Control method and system for automatic switching between local remote control and remote control of forklift and medium

Abstract

The invention discloses a control method and system for automatic switching of local control and remote control of a forklift and a medium, and relates to the technical field of forklifts.The control method comprises the steps that a logic control unit conducts logic decision making on received local switching signals, remote control switching signals and analog signals fed back by an engine and outputs engine driving control signals; the engine driving control signal is used for controlling the working state of an engine, and the analog signal fed back by the engine is a signal fed back after the engine is driven by the engine driving control signal; the logic control unit is used for detecting the received starting electromagnetic valve control feedback signal and stopping outputting the engine driving control signal if judging that the starting electromagnetic valve fails; the starting electromagnetic valve control feedback signal is a feedback signal generated after the system electromagnetic valve control module receives an engine driving control signal output by the logic control unit; according to the control method, automatic switching of starting and stopping of the forklift is achieved, and the practical problem that personnel cannot enter the forklift when the forklift is in a narrow goods shelf channel or operates dangerous goods is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of forklifts, and in particular to a control method and system for automatic switching between local and remote control of a forklift, and a medium. BACKGROUND

[0002] During forklift operation, there are many occasions that require loading and unloading and handling in high-temperature environments or dangerous chemicals, such as handling of sulfuric acid, strong alkali solvents, and high-temperature working environments in ironmaking. Once these acid and alkali solvents come into contact with the human body, they can cause harm to the human body. For high-temperature environments, personnel cannot approach at all, so there is still a great safety hazard for forklift drivers.

[0003] However, in the existing technology of forklifts, there is still a lack of a free switching method that can start operation in the forklift cab and also be operated remotely. SUMMARY

[0004] Based on the technical problems existing in the background technology, the present application proposes a control method and system for automatic switching between local and remote control of a forklift, and a medium, which realizes automatic switching of starting and stopping of the forklift and solves the practical problem that personnel cannot enter when the forklift is operating in a narrow aisle or handling dangerous goods.

[0005] The control method for automatic switching between local and remote control of a forklift proposed by the present application comprises the following steps: The logic control unit performs logical decision on the received local switch signal, remote control switch signal, and analog signal fed back by the engine, and outputs an engine drive control signal for controlling the working state of the engine. The analog signal fed back by the engine is a signal fed back by the engine after being driven by the engine drive control signal. The logic control unit performs signal detection on the received start solenoid control feedback signal. If it is determined that the start solenoid is faulty, the engine drive control signal is stopped from being output. The start solenoid control feedback signal is a feedback signal generated by the system solenoid control module after receiving the engine drive control signal output by the logic control unit.

[0006] Further, the generation process of the local switch signal and the remote control switch signal is as follows: The local switch state is converted into a local switch signal through level conversion 1. The remote control switch state is converted into a remote control switch signal through level conversion 2.

[0007] Further, the logical decision on the received local switch signal, remote control switch signal, and analog signal fed back by the engine is as follows: The signal detection unit performs logic level detection on the local switch signal and the remote control switch signal through level conversion one and level conversion two, respectively, and performs analog detection on the analog signal fed back by the engine through level conversion three. The three detected signals are input into the logic control unit for logical decision-making.

[0008] Furthermore, the logical decision of the logic control unit is to determine whether the engine start solenoid valve is malfunctioning by comparing the output control signal and the analog signal fed back by the engine.

[0009] Furthermore, the specific process of logical decision-making in the logic control unit is as follows: When both the local switch and the remote switch are off, the corresponding state is 00, the logic control unit outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift does not start. The local switch and the remote switch are used to generate local switch signals and remote switch signals. When the local switch is off and the remote control switch is closed, the corresponding state is 01, the logic control unit outputs a control signal of 1, the engine start solenoid valve is energized, and the forklift starts. When the local switch is closed and the remote control switch is open, the corresponding state is 10, the logic control unit outputs a control signal of 1, the engine start solenoid valve is energized, and the forklift starts. When both the local switch and the remote switch are closed, the corresponding state is 11. Then, the original voltage value of the analog signal fed back by the engine is determined. Is it greater than the battery voltage? Half of, if This indicates that the engine start solenoid valve is energized, the forklift has started, the engine is working, and the logic control unit (6) outputs a control signal 0 to prevent the forklift from restarting; if This indicates that the forklift is not started, the engine is not working, the logic control unit (6) outputs a control signal of 1, the system start solenoid valve is energized, and the forklift starts; When the local switch is closed and the remote control switch is open, the corresponding state is 10, the logic control unit (6) outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift stops; When the local switch is off and the remote control switch is closed, the corresponding state is 01, the logic control unit (6) outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift stops.

[0010] Furthermore, the voltage value The calculation formula is as follows: ; in: The quantized value detected by the signal detection unit. A proportional coefficient for signal conversion, A reference value for analog detection, A total number of full-scale quantization.

[0011] Further, the system solenoid valve control module is used to convert a low-voltage logic driving level signal into a high-voltage logic driving signal to drive a starting solenoid valve of the engine, so as to control the starting or stopping of the forklift engine.

[0012] Further, the starting solenoid valve control feedback signal generated by the system solenoid valve control module is converted into a voltage signal within the bearing range of the signal detection unit through level conversion four, and is transmitted to the logic control unit for signal detection by the signal detection unit.

[0013] A computer system comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to perform the method as described above.

[0014] A computer-readable storage medium having a plurality of classification programs stored thereon, the plurality of classification programs being used to be called by a processor and to perform the method as described above.

[0015] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, and the program performs the steps of the above-mentioned method embodiments when executed; and the aforementioned storage medium includes ROM, RAM, magnetic disc or optical disc and various storage medium capable of storing program codes. The forklift local and remote control automatic switching control method, system and medium provided by the application have the advantages that by detecting the states of the local switch and the remote control switch and the state of the engine, the control signal output of the solenoid valve control module is automatically controlled, the starting and stopping of the forklift are automatically switched, and the practical problem that personnel cannot enter when the forklift is in a narrow shelf channel or dangerous goods operation is solved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 The flowchart of the application; Fig. 2 The logic state switching diagram of the logic control unit; 1. Local switch, 2. Remote control switch, 3. Level conversion one, 4. Level conversion two, 5. Signal detection unit, 6. Logic control unit, 7. System solenoid valve control unit, 8. Valve state feedback module, 9. Level conversion three, 10. Engine, 11. Analog signal fed back by the engine, 12. Level conversion four. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will now be described in detail through specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0018] like Figs. 1-2 As shown, the present invention proposes a control method for automatic switching between local and remote control of a forklift, comprising: The logic control unit 6 performs logical decisions on the received local switch signal, remote control switch signal, and analog signal fed back by the engine, and outputs an engine drive control signal to control the engine's operating state. The analog signal fed back by the engine is the signal fed back by the engine after it is driven by the engine drive control signal. The logic control unit 6 performs signal detection on the received start solenoid valve control feedback signal. If it determines that the start solenoid valve is faulty, it stops outputting the engine drive control signal. The start solenoid valve control feedback signal is the feedback signal generated by the system solenoid valve control module 7 after receiving the engine drive control signal output by the logic control unit 6.

[0019] In this embodiment, based on the output state of the logic control unit, the system will only change its output state when it is in the 00 or 11 state. This design, which allows the system to be turned on or off locally and remotely, greatly improves the safety of operators in hazardous operating conditions and reduces the risks of forklift operations.

[0020] In order to implement the above control method, this embodiment sets up a control system, which specifically includes a local switch 1, a remote control switch 2, a level conversion one 3, a level conversion two 4, a signal detection unit 5, a logic control unit 6, a system solenoid valve control unit 7, a valve status feedback module 8, a level conversion three 9, an engine 10, an analog signal fed back by the engine 11, and a level conversion four 12.

[0021] Local switch 1 and remote switch 2 are used to control the switching status of local and remote devices; Level conversion 1 3 converts high-voltage switch signals into voltage signals within the range that the signal detection unit can withstand; Level conversion 2 4 converts high-level remote control signals into voltage signals within the range that the signal detection unit can withstand.

[0022] The signal detection unit 5 is used for detecting the local switch signal, the remote switch signal, the valve state feedback signal and the analog signal of the engine feedback, confirming the state of the local switch 1, the remote switch 2, the output electromagnetic valve and the engine 10; the logic control unit 6 makes logical judgment on the local switch signal, the remote switch signal and the analog signal of the engine feedback sent by the signal detection unit 5, and outputs the engine driving control signal to the electromagnetic valve control module 7, while monitoring the output state of the electromagnetic valve control module 7; that is, the start electromagnetic valve control feedback signal output by the electromagnetic valve control module 7 is transmitted to the logic control unit 6 through the valve state feedback module 8.

[0023] The electromagnetic valve control module 7 is used for converting the low-voltage logic driving level signal into a high-voltage logic driving signal to drive the start electromagnetic valve of the engine, so as to control the start or stop of the forklift engine; that is, the start electromagnetic valve control feedback signal generated by the electromagnetic valve control module 7 is converted to a voltage signal within the range that the signal detection unit can bear through the level conversion four, and is transmitted to the logic control unit 6 by the signal detection unit for signal detection, so as to control the start or stop of the forklift engine.

[0024] The valve state feedback module 8 is used for detecting the start electromagnetic valve control feedback signal of the electromagnetic valve control module 7, and sending the start electromagnetic valve control feedback signal to the voltage conversion four 9 to convert the start electromagnetic valve control feedback signal into a voltage signal within the range that the signal detection unit 5 can bear, so as to ensure the reliability of the whole vehicle.

[0025] The analog signal of the engine feedback 11 is sent to the signal detection unit 5 after being converted by the level conversion three 12, and is used for judging the current state of the engine to prevent the engine from being restarted.

[0026] Among them, the signal detection unit mainly detects the voltage signals converted by the level conversion one 3, the level conversion two 4 and the level conversion four 9, and the analog signal of the engine feedback 11 after being converted by the level conversion three 12, and calculates the original voltage value of the analog signal of the engine feedback . The calculation process is as follows: ; Among them: is the quantized value detected by the signal detection unit, is the proportional coefficient of signal conversion, is the reference value of analog detection, is the total number of full-scale quantization.

[0027] In this embodiment, the logic decision of the logic control unit 6 is: judging whether the start electromagnetic valve of the engine fails by comparing the output control signal and the analog signal of the engine feedback; the logic decision truth value is as shown in Table 1: Table 1: Automatic switching logic state truth table

[0028] Provide a textual description of Table 1, such as... Fig. 2 As shown, the specific process of logical decision-making is as follows: (1) When both the local switch and the remote switch are off, the corresponding state is 00, the logic control unit (6) outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift does not start, wherein the local switch and the remote switch are used to generate local switch signals and remote switch signals; (2) When the local switch is off and the remote control switch is closed, the corresponding state is 01, the logic control unit (6) outputs a control signal of 1, the engine start solenoid valve is energized, and the forklift starts; (3) When the local switch is closed and the remote control switch is open, the corresponding state is 10, the logic control unit (6) outputs a control signal of 1, the engine start solenoid valve is energized, and the forklift starts; (4) When the local switch is closed and the remote control switch is closed, the corresponding state is 11. Then determine the original voltage value of the analog signal fed back by the engine. Is it greater than the battery voltage? Half of, if This indicates that the engine start solenoid valve is energized, the forklift has started, the engine is working, and the logic control unit (6) outputs a control signal 0 to prevent the forklift from restarting; if This indicates that the forklift is not started, the engine is not working, the logic control unit (6) outputs a control signal of 1, the system start solenoid valve is energized, and the forklift starts; (5) When the local switch is closed and the remote control switch is open, the corresponding state is 10, the logic control unit (6) outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift stops; (6) When the local switch is off and the remote control switch is closed, the corresponding state is 01, the logic control unit (6) outputs a control signal of 0, the engine start solenoid valve is not energized, and the forklift stops.

[0029] Therefore, this embodiment provides a control method, the specific steps of which are as follows: S1: When the forklift stops, the local switch is off, and the remote control switch is also off, i.e., the system input state is 00. When the local switch or the remote control switch is closed, i.e., the system input state becomes 01 or 10, the forklift starts. S2: If the forklift starts, assuming the local switch is closed, i.e. the system input state is 01, if the local switch is opened, the system input state becomes 00 and the forklift stops. S3: If the forklift is started, assuming that the local switch is closed, i.e. the system input state is 01, at this time if the remote control switch is closed, i.e. the system input state becomes 11, it is needed to judge whether the analog signal fed back by the engine is greater than half of the battery voltage.

[0030] If , it indicates that the engine starting solenoid has been electrified, the forklift has been started, and the engine is working, the logic control unit outputs the control signal 0 to prevent the forklift from being started again; If , it indicates that the forklift has not been started, and the engine is not working, the logic control unit outputs the control signal 1, the system solenoid is electrified, and the forklift is started; S4: If the system is started, assuming that the remote control switch is closed, i.e. the system input state is 10, at this time if the remote control switch is closed, i.e. the system input state becomes 00, the system is turned off; S5: If the system is started, assuming that the remote control switch is closed, i.e. the system input state is 10, at this time if the local switch is closed, i.e. the system input state becomes 11, it is needed to judge whether the analog signal fed back by the engine is greater than half of the battery voltage.

[0031] If , it indicates that the engine starting solenoid has been electrified, the forklift has been started, and the engine is working, the logic control unit outputs the control signal 0 to prevent the forklift from being started again; If , it indicates that the forklift has not been started, and the engine is not working, the logic control unit outputs the control signal 1, the system solenoid is electrified, and the forklift is started; S6: If the forklift is started, assuming that the remote control switch and the local switch are both closed, i.e. the system input state is 11, at this time if the remote control switch or the local switch is opened, i.e. the system input state becomes 01 or 10, the forklift is stopped; S7: If the forklift is stopped, assuming that the remote control switch is opened, and the system input state is 01, at this time if the local switch is opened again, i.e. the system input state becomes 00, the forklift is still stopped: S8: If the forklift is stopped, assuming that the local switch is opened, and the system input state is 10, at this time if the remote control switch is opened again, i.e. the system input state becomes 00, the forklift is still stopped: S9: The forklift, i.e. the system input state is 00, will enter the next state cycle, and start the process from S1 to S8 again.

[0032] The above merely describes the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art, according to the technical solution and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, should be covered within the protection scope of the present application.

Claims

1. A control method for automatic switching of local and remote control of a forklift, comprising: a logic control unit making a logical decision on a received local switch signal, a remote control switch signal, and an analog signal fed back by an engine, and outputting an engine drive control signal for controlling an engine operating state, the analog signal fed back by the engine being a signal fed back by the engine after being driven by the engine drive control signal; the logic control unit making a signal detection on a received start solenoid control feedback signal, and stopping outputting the engine drive control signal if it is judged that the start solenoid is faulty, the start solenoid control feedback signal being a feedback signal generated by a system solenoid control module after receiving the engine drive control signal output by the logic control unit.

2. The control method according to claim 1, characterized by, The generation process of the local switch signal and the remote control switch signal is as follows: the local switch state is converted into the local switch signal through level conversion 1; the remote control switch state is converted into the remote control switch signal through level conversion 2.

3. The control method according to claim 1, characterized by, The logical decision on the received local switch signal, remote control switch signal, and analog signal fed back by the engine is as follows: the signal detection unit makes a logical level detection on the local switch signal and the remote control switch signal through level conversion 1 and level conversion 2 respectively, and makes an analog detection on the analog signal fed back by the engine through level conversion 3; the three detected signals are input to the logic control unit for logical decision.

4. The control method according to claim 3, characterized by, The logical decision of the logic control unit is to judge whether the start solenoid of the engine is faulty by comparing the output control signal and the analog signal fed back by the engine.

5. The control method according to claim 4, characterized by The specific process of the logical decision of the logic control unit is as follows: when the local switch and the remote control switch are both off, the corresponding state is 00, the logic control unit outputs a control signal of 0, the start solenoid of the engine is not powered, and the forklift is not started, wherein the local switch and the remote control switch are used to generate the local switch signal and the remote control switch signal; when the local switch is off and the remote control switch is on, the corresponding state is 01, the logic control unit outputs a control signal of 1, the start solenoid of the engine is powered, and the forklift is started; when the local switch is on and the remote control switch is off, the corresponding state is 10, the logic control unit outputs a control signal of 1, the start solenoid of the engine is powered, and the forklift is started; When the local switch is closed and the remote control switch is closed, the corresponding state is 11, and then the original voltage value of the analog signal fed back by the engine is judged whether it is greater than half of the battery voltage If , it indicates that the starting solenoid of the engine is powered, the forklift has started, the engine is working, and the logic control unit outputs a control signal 0 to prevent the forklift from starting again; if , it indicates that the forklift has not started and the engine is not working, and the logic control unit outputs a control signal 1, and the system starting solenoid is powered, and the forklift starts when the local switch is on and the remote control switch is off, the corresponding state is 10, the logic control unit outputs a control signal of 0, the start solenoid of the engine is not powered, and the forklift is stopped; when the local switch is off and the remote control switch is on, the corresponding state is 01, the logic control unit outputs a control signal of 0, the start solenoid of the engine is not powered, and the forklift is stopped.

6. The control method according to claim 5, characterized by the voltage value The calculation formula is as follows: ； wherein: is a quantized value detected by the signal detection unit, is a proportional coefficient of signal conversion, is a reference value of analog detection, is a total number of full-scale quantization.

7. The control method according to claim 1, characterized by, The system solenoid control module is used to convert a low-voltage logic drive level signal into a high-voltage logic drive signal to drive the start solenoid of the engine, so as to control the start or stop of the forklift engine.

8. The control method according to claim 3, characterized by, The start solenoid control feedback signal generated by the system solenoid control module is converted into a voltage signal within the voltage range of the signal detection unit through level conversion 4, and is transmitted to the logic control unit by the signal detection unit for signal detection.

9. A computer system comprising a memory, a processor and a computer program stored on the memory, characterized in that, The processor executes the computer program to implement the method as claimed in any one of claims 1-8.

10. A computer readable storage medium, characterized in that, The computer readable storage medium has stored thereon a plurality of classification programs for being invoked and executed by the processor to implement the method as claimed in any one of claims 1-8.

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