Power assisting method and device of industrial vehicle, electronic equipment and medium

Abstract

The invention discloses a power assisting method and device for an industrial vehicle, electronic equipment and a medium. An accelerator signal, an inclination angle signal, a main driving motor current signal, a main driving motor rotating speed signal and state signals of auxiliary motors are obtained in real time; when it is judged that the target industrial vehicle is in a starting working condition, a climbing working condition or an obstacle crossing working condition, all auxiliary motors are controlled to be in an activated state; when it is judged that the target industrial vehicle is in the cruise working condition, each auxiliary motor is controlled to be in a non-activated state; when it is judged that at least one auxiliary motor fails, alarm information is sent to the background, and the main driving motor is controlled to drive the target industrial vehicle based on the real-time working condition; or when it is judged that the main driving motor fails, fault information is sent to the background, and the auxiliary motor is controlled to be in an activated state to assist in completing movement of the target industrial vehicle. The auxiliary motor is controlled to perform auxiliary driving according to the working condition, so that power defects, energy consumption waste during motor model selection during single driving of the main driving motor and subsequent maintenance defects are avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle drive, and in particular to a power assistance method, device, electronic equipment, and medium for industrial vehicles. Background Technology

[0002] Industrial vehicles refer to motor vehicles used in logistics, warehousing and other scenarios for handling, towing or stacking goods, such as forklifts and tractors, which are commonly used industrial vehicles.

[0003] Industrial vehicles are classified into motorized industrial vehicles and non-motorized industrial vehicles based on their drive method. Motorized industrial vehicles use electric motors for power, offering advantages such as high efficiency and large load capacity in practical applications. However, traditional motorized industrial vehicles rely on only a single main drive motor, resulting in significant drawbacks in energy consumption and drive reliability.

[0004] First, the main drive motors of existing industrial vehicles are designed and selected based on the vehicle's maximum load capacity. This results in the actual power required by the vehicle under no-load or cruising conditions being far lower than the motor's rated peak power. Second, because only a single main drive motor is used, there are shortcomings such as slow start-up and sluggish acceleration under extreme conditions such as heavy-load start-up or heavy-load uphill climbing. Furthermore, when the single main drive motor malfunctions, the vehicle will be completely without drive, causing inconvenience for subsequent maintenance or hindering the normal movement of other industrial vehicles in the same environment. Summary of the Invention

[0005] This application provides a power assistance method, device, electronic device, and medium for industrial vehicles, which solves the problems of energy waste, insufficient power, and high failure risk caused by the use of a single main drive motor as the power source in existing industrial vehicles.

[0006] The first aspect of this application provides a power assistance method for an industrial vehicle, including a plurality of auxiliary motors, each of which is correspondingly disposed at a load-bearing wheel to drive it; And includes the following steps: Real-time acquisition of accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor; When the target industrial vehicle is determined to be in a starting, climbing, or obstacle crossing state, the auxiliary motors are controlled to be in an active state for auxiliary drive; when the target industrial vehicle is determined to be in a cruising state, the auxiliary motors are controlled to be in an inactive state for standby. Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current growth rate of the main drive motor is not less than the current growth rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition; if the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition; if the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition. When at least one auxiliary motor fails, an alarm message is sent to the backend, and the main drive motor is controlled to drive the target industrial vehicle based on real-time operating conditions; or when the main drive motor fails, a fault message is sent to the backend, and the auxiliary motor is activated to assist in moving the target industrial vehicle to the nearest maintenance location.

[0007] Furthermore, before acquiring the accelerator signal, tilt angle signal, main drive motor current signal, main drive motor speed signal, and status signals of each auxiliary motor in real time, the process includes: Power-on startup triggers initial checks of various signals; When a fault is detected in the main drive motor based on the main drive motor current signal, the fault information is sent to the background, and the auxiliary motor is controlled to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance position. When a tilt sensor malfunction is detected based on the tilt angle signal, an alarm message is sent to the backend. Tilt angle signal reporting is prohibited while the target industrial vehicle is running, and the climbing condition is judged based on the target torque. If the target torque is greater than the preset torque value, it is determined that the target industrial vehicle is in a climbing condition. When an auxiliary motor fault is detected based on the auxiliary motor status signal, an alarm message is sent to the background. The motor status signal reporting is prohibited when the target industrial vehicle is running, and the drive control of the target industrial vehicle is performed based on the main drive motor.

[0008] Furthermore, this includes: when determining that the auxiliary motor is faulty or malfunctioning based on the auxiliary motor status signal, and when determining whether the vehicle is in a starting, climbing, or obstacle-crossing condition, sending a warning signal to the control panel of the target industrial vehicle to alert it to safety risks.

[0009] Furthermore, this includes: when a fault or failure is detected in the main drive motor, controlling the forks to descend to the initial position.

[0010] Further steps include the following: Obtain the target location of the target industrial vehicle; When it is determined that the target location is within the preset target area, an inquiry message is sent to the control panel of the target industrial vehicle to ask whether to move according to the preset target path; When obtaining feedback information to confirm that the movement is proceeding along the preset target path, and determining that a preset sub-area has been reached, the auxiliary motor is controlled to switch states. Each preset sub-region is divided according to the historical operating conditions of industrial vehicles in the target path; the historical operating conditions of adjacent preset sub-regions are different.

[0011] Furthermore, the real-time acquisition of accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor includes: Obtain the current location and target location of the target industrial vehicle; The preset target path is obtained based on the RRT path planning algorithm; the path planning target is the one with the longest distance and the shortest total path length corresponding to the cruise condition.

[0012] A second aspect of this application provides a power auxiliary device for an industrial vehicle, comprising a plurality of auxiliary motors, each auxiliary motor being correspondingly disposed at a load-bearing wheel to drive it; further comprising: The signal acquisition module is used to acquire accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor in real time. The working condition judgment module is used to determine whether the target industrial vehicle is in the starting working condition, climbing working condition, or obstacle crossing working condition, and to control each auxiliary motor to be in an active state for auxiliary drive; when the target industrial vehicle is in the cruising working condition, it controls each auxiliary motor to be in an inactive state for standby. Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current growth rate of the main drive motor is not less than the current growth rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition; if the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition; if the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition. The risk assessment module is used to send an alarm message to the background when at least one auxiliary motor fails, and to control the main drive motor to drive the target industrial vehicle based on real-time operating conditions; or to send a fault message to the background when the main drive motor fails, and to control the auxiliary motor to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance location.

[0013] A third aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it causes the electronic device to perform the method described in the first aspect of this application.

[0014] A fourth aspect of this application provides a computer-readable storage medium for storing a computer program that, when run on a computer, causes the computer to perform the method described in the first aspect of this application.

[0015] In this embodiment, a power assistance method for industrial vehicles is employed, based on auxiliary motors corresponding to the load-bearing wheels and an all-in-one controller capable of acquiring and processing various signals. The all-in-one controller acquires accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor in real time. Further, when it is determined that the target industrial vehicle is in a starting, climbing, or obstacle-crossing state, the auxiliary motors are controlled to be in an active state for assisted driving; when it is determined that the target industrial vehicle is in a cruising state, the auxiliary motors are controlled to be in an inactive state for standby. Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current increase of the main drive motor is not less than the current increase threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition. If the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing or hill climbing condition. If the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition. Then, when driving the target industrial vehicle under various conditions, if at least one auxiliary motor fails, an alarm message is sent to the backend, and the main drive motor is controlled to drive the target industrial vehicle based on the real-time conditions; or if the main drive motor fails, a fault message is sent to the backend, and the auxiliary motor is activated to assist in moving the target industrial vehicle to the nearest maintenance location.

[0016] This application eliminates the need for a single main drive motor to propel the target vehicle, thus avoiding the need to select a main drive motor based on maximum load and preventing energy waste. Furthermore, in special operating conditions such as climbing, starting, or over obstacles, an auxiliary motor can be activated for auxiliary drive to avoid the risk of insufficient power from a single main drive motor. Moreover, when the single main drive motor fails, the target industrial vehicle can still be moved using the auxiliary motor, facilitating maintenance and avoiding obstruction of the normal movement of other industrial vehicles. Furthermore, since the auxiliary motor only provides auxiliary drive, its malfunction does not affect the normal operation of the target industrial vehicle, thereby preventing the introduction of new drive anomalies. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of a power assistance method for an industrial vehicle according to an embodiment of this application.

[0018] Figure 2 This is a schematic diagram of a power assistance device for an industrial vehicle according to an embodiment of this application.

[0019] Figure 3 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0022] like Figure 1 The diagram shown is a flowchart illustrating a power assistance method for an industrial vehicle according to an embodiment of this application. The assistance method is based on auxiliary motors corresponding to those located at the load-bearing wheels, and is performed by… Figure 1 It is understood that the power assistance method for an industrial vehicle includes the following steps: Step S101: Real-time acquisition of accelerator signal, tilt angle signal, main drive motor current signal, main drive motor speed signal and status signals of each auxiliary motor.

[0023] Step S102: When the target industrial vehicle is in a starting, climbing, or obstacle-crossing state, control each auxiliary motor to be in an active state for auxiliary drive; when the target industrial vehicle is in a cruising state, control each auxiliary motor to be in an inactive state for standby. Step S103: When at least one auxiliary motor fails, send an alarm message to the backend and control the main drive motor to drive the target industrial vehicle based on real-time operating conditions; or when the main drive motor fails, send a fault message to the backend and control the auxiliary motors to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance location.

[0024] The above method eliminates the need to base the main drive motor selection on maximum load, thus avoiding energy waste. Furthermore, in special operating conditions such as climbing, starting, or over obstacles, the auxiliary motor can be activated for auxiliary drive to prevent insufficient power from the single main drive motor. Moreover, when the single main drive motor fails, the target industrial vehicle can still be moved using the auxiliary motor, facilitating maintenance and avoiding obstruction of the normal movement of other industrial vehicles. Furthermore, since the auxiliary motor only provides auxiliary drive, its malfunction does not affect the normal operation of the target industrial vehicle, thereby preventing the introduction of new drive anomalies.

[0025] The multi-functional controller analyzes and judges various operating conditions and whether the auxiliary motor and main drive motor are malfunctioning or faulty. In a specific embodiment, if the real-time acceleration is not less than the acceleration threshold, the real-time current increase rate of the main drive motor is not less than the current increase rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition. For example, if the real-time acceleration is >80%, the real-time current increase rate of the main drive motor is 200%, and the real-time tilt angle is <5%, it is determined to be in the starting condition. If the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition. For example, if the real-time speed of the main drive motor is less than 200 rpm and the real-time current of the main drive motor is >50A for 500ms, it is determined to be in the obstacle crossing condition. If, in addition to the obstacle crossing condition, the real-time tilt angle is ≥5%, it is further determined to be in the hill climbing condition. If the real-time speed and real-time current of the main drive motor remain constant for a duration not less than the second preset duration, the target industrial vehicle is in cruise mode. For example, the real-time current of the main drive motor is stable at 20A, and the real-time speed of the main drive motor is constant.

[0026] In some embodiments, to implement the above-described control process of the all-in-one controller, the following hardware deployment is also performed: an inclination sensor is installed near the vehicle's center of gravity to obtain the real-time inclination angle, and an accelerator signal is connected to the controller to obtain the real-time acceleration. The all-in-one controller is configured with the following functions: For the interface, it can receive accelerator signals, inclination signals, main drive motor current / speed signals, and status signals of each auxiliary motor. For the processing capability, it can calculate the current change rate and gradient in real time and determine the operating condition logic. Specifically, a climbing algorithm is used for climbing condition judgment. Furthermore, the control capability is to precisely control the torque output commands of the main motor and each auxiliary motor. For the fault diagnosis setting, it can detect faults in the main and auxiliary motors. For the safety logic setting, it can implement a safety handling procedure of "limited movement of auxiliary motors" after the main motor fails. For the software logic setting, it runs a complex control algorithm based on the above-described "operating condition triggering mechanism" to achieve intelligent power distribution and mode switching. For the power topology setting, it forms a "1 main, multiple auxiliary" distributed drive architecture with the main drive motor as the core and multiple auxiliary motors providing local auxiliary power as needed.

[0027] In some embodiments, considering that the target industrial vehicle may be in the cargo loading / unloading phase when the main drive motor fails, the forks are controlled to descend to an initial position to avoid safety issues caused by the main drive motor failure at this time. Specifically, the initial position is the ground position.

[0028] In some preferred embodiments, from a safety perspective, conducting preliminary vehicle inspection and fault diagnosis before the target industrial vehicle is put into use further includes: After the target industrial vehicle is powered on and started, the initial detection of each signal is automatically triggered.

[0029] When a fault is detected in the main drive motor based on the main drive motor current signal, the fault information is sent to the background, and the auxiliary motor is activated to assist in moving the target industrial vehicle to the nearest maintenance location.

[0030] When a tilt sensor malfunction is detected based on the tilt angle signal, an alarm message is sent to the backend. Tilt angle signal reporting is prohibited while the target industrial vehicle is running, and the climbing condition is judged based on the target torque.

[0031] When an auxiliary motor fault is detected based on the auxiliary motor status signal, an alarm message is sent to the background. The motor status signal reporting is prohibited when the target industrial vehicle is running, and the drive control of the target industrial vehicle is performed based on the main drive motor.

[0032] Specifically, considering that higher torque results in stronger grip and safer driving when climbing hills, a relatively large torque is generally used when climbing. Therefore, if the target torque exceeds the preset torque value, the target industrial vehicle is determined to be in a climbing condition. Consequently, the vehicle only stops operating in the event of a main drive motor failure, minimizing the possibility of vehicle malfunction under multiple signal control mechanisms. Furthermore, since the auxiliary motor only provides auxiliary drive under special conditions, and a backup algorithm rule is set for abnormal tilt angles, it will not affect the normal operation of the vehicle.

[0033] In other preferred embodiments, considering that while an auxiliary motor failure may not affect the overall vehicle operation, it could lead to insufficient power under certain operating conditions, the following are considered: When the auxiliary motor is determined to be faulty or malfunctioning based on the auxiliary motor status signal, and when it is determined to be in the starting, climbing, or obstacle crossing condition, a warning signal is sent to the control panel of the target industrial vehicle to remind it of the safety risk.

[0034] At this point, the operator of the target industrial vehicle can be alerted to avoid overloading the cargo or using the target industrial vehicle to climb steep slopes.

[0035] In some preferred embodiments, considering that the target industrial vehicles are mostly used in fixed scenarios, the following alternative process is also included: Obtain the target location of the target industrial vehicle.

[0036] When the target location is determined to be within a preset target area, an inquiry message is sent to the control panel of the target industrial vehicle to ask whether to move along the preset target path.

[0037] When feedback information is obtained to confirm that the movement is proceeding along the preset target path, and when the preset sub-area is reached, the auxiliary motor is controlled to switch states.

[0038] Each preset sub-region is divided according to the historical operating conditions of industrial vehicles along the target path; adjacent preset sub-regions have different historical operating conditions. This allows for the acquisition of corresponding operating condition changes based on historical operating trajectories. The auxiliary motor is then set to be active or inactive under the corresponding operating condition. This achieves an auxiliary drive process based on an operating condition triggering mechanism without requiring the acquisition and analysis of various signals. It boasts advantages such as high real-time control and small memory footprint.

[0039] In some preferred embodiments, to reduce energy consumption during the operation of the target industrial vehicle and avoid energy waste and insufficient power during prolonged operation, the method further includes: Obtain the current location and target location of the target industrial vehicle.

[0040] The preset target path is obtained based on the RRT path planning algorithm.

[0041] Since the energy consumption is lowest when cruising is in operation and the total path length is shortest, the goal of path planning is to achieve both the longest distance and the shortest total path length in cruising mode. This effectively reduces energy consumption when moving target industrial vehicles based on the planned path. From a controllability perspective, the planned path can be adjusted according to actual operational needs, allowing drivers to choose whether to use the planned path for guidance and to exit path guidance at any time to drive according to their own intentions.

[0042] Based on the same inventive concept as the above-described method embodiments, this application also provides a power assistance device for industrial vehicles. Figure 2 It is understood that the power auxiliary device for an industrial vehicle includes: The signal acquisition module is used to acquire accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor in real time.

[0043] The working condition judgment module is used to determine whether the target industrial vehicle is in the starting working condition, climbing working condition, or obstacle crossing working condition, and to control each auxiliary motor to be in an active state for auxiliary drive; when the target industrial vehicle is in the cruising working condition, it controls each auxiliary motor to be in an inactive state for standby.

[0044] Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current growth rate of the main drive motor is not less than the current growth rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition; if the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition; if the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition.

[0045] The risk assessment module is used to send an alarm message to the background when at least one auxiliary motor fails, and to control the main drive motor to drive the target industrial vehicle based on real-time operating conditions; or to send a fault message to the background when the main drive motor fails, and to control the auxiliary motor to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance location.

[0046] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0047] Based on the same inventive concept as the above method embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it enables the electronic device to implement the control method described in the above embodiments.

[0048] In one embodiment, the electronic device may be a server, and in this embodiment, the structure of the electronic device may be as follows: Figure 3 As shown, it includes a memory 2001, a communication module 2003, and one or more processors 2002.

[0049] The memory 2001 is used to store computer programs executed by the processor 2002. The memory 2001 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and programs required to run instant messaging functions, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0050] Memory 2001 may be volatile memory, such as random-access memory (RAM); memory 2001 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 2001 may be any other medium capable of carrying or storing a desired computer program having the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 2001 may be a combination of the above-mentioned memories.

[0051] Processor 2002 may include one or more central processing units (CPUs) or digital processing units, etc. Processor 2002 is used to implement the above-mentioned audio data processing method when calling computer programs stored in memory 2001.

[0052] The communication module 2003 is used to communicate with terminal devices and other servers.

[0053] This application embodiment does not limit the specific connection medium between the memory 2001, communication module 2003, and processor 2002. This application embodiment... Figure 3 The memory 2001 and the processor 2002 are connected via a bus 2004, which is in... Figure 3 The connections between other components are illustrated with arrows and are for illustrative purposes only, not as limiting information. The Bus 2004 can be divided into address bus, data bus, control bus, etc. For ease of description, Figure 3 The text uses only one arrow to describe it, but does not indicate that there is only one bus or one type of bus.

[0054] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program. When the computer program is run on a computer, it enables the electronic device to implement the control method described in the above embodiments. The computer-readable storage medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0055] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer program product, which includes a computer program that, when run on an electronic device, causes the electronic device to perform the steps of the control methods described above according to various exemplary embodiments of this application. The program product may take the form of any combination of one or more readable media. These computer program commands can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the commands executed by the processor of the computer or other programmable data processing device generate a process for implementing... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

Claims

1. A power assistance method for industrial vehicles, characterized in that, It includes several auxiliary motors, each of which is located at the bearing wheel to drive it; And includes the following steps: Real-time acquisition of accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor; When the target industrial vehicle is determined to be in a starting, climbing, or obstacle crossing state, the auxiliary motors are controlled to be in an active state for auxiliary drive; when the target industrial vehicle is determined to be in a cruising state, the auxiliary motors are controlled to be in an inactive state for standby. Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current growth rate of the main drive motor is not less than the current growth rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition; if the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition; if the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition. When at least one auxiliary motor fails, an alarm message is sent to the backend, and the main drive motor is controlled to drive the target industrial vehicle based on real-time operating conditions; or when the main drive motor fails, a fault message is sent to the backend, and the auxiliary motor is activated to assist in moving the target industrial vehicle to the nearest maintenance location.

2. The method according to claim 1, characterized in that, Before acquiring the accelerator signal, tilt angle signal, main drive motor current signal, main drive motor speed signal, and status signals of each auxiliary motor in real time; this includes: Power-on startup triggers initial checks of various signals; When a fault is detected in the main drive motor based on the main drive motor current signal, the fault information is sent to the background, and the auxiliary motor is controlled to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance position. When a tilt sensor malfunction is detected based on the tilt angle signal, an alarm message is sent to the backend. Tilt angle signal reporting is prohibited while the target industrial vehicle is running, and the climbing condition is judged based on the target torque. If the target torque is greater than the preset torque value, it is determined that the target industrial vehicle is in a climbing condition. When an auxiliary motor fault is detected based on the auxiliary motor status signal, an alarm message is sent to the background. The motor status signal reporting is prohibited when the target industrial vehicle is running, and the drive control of the target industrial vehicle is performed based on the main drive motor.

3. The method according to claim 2, characterized in that, include: When the auxiliary motor is determined to be faulty or malfunctioning based on the auxiliary motor status signal, and when it is determined to be in the starting, climbing, or obstacle crossing condition, a warning signal is sent to the control panel of the target industrial vehicle to remind it of the safety risk.

4. The method according to claim 1, characterized in that, include: When a fault or failure is detected in the main drive motor, the forks are controlled to descend to the initial position.

5. The method according to claim 1, characterized in that, include: Obtain the target location of the target industrial vehicle; When it is determined that the target location is within the preset target area, an inquiry message is sent to the control panel of the target industrial vehicle to ask whether to move according to the preset target path; When obtaining feedback information to confirm that the movement is proceeding along the preset target path, and determining that a preset sub-area has been reached, the auxiliary motor is controlled to switch states. Each preset sub-region is divided according to the historical operating conditions of industrial vehicles in the target path; the historical operating conditions of adjacent preset sub-regions are different.

6. The method according to claim 1, characterized in that, The real-time acquisition of accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor includes: Obtain the current location and target location of the target industrial vehicle; The preset target path is obtained based on the RRT path planning algorithm; the path planning target is the one with the longest distance and the shortest total path length corresponding to the cruise condition.

7. A power auxiliary device for an industrial vehicle, characterized in that, It includes several auxiliary motors, each of which is located at the bearing wheel to drive it; include: The signal acquisition module is used to acquire accelerator signals, tilt angle signals, main drive motor current signals, main drive motor speed signals, and status signals of each auxiliary motor in real time. The working condition judgment module is used to determine whether the target industrial vehicle is in the starting working condition, climbing working condition, or obstacle crossing working condition, and to control each auxiliary motor to be in an active state for auxiliary drive; when the target industrial vehicle is in the cruising working condition, it controls each auxiliary motor to be in an inactive state for standby. Specifically, if the real-time acceleration is not less than the acceleration threshold, the real-time current growth rate of the main drive motor is not less than the current growth rate threshold, and the real-time tilt angle is not greater than the tilt angle threshold, the target industrial vehicle is in the starting condition; if the real-time speed of the main drive motor is not greater than the speed threshold, the real-time current of the main drive motor is greater than the preset current threshold and the duration is not less than the first preset duration, and the real-time tilt angle is less than the tilt angle threshold, the target industrial vehicle is in the obstacle crossing condition or the hill climbing condition; if the real-time speed and real-time current of the main drive motor remain constant and the duration is not less than the second preset duration, the target industrial vehicle is in the cruising condition. The risk assessment module is used to send an alarm message to the background when at least one auxiliary motor fails, and to control the main drive motor to drive the target industrial vehicle based on real-time operating conditions; or to send a fault message to the background when the main drive motor fails, and to control the auxiliary motor to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance location.

8. The apparatus according to claim 7, characterized in that, include: The initial detection module is used to trigger the initial detection of various signals upon power-on. The fault diagnosis module is used to determine when the main drive motor is faulty based on the main drive motor current signal, send fault information to the background, and control the auxiliary motor to be in an active state to assist in moving the target industrial vehicle to the nearest maintenance position. When a tilt sensor malfunction is detected based on the tilt angle signal, an alarm message is sent to the backend. Tilt angle signal reporting is prohibited while the target industrial vehicle is running, and the climbing condition is judged based on the target torque. When an auxiliary motor fault is detected based on the auxiliary motor status signal, an alarm message is sent to the backend. Furthermore, the reporting of motor status signals is prohibited while the target industrial vehicle is in operation, and drive control of the target industrial vehicle is performed based on the main drive motor. If the target torque is greater than the preset torque value, the target industrial vehicle is determined to be in a climbing condition.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the electronic device to implement the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 6.

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