, thereby triggering the energy balance strategy. The battery operating mode command is used to control the battery charge and discharge status, such as allowing or prohibiting recovery, which facilitates the execution of braking energy recovery or diversion operations.

[0028] This step builds a comprehensive forklift operation information foundation by collecting multi-dimensional signals covering battery status, driver operation, motor operation, mode, etc., providing data support for subsequent precise control.

[0029] S1-2. Screening the multi-dimensional data signal of the electric forklift to obtain a key signal for determining the working condition of the electric forklift; This step specifically filters the driver's operation signals from the multi-dimensional data signals and removes redundant information as the key signal for determining the working condition of the electric forklift, which facilitates improving data processing efficiency and the accuracy of working condition identification.

[0030] S1-3, using the electric forklift operating condition determination key signal to perform operating condition identification and obtain the current operating condition of the electric forklift; Based on the precisely screened key signals for determining the working conditions of electric forklifts, the current working conditions of electric forklifts can be identified quickly and accurately, laying the core foundation for achieving intelligent power distribution adapted to different working conditions.

[0031] As a possible implementation, in the above embodiment, step S1-3 may specifically include the following steps: S1-3-1. Utilize the electric forklift operating condition determination key signal to obtain an electric forklift operating condition determination key signal threshold, wherein the electric forklift operating condition determination key signal threshold includes a driver demand power threshold and a hydraulic motor idle speed; This step establishes a quantitative standard for working condition identification by extracting the driver's required power threshold and the hydraulic motor idle speed, providing a unified reference basis for subsequent working condition judgment, ensuring the accuracy and consistency of working condition identification, and avoiding misjudgment due to subjective settings or non-standard judgments. Among them, the hydraulic motor idle speed described in this implementation is the minimum torque corresponding to the target speed of the hydraulic motor.

[0032] S1-3-2. Identify the working condition of the electric forklift based on the key signal for determining the working condition of the electric forklift and the threshold value of the key signal for determining the working condition of the electric forklift to obtain the current working condition of the electric forklift; This step sets the driver's required power threshold and the hydraulic motor idle speed as the judgment threshold, and compares the real-time collected key signals for determining the working condition, such as the driver's required power and hydraulic motor speed, with the threshold to achieve accurate identification of the electric forklift's driving conditions, hydraulic lifting conditions, and combined conditions.

[0033] As a possible implementation, in the above embodiment, step S1-3-2 may specifically include the following steps: Determine whether the driver's required power is greater than the driver's required power threshold; if so, perform a first operation to obtain the current operating condition of the electric forklift; otherwise, perform a second operation to obtain the current operating condition of the electric forklift; The first operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift; The second operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the hydraulic lifting condition as the current working condition of the electric forklift; otherwise, obtain the standby condition as the current working condition of the electric forklift.

[0034] In this embodiment, in the driving mode, the electric forklift primarily performs driving operations, and the hydraulic system does not perform lifting or steering assistance, with low demand. In the hydraulic lifting mode, the electric forklift primarily performs cargo lifting or lowering operations, with low driving requirements. In the combined mode, the electric forklift simultaneously performs driving and cargo lifting operations, requiring both requirements to be met. In the standby mode, the electric forklift is in a state where no driving or hydraulic operations are performed. This state is typically used for short shutdowns or waiting operations. The combined mode is a mode where both driving and hydraulic lifting are driven simultaneously. Furthermore, in this embodiment, the driver's required power threshold is set to 0.5kW.

[0035] This step compares the real-time collected driver demand power with the driver demand power threshold, accurately filtering out invalid operation signals, effectively avoiding false triggering of driving conditions and significantly improving the accuracy of condition identification. After confirming the existence of driving demand, the hydraulic motor target speed is compared with the idle speed to quickly and accurately distinguish between driving conditions and complex conditions, significantly improving the efficiency and response speed of condition identification in complex operation scenarios. After eliminating the need for driving, the hydraulic lifting condition and standby condition are accurately identified based on the comparison results of the hydraulic motor target speed and idle speed. This can not only prevent misjudgments that increase energy consumption, but also intelligently cut off non-essential loads during standby mode, achieving energy savings and efficiency improvements.

[0036] As a possible implementation, in the above embodiment, step S2 may specifically include the following steps: S2-1. Obtaining a priority strategy for the current operating condition of the electric forklift based on the current operating condition of the electric forklift; The current working condition of the electric forklift directly determines the priority strategy. Different working conditions correspond to different priority strategies, which ensure that the power distribution can meet the main needs under the current working conditions.

[0037] S2-2, obtaining a power distribution ratio of the electric forklift in the current working condition by using the multi-dimensional data signal of the electric forklift based on the priority distribution strategy of the electric forklift in the current working condition; The priority allocation strategy for the electric forklift's current operating conditions provides the basic principles for power distribution, while the electric forklift's multi-dimensional data signals are used to refine and adjust the power distribution ratio, ensuring that the power distribution complies with both the priority strategy and actual operating needs.

[0038] S2-3, distributing power according to the power distribution ratio of the electric forklift in the current working condition, and obtaining an initial power distribution result; After calculating the power distribution ratio, actual power distribution is performed according to the ratio to obtain the driving distribution results and braking distribution results respectively, ensuring that the electric forklift can operate efficiently and safely under the current working conditions.

[0039] As a possible implementation, in the above embodiment, step S2-1 may specifically include the following steps: Determine whether the current operating condition of the electric forklift is a driving operating condition; if so, obtain the priority strategy of the driving operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, perform a third operation; The third operation is to determine whether the current working condition of the electric forklift is a hydraulic lifting condition; if so, obtain the priority strategy of the hydraulic lifting condition as the priority strategy of the current working condition of the electric forklift; otherwise, perform the fourth operation; The fourth operation is: determining whether the current operating condition of the electric forklift is a composite operating condition; if so, obtaining the priority strategy of the composite operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, obtaining the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and returning to screen the multi-dimensional data signal of the electric forklift.

[0040] In this embodiment, the priority strategy for the driving condition is that the steering assist power is superior to the electric walking power; the priority strategy for the hydraulic lifting condition is that the steering assist power is superior to the lifting power, and the lifting power is superior to the walking assist power; the priority strategy for the composite condition is that the steering assist power and the lifting power are superior to the traveling power.

[0041] In driving conditions, power is first provided to the drive motor, ensuring that the vehicle has steering assistance, with the remaining available power provided to the hydraulic motor. This determines whether the electric forklift is currently operating in a driving condition. If the conditions are met, the priority strategy of "steering assistance power > electric travel power" in the driving condition is directly determined as the power distribution basis for the current condition. This step reduces unnecessary calculations by quickly locking the priority strategy for a single condition. When the vehicle is only operating in a driving condition, steering safety is prioritized, avoiding steering failure due to insufficient power and improving driving stability.

[0042] During hydraulic lift conditions, the vehicle prioritizes steering assistance and lifting power, with any remaining energy provided to the drive motor. This step, after excluding driving conditions, further determines whether the current operating condition is hydraulic lift. If so, the power allocation strategy for this hydraulic lift condition prioritizes "steering assistance power > lifting power > travel assist power" as the power distribution guideline. This step precisely adapts to the requirements of the hydraulic lift operation, prioritizing smooth cargo lift operations while ensuring steering safety. It also rationally allocates remaining power for fine-tuning vehicle movements, improving operational efficiency.

[0043] In the combined driving and hydraulic lifting conditions, the vehicle is prioritized for steering assistance and lifting power, with the remaining energy provided to the drive motor. If neither of the first two conditions is met, the system continues to determine whether the current operating condition is a combined condition. If so, the priority strategy of "steering assistance power + lifting power > driving power" under the combined condition is applied to the current condition. If neither condition is met, the multi-dimensional data signal at the next moment is obtained and the operating condition is re-evaluated. This step effectively addresses complex operating scenarios, ensuring the power supply for steering and lifting operations and preventing the inability to perform critical operations due to power dispersion. For abnormal or unidentified operating conditions, the system is re-evaluated through real-time data updates to ensure continued stable operation and reduce the risk of misjudgment.

[0044] In summary, the gradual implementation of steps S2-1 through S2-3 above implements intelligent power distribution based on a dynamic priority strategy tailored to the current operating conditions of the electric forklift. Each step is closely linked, ensuring that power distribution meets both the current operating requirements and the actual operating conditions of the battery and motor, thereby improving the electric forklift's energy efficiency and operational stability.

[0045] As a possible implementation, in the above embodiment, step S2-2 may specifically include the following steps: S2-2-1. Calculating steering assist power using the multi-dimensional data signal of the electric forklift; Target speed of hydraulic motor through multi-dimensional data signals of electric forklift N 液压电机目标 , Current torque of hydraulic motor T 转向 and system efficiency constant k , real-time calculation of steering assist power P 转向 , ensuring that the steering system has priority in obtaining stable power, among which the steering power P 转向 The calculation formula is as follows: P 转向 = N 液压电机目标 × T 转向 × k 1 in, k 1 is a preset system efficiency constant used to balance the power steering force, response speed and stability.

[0046] S2-2-2. Obtaining a power requirement of the electric forklift in a current working condition based on the steering assist power using the multi-dimensional data signal of the electric forklift; This step combines the operating mode type (driving, lifting, and combined) and dynamically calculates the power requirements for driving, hydraulic lifting, and combined operating modes using driver operation signals and motor load data. This avoids energy waste in the traditional fixed distribution mode and reduces energy consumption during no-load operation. The specific steps are as follows: determining whether the current operating condition of the electric forklift is a driving condition; if so, obtaining a required driving power using the multi-dimensional data signal of the electric forklift as the power requirement of the current operating condition of the electric forklift; otherwise, executing a fifth operation; The fifth operation is: determining whether the current working condition of the electric forklift is a hydraulic lifting working condition; if so, obtaining the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift as the power requirement of the current working condition of the electric forklift; otherwise, obtaining the walking demand power and the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift, and combining the steering assist power to obtain the composite demand power as the power requirement of the current working condition of the electric forklift.

[0047] The specific steps to obtain the power requirement of the electric forklift in the current working condition are as follows: Under driving conditions, the driver's required power is determined by the multi-dimensional data signals of the electric forklift P 驾驶员需求 and load factor k 2Calculate walking power requirements P 行走需求 , the calculation formula is as follows: P 行走需求 = P 驾驶员需求 × k 2 Among them, the load factor k 2 Obtained by the current speed / torque of the travel motor. If the current speed of the travel motor is low and the torque is high (such as climbing a slope), k 2>1, then increase the power demand; if the speed is high and the torque is low (such as driving on a flat road), that is k 2≤1, then reduce the power demand.

[0048] Under hydraulic lifting conditions, the target speed of the hydraulic motor is N 液压电机目标 , lifting load torque T 举升 and system efficiency compensation constant k 3 Calculate the required power of hydraulic lifting, the calculation formula is as follows: P 液压举升需求 = N 液压电机目标 × T 举升 × k 3 Among them, the lifting load torque is calculated by combining the current torque / speed of the hydraulic motor with the transmission efficiency T 举升 The transmission efficiency is calculated by the current torque of the hydraulic motor, the transmission ratio of the reduction mechanism (such as the gearbox speed ratio) and the transmission system efficiency. The transmission system efficiency is usually 0.85~0.95.

[0049] Under composite working conditions, all data signals of driving working conditions and hydraulic lifting working conditions are integrated, and composite demand working conditions are calculated. P 复合需求 , the calculation formula is as follows: P 复合需求 = P 转向 + P 液压举升需求 + P 行走需求 .

[0050] S2-2-3. Calculating an available power threshold based on the multi-dimensional data signal of the electric forklift and the steering assist power; According to the current state of charge of the battery P 电池-max Power steering P 转向 Calculate the energy upper limit of power distribution, that is, the available power threshold P 可用 , to avoid battery overload, the available power threshold P 可用 The calculation formula is as follows: P 可用 = P 电池-max - P 转向 .

[0051] S2-2-4. Obtaining a power distribution ratio for the current working condition of the electric forklift using the power requirement of the current working condition of the electric forklift, the available power threshold, and the steering assist power based on the priority distribution strategy for the current working condition of the electric forklift; This step dynamically allocates the power ratio of each system within the available power threshold according to the priority allocation strategy of the electric forklift's current working condition, which can improve energy utilization.

[0052] As a possible implementation, in the above embodiment, step S2-2-4 may specifically include the following steps: Determine whether the current working condition of the electric forklift is a driving working condition. If so, perform the sixth operation. Otherwise, perform the seventh operation. Specifically: This step improves work efficiency by quickly distinguishing driving conditions and avoiding unnecessary power comparisons under other conditions. It also ensures that the subsequent power distribution logic accurately matches the current operating condition type, thereby improving system response speed.

[0053] Among them, the sixth operation is: judging whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, combining the priority allocation strategy of the electric forklift in the current working condition with the steering power, obtaining the first travel motor allocation ratio and the first hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, combining the priority allocation strategy of the electric forklift in the current working condition with the power demand of the electric forklift in the current working condition, the available power threshold and the steering power, obtaining the second travel motor allocation ratio and the second hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition, specifically: When the electric forklift is in the traveling mode, if P 行走需求 > P 可用 , then combined with the priority strategy of the driving conditions, the walking motor allocation ratio is obtained = P 可用 / P 行走需求 × 100%, hydraulic motor distribution ratio = P 转向 ;like P 行走需求 ≤ P 可用 , then combined with the priority strategy of the driving conditions, the walking motor allocation ratio = 100%, the hydraulic motor allocation ratio = P 转向 .

[0054] The seventh operation is to determine whether the current working condition of the electric forklift is a hydraulic lifting condition. If so, the remaining power is obtained by using the power requirement of the current working condition of the electric forklift and the available power threshold, and the eighth operation is performed. Otherwise, the ninth operation is performed. Specifically: This step accurately identifies the hydraulic lifting working condition, avoids confusion with the composite working condition, reduces calculation redundancy, provides a clear working condition basis for subsequent power allocation, and improves the pertinence of the allocation strategy. P 剩余 Through the available power threshold P 可用 and hydraulic lifting power requirements P 液压举升需求 Calculated, the remaining power P 剩余 The calculation formula is as follows: P剩余 = P 可用 - P 液压举升需求 .

[0055] The eighth operation is to determine whether the remaining power is less than a remaining power threshold; if so, in combination with the priority allocation strategy of the current working condition of the electric forklift, obtain the third travel motor allocation ratio and the third steering assist allocation ratio as the power distribution ratio of the current working condition of the electric forklift; otherwise, in combination with the priority allocation strategy of the current working condition of the electric forklift, use the power demand of the current working condition of the electric forklift and the remaining power to obtain the fourth travel motor allocation ratio as the power distribution ratio of the current working condition of the electric forklift, specifically: In this embodiment, the remaining power threshold is 0. When the current working condition of the electric forklift is the hydraulic lifting condition, if P 剩余 <0, then the priority strategy of the hydraulic lifting condition is combined to obtain the travel motor allocation ratio = 0% (only the steering power assist is maintained), that is, the travel motor allocation ratio = 0%, and the steering power assist allocation ratio = 100%; P 剩余 ≥0, then combine the priority strategy of the hydraulic lifting condition to obtain the travel motor allocation ratio = P 剩余 / P 行走需求 ×100%.

[0056] The ninth operation is to determine whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, the power demand of the electric forklift in the current working condition, the available power threshold, and the steering assist power are combined with the priority allocation strategy of the electric forklift to obtain the fifth travel motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio, and the sixth steering assist allocation ratio are obtained as the power distribution ratio of the electric forklift in the current working condition in combination with the priority allocation strategy of the electric forklift. Specifically: When the electric forklift is in a composite working condition, if P 复合需求 > P 可用 , then combined with the priority strategy of the composite working condition, the walking motor allocation ratio is obtained = ( P 可用 - P 转向 - P 液压举升需求 ) / P 行走需求 ×100%; if P复合需求 ≤ P 可用 , then combined with the priority strategy of the composite working condition, the power distribution ratio of the travel motor, the hydraulic motor and the steering assist is allocated according to 100% demand.

[0057] In summary, the above step S2-2-4 can achieve accurate power distribution under different working conditions through a hierarchical decision-making mechanism, maximize energy utilization efficiency while ensuring safety, and significantly improve the overall performance and reliability of electric forklifts.

[0058] As a possible implementation, in the above embodiment, step S3 may specifically include the following steps: determining whether the initial power distribution result is a driving distribution result, and if so, executing a tenth operation; otherwise, performing a braking energy balance according to the initial power distribution result to obtain a final power distribution result; Among them, the tenth operation is: determine whether the walking motor of the initial power distribution result is in a driving state; if so, perform driving energy balance according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

[0059] This embodiment determines whether the initial power distribution result is a drive distribution result. If so, it determines whether the walking motor of the initial power distribution result is in a drive state. Otherwise, it directly performs braking energy balance to obtain the final result. By judging the drive / braking state, it can avoid redundant calculations of the energy balance module, improve the control response speed, and reduce energy consumption.

[0060] After confirming the drive distribution result, it is determined whether the travel motor is in the driving state. If so, the drive energy balance is optimized. Otherwise, the initial result is directly used as the final power distribution result. This ensures accurate optimization of power distribution in the driving state (such as load compensation and battery protection). In the non-driving state, braking safety is prioritized, while shortening the braking distance of the electric forklift.

[0061] As a possible implementation, in the above embodiment, step S3-1 may specifically include the following steps: S3-1-1. Based on the current operating condition of the electric forklift, obtain the braking recovery energy value of the travel motor; The vehicle controller (VCU) monitors the motor's current operating mode signal in real time. For example, when the travel motor's operating mode switches to "brake recovery mode" (torque is negative and speed > 0), and the current operating condition is a driving condition or a combined condition (to avoid false triggering in non-driving conditions), it is determined to enter the brake energy recovery process.

[0062] The braking energy recovery value of the walking motor is calculated based on the current speed of the walking motor, the current torque of the walking motor, and the loss coefficients such as transmission efficiency and motor efficiency (preset to 0.9). P rec .

[0063] S3-1-2. Obtaining a safe receiving charging power for the battery based on the current state of charge of the battery, the maximum allowable charging power of the battery, and a battery temperature parameter; Combine the battery's current state of charge, the battery's maximum allowable charging power, and the battery's temperature parameters to determine the battery's safe charging power. P safe_chg , which is the maximum power that the battery can safely receive. When the battery's current state of charge is ≥80%, the P safe_chg To 50% to 70% of the rated value to avoid overcharging risk; when 20% ≤ the current state of charge of the battery < 80%, adjust the correction P safe_chg , that is, the basic correction factor is set to 0.8 (compared to 0.5-0.7 for battery current state of charge ≥ 80%, allowing higher charging power), P safe_chg =Battery maximum allowable charging power × 0.8; when the battery's current state of charge is <20%, adjust the correction P safe_chg , that is, the basic correction coefficient is set to 1 (full allowable charging power), P safe_chg = Maximum allowable charging power of the battery × 1.

[0064] S3-1-3, performing brake energy balance using the braking recovery energy value of the travel motor and the charging power safely received by the battery to generate a brake energy balance result; when P rec ≤ P safe_chg When the battery working mode is set to 0, the BMS is controlled to fully recover the braking energy, and the hydraulic motor remains in standby state; when P rec > P safe_chg When battery recycling P safe_chg Energy, excess Δ P = P rec - P safe_chgThe VCU sends a load command to the hydraulic motor, driving the hydraulic pump to idle or perform a no-load cycle, converting excess energy into heat. The brake energy balance generated in this step includes the battery regenerative energy value, the hydraulic motor energy consumption value, and the split ratio, which is used for subsequent braking performance analysis.

[0065] S3-1-4. Calculate the braking distance based on the initial power distribution result and the braking energy balance result to obtain an actual braking distance of the electric forklift; S3-1-5. Adjust the strategy based on the braking distance to obtain a final power distribution result; Compare the actual braking distance with the target braking distance, for example, the target braking distance is 1.5 meters at a speed of 10 km / h, and calculate the distance deviation. m , reduce the proportion of hydraulic motor energy consumption and reduce the total braking force; or allow the battery to receive more energy through the battery working mode instruction (if it has not reached the safety upper limit). m , increasing the hydraulic motor's energy consumption, or limiting the travel motor's energy recovery efficiency (such as reducing the motor's torque output). Finally, the adjusted power distribution parameters, such as travel motor torque, hydraulic motor power, and battery charging strategy, are used as the final power distribution result.

[0066] As a possible implementation, in the above embodiment, step S3-1-4 may specifically include the following steps: S3-1-4-1. Obtain the target braking torque of the travel motor through the initial power distribution result T motor , and combined with the travel motor transmission ratio i , wheel radius r Calculate the driving force of the walking motor based on mechanical parameters F motor , where the target braking torque of the travel motor has comprehensively considered the working condition priority and battery discharge limit. F motor The calculation formula is as follows: F motor =( T motor × i) / r × n 1 in, n 1 is the transmission system efficiency, this embodiment n 1 preset is 0.92.

[0067] S3-1-4-2, when there is hydraulic motor loss in the brake energy balance result, that is, P rec >P safe_chg The power consumption of the hydraulic motor needs to be converted into braking force. The power consumption of the hydraulic motor is obtained based on the braking energy balance result. P hydraulic , thereby obtaining hydraulic auxiliary braking force F hydraulic , the calculation formula is as follows: F hydraulic =( P hydraulic ×1000) / v × n 2 in, v is the initial braking speed, which is converted according to the current speed of the travel motor. n 2 is the hydraulic braking efficiency, this embodiment n 2 preset is 0.85.

[0068] S3-1-4-3, according to the power of the walking motor F motor With hydraulic auxiliary braking force F hydraulic , obtain the braking force of electric forklift F total .

[0069] S3-1-4-4, based on the braking force of electric forklifts F total , combined with the current mass of the vehicle (including cargo load), the friction coefficient between the tire and the ground (preset parameters), and the dynamic formula to obtain the actual braking distance of the electric forklift d , the calculation formula is as follows d = v / (2× a ) in, a is the braking acceleration, a = F total / Gross vehicle mass.

[0070] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0071] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0072] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A method for distributing output power of an electric forklift, characterized in that: include: S1. Utilize the multi-dimensional data signal of the electric forklift to obtain the current working condition of the electric forklift; Utilize the multi-dimensional data signals of the electric forklift to obtain the current working conditions of the electric forklift, including: Obtain multi-dimensional data signals of electric forklifts; Screening the multi-dimensional data signal of the electric forklift to obtain a key signal for determining the working condition of the electric forklift; Using the electric forklift operating condition determination key signal to perform operating condition identification and obtain the current operating condition of the electric forklift; S2. Performing power distribution using the multi-dimensional data signal of the electric forklift based on the current operating condition of the electric forklift to obtain an initial power distribution result, wherein the initial power distribution result includes a driving distribution result and a braking distribution result; S3. Perform energy balance according to the initial power distribution result to obtain a final power distribution result.

2. The output power distribution method for an electric forklift according to claim 1, characterized in that: The multi-dimensional data signal of the electric forklift includes the battery status signal, driver operation signal, motor operation signal and mode signal of the electric forklift. The battery status signal includes the current state of charge of the battery, the maximum allowable discharge power of the battery and the maximum allowable charging power of the battery. The driver operation signal includes the driver's required power and the target speed of the hydraulic motor.

3. The output power distribution method for an electric forklift according to claim 2, characterized in that: The electric forklift operating condition determination key signal is used to identify the operating condition and obtain the current operating condition of the electric forklift, including: Obtaining a threshold value of the electric forklift operating condition determination key signal using the electric forklift operating condition determination key signal, wherein the electric forklift operating condition determination key signal threshold value includes a driver demand power threshold value and a hydraulic motor idle speed; The operating condition is identified according to the electric forklift operating condition determination key signal and the electric forklift operating condition determination key signal threshold to obtain the current operating condition of the electric forklift.

4. The output power distribution method for an electric forklift according to claim 3, characterized in that: The operating condition is identified according to the electric forklift operating condition determination data signal and the electric forklift operating condition determination data signal threshold to obtain the current operating condition of the electric forklift, including: Determine whether the driver's required power is greater than the driver's required power threshold; if so, perform a first operation to obtain the current operating condition of the electric forklift; otherwise, perform a second operation to obtain the current operating condition of the electric forklift; The first operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift; The second operation is to determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor; if so, obtain the hydraulic lifting condition as the current working condition of the electric forklift; otherwise, obtain the standby condition as the current working condition of the electric forklift.

5. The output power distribution method for an electric forklift according to claim 2, characterized in that: Performing power distribution based on the current working condition of the electric forklift using the multi-dimensional data signal of the electric forklift to obtain an initial power distribution result includes: Obtaining a priority strategy for the current operating condition of the electric forklift according to the current operating condition of the electric forklift; Obtaining a power distribution ratio of the electric forklift in the current working condition by using the multi-dimensional data signal of the electric forklift based on the priority distribution strategy of the electric forklift in the current working condition; Power is distributed according to the power distribution ratio of the current working condition of the electric forklift to obtain an initial power distribution result.

6. The output power distribution method for an electric forklift according to claim 5, characterized in that: Obtaining a priority strategy for the current working condition of the electric forklift according to the current working condition of the electric forklift, including: Determine whether the current operating condition of the electric forklift is a driving operating condition; if so, obtain the priority strategy of the driving operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, perform a third operation; The third operation is to determine whether the current working condition of the electric forklift is a hydraulic lifting condition; if so, obtain the priority strategy of the hydraulic lifting condition as the priority strategy of the current working condition of the electric forklift; otherwise, perform the fourth operation; The fourth operation is: determining whether the current operating condition of the electric forklift is a composite operating condition; if so, obtaining the priority strategy of the composite operating condition as the priority strategy of the current operating condition of the electric forklift; otherwise, obtaining the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and returning to screen the multi-dimensional data signal of the electric forklift.

7. The output power distribution method for an electric forklift according to claim 5, characterized in that: The priority allocation strategy based on the current working condition of the electric forklift utilizes the multi-dimensional data signal of the electric forklift to obtain the power distribution ratio of the current working condition of the electric forklift, including: Calculating steering assist power using the multi-dimensional data signal of the electric forklift; Based on the steering assist power, the power requirement of the electric forklift in the current working condition is obtained by using the multi-dimensional data signal of the electric forklift; Calculating an available power threshold according to the multi-dimensional data signal of the electric forklift and the steering assist power; Obtaining a power distribution ratio of the electric forklift in the current working condition based on a priority allocation strategy of the electric forklift in the current working condition, using the power demand of the electric forklift in the current working condition, the available power threshold, and the steering assist power; Wherein, obtaining the power requirement of the electric forklift in the current working condition based on the steering assist power and utilizing the multi-dimensional data signal of the electric forklift includes: determining whether the current operating condition of the electric forklift is a driving condition; if so, obtaining a required driving power using the multi-dimensional data signal of the electric forklift as the power requirement of the current operating condition of the electric forklift; otherwise, executing a fifth operation; The fifth operation is: determining whether the current working condition of the electric forklift is a hydraulic lifting working condition; if so, obtaining the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift as the power requirement of the current working condition of the electric forklift; otherwise, obtaining the walking demand power and the hydraulic lifting demand power by using the multi-dimensional data signal of the electric forklift, and combining the steering assist power to obtain the composite demand power as the power requirement of the current working condition of the electric forklift.

8. The output power distribution method for an electric forklift according to claim 7, characterized in that: The priority allocation strategy based on the current working condition of the electric forklift utilizes the power requirement of the current working condition of the electric forklift, the available power threshold, and the steering assist power to obtain the power distribution ratio of the current working condition of the electric forklift, including: Determine whether the current operating state of the electric forklift is a driving operating state, and if so, perform the sixth operation; otherwise, perform the seventh operation; The sixth operation is to determine whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, using the steering assist power in combination with the priority allocation strategy of the electric forklift in the current working condition to obtain the first travel motor allocation ratio and the first hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, using the power demand of the electric forklift in the current working condition, the available power threshold, and the steering assist power in combination with the priority allocation strategy of the electric forklift in the current working condition to obtain the second travel motor allocation ratio and the second hydraulic motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; The seventh operation is: determining whether the current working state of the electric forklift is a hydraulic lifting state; if so, obtaining the remaining power by using the power requirement of the current working state of the electric forklift and the available power threshold, and executing the eighth operation; otherwise, executing the ninth operation; The eighth operation is: determining whether the remaining power is less than a remaining power threshold; if so, obtaining a third travel motor allocation ratio and a third steering assist allocation ratio as the power distribution ratio of the electric forklift in the current working condition in combination with the priority allocation strategy of the electric forklift; otherwise, obtaining a fourth travel motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition in combination with the power demand of the electric forklift in the current working condition and the remaining power in combination with the priority allocation strategy of the electric forklift; The ninth operation is: determine whether the power demand of the electric forklift in the current working condition is greater than the available power threshold; if so, use the power demand of the electric forklift in the current working condition, the available power threshold and the steering assist power in combination with the priority allocation strategy of the electric forklift to obtain the fifth travel motor allocation ratio as the power distribution ratio of the electric forklift in the current working condition; otherwise, use the priority allocation strategy of the electric forklift in the current working condition to obtain the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio and the sixth steering assist allocation ratio as the power distribution ratio of the electric forklift in the current working condition.

9. The output power distribution method for an electric forklift according to claim 2, characterized in that: Performing energy balance according to the initial power distribution result to obtain a final power distribution result includes: determining whether the initial power distribution result is a driving distribution result, and if so, executing a tenth operation; otherwise, performing a braking energy balance according to the initial power distribution result to obtain a final power distribution result; Among them, the tenth operation is: determine whether the walking motor of the initial power distribution result is in a driving state; if so, perform driving energy balance according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

10. The output power distribution method for an electric forklift according to claim 9, characterized in that: Performing brake energy balance according to the initial power distribution result to obtain a final power distribution result includes: Based on the current working condition of the electric forklift, obtaining the braking recovery energy value of the travel motor; Obtaining a safe receiving charging power for the battery according to the current state of charge of the battery, the maximum allowable charging power of the battery, and a battery temperature parameter; Performing brake energy balance using the braking recovery energy value of the travel motor and the charging power safely received by the battery to generate a brake energy balance result; Calculating the braking distance based on the initial power distribution result and the braking energy balance result to obtain an actual braking distance of the electric forklift; The strategy is adjusted based on the braking distance to obtain the final power distribution result.

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