Data processing system and data processing method for a reach stacker

Abstract

The application belongs to the technical field of digital processing devices, and particularly relates to a data processing system and a data processing method for a stacker, the data processing system comprising a control module, a left oil cylinder data acquisition module, a right oil cylinder data acquisition module, a portal data acquisition module, a driving motor data acquisition module, a lifting motor data acquisition module and a brake data acquisition module; the control module acquires corresponding data on the stacker and determines one of the data acquisition modules as a marker acquisition module; the control module further acquires data fluctuation time of the marker acquisition module when collecting data, and acquires all data collected before the data fluctuation time to form a matrix database; the application determines corresponding marker acquisition modules according to different postures, focuses on data collected by the marker acquisition modules when constructing the matrix database, and eliminates data fluctuation time of the marker acquisition module when collecting data.

Description

Technical Field

[0001] This invention belongs to the field of general control system technology, specifically relating to digital processing devices, and more particularly to a data processing system and data processing method for forklifts. Background Technology

[0002] Empty container stackers operate in ports, logistics parks, and other places where the ground has a large degree of unevenness, such as potholes and slopes. In addition, the lifting height of the spreader changes frequently from 0 to 8 meters during operation, which can easily cause the center of gravity of the equipment to shift.

[0003] Therefore, it is necessary to comprehensively judge the overturning situation of the forklift based on the data from various sensors. However, the traditional method is to directly acquire the data from each sensor within a fixed time and simply superimpose and calculate the overturning situation of the forklift. However, the overturning situation of the forklift under different postures cannot be reflected by a fixed superposition calculation. At the same time, there are data fluctuations in the sensor during the data acquisition process, which leads to inaccurate judgment of the overturning situation of the forklift.

[0004] Therefore, there is an urgent need to develop a new data processing system and method for forklifts to solve the technical problem that forklifts in different postures need to rely on different sensor data for overturning situations, and that the accuracy of the sensors themselves changes, leading to inaccurate judgment of overturning situations.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0006] This disclosure provides at least one data processing system and data processing method for forklifts.

[0007] In a first aspect, embodiments of this disclosure provide a data processing system for a forklift, comprising: a control module, a left hydraulic cylinder data acquisition module, a right hydraulic cylinder data acquisition module, a gantry data acquisition module, a drive motor data acquisition module, a lifting motor data acquisition module, and a braking data acquisition module; wherein the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module are electrically connected to the control module; the control module is configured to acquire corresponding data on the forklift through the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module, and identify one of them as a marker acquisition module; the control module is further configured to acquire the data fluctuation time of the marker acquisition module when acquiring data, and acquire all data acquired by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module before the data fluctuation time, to form a matrix database.

[0008] In one optional implementation, the control module is configured to determine the marker acquisition module according to a first priority, that is, to acquire the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module respectively. When the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is inconsistent, the control module is configured to determine the one with the faster acquisition response time among the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module as the marker acquisition module.

[0009] In one optional implementation, the control module is configured to determine the tag acquisition module according to a second priority, that is, when the lifting motor data exceeds the lifting motor data threshold, the control module is configured to determine the lifting motor data acquisition module as the tag acquisition module.

[0010] In one alternative implementation, the control module is configured to determine the tag acquisition module according to the third priority, that is, when the gantry data exceeds the gantry data threshold, the control module is configured to determine the gantry data acquisition module as the tag acquisition module.

[0011] In one optional implementation, the control module is configured to determine the tag acquisition module according to the fourth priority, that is, when the drive motor data exceeds the drive motor data threshold, the control module is configured to determine the drive motor data acquisition module as the tag acquisition module.

[0012] In one optional implementation, the control module is configured to determine the tag acquisition module according to the fifth priority, that is, when the braking data exceeds the braking data threshold, the control module is configured to determine the braking data acquisition module as the tag acquisition module.

[0013] In one optional implementation, the control module is configured to determine the marker acquisition module according to the sixth priority. That is, the control module is configured to acquire the number of data fluctuations per unit time of the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and brake data acquisition module respectively, so as to determine the marker acquisition module with the most data fluctuations per unit time.

[0014] In an optional implementation, the control module is further configured to sequentially determine the tag acquisition module according to a first priority, a second priority, a third priority, a fourth priority, a fifth priority, and a sixth priority, and the number of times the control module calculates the data each time it determines the tag acquisition module is the sum of the base calculation number and the number of data fluctuations of the acquisition module per unit time.

[0015] Secondly, this disclosure also provides a data processing method using the data processing system for an empty container stacker as described above, comprising: a control module acquiring corresponding data from the stacker via a left hydraulic cylinder data acquisition module, a right hydraulic cylinder data acquisition module, a gantry data acquisition module, a drive motor data acquisition module, a lifting motor data acquisition module, and a braking data acquisition module, and identifying one of them as a marker acquisition module; the control module acquiring the data fluctuation time of the marker acquisition module during data acquisition, and acquiring all data acquired by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module before the data fluctuation time, to form a matrix database.

[0016] In one optional implementation, the control module is configured to determine the marker acquisition module according to a first priority, i.e., to acquire the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module respectively. When the acquisition response times of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module are inconsistent, the control module determines the one with the faster acquisition response time as the marker acquisition module. The control module determines the marker acquisition module according to a second priority, i.e., when the lifting motor data exceeds the lifting motor data threshold, the control module determines the lifting motor data acquisition module as the marker acquisition module. The control module determines the marker acquisition module according to a third priority, i.e., when the gantry data exceeds the gantry data threshold, the control module determines the gantry data acquisition module as the marker acquisition module. The control module determines the marker acquisition module according to a fourth priority, i.e., when the drive motor data exceeds the drive motor data threshold, the control module determines the drive motor data acquisition module as the marker acquisition module. The control module determines the marking acquisition module according to the fifth priority, that is, when the braking data exceeds the braking data threshold, the control module determines the braking data acquisition module as the marking acquisition module; the control module determines the marking acquisition module according to the sixth priority, that is, the control module obtains the number of data fluctuations per unit time of the left cylinder data acquisition module, right cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and braking data acquisition module respectively, and determines the module with the most data fluctuations per unit time as the marking acquisition module; the control module is also configured to determine the marking acquisition module in a cyclical manner according to the first priority, second priority, third priority, fourth priority, fifth priority and sixth priority, and the number of data calculations performed by the control module each time the marking acquisition module is determined is the sum of the base calculation number and the number of data fluctuations of the acquisition module per unit time.

[0017] The beneficial effects of this invention are that it can determine the attitude of the forklift by acquiring various data from the forklift, and determine the corresponding marker acquisition module according to different attitudes. When constructing the matrix database, it focuses on the data collected by the marker acquisition module, and can also eliminate the data fluctuation moments when the marker acquisition module collects data. This can minimize the impact of data fluctuation on the judgment of whether the forklift has tipped over, and achieve accurate judgment of whether the forklift has tipped over.

[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic block diagram of a data processing system for a forklift provided in this embodiment of the present disclosure;

[0022] Figure 2 This is a flowchart illustrating the workflow of a data processing system for a forklift machine, as provided in an embodiment of this disclosure. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0025] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0026] Research has revealed that empty container stackers operate in locations such as ports and logistics parks where ground flatness varies greatly, including potholes and slopes. Furthermore, the lifting height of the spreader frequently changes between 0 and 8 meters during operation, easily leading to a shift in the equipment's center of gravity. The stacker's tilt angle and outrigger pressure differential are measured rapidly, requiring data from various sensors for comprehensive judgment. However, this system reacts slowly and makes untimely judgments. If this comprehensive judgment system is poorly designed—i.e., the weighting ratios and parameter ratios in the formula are unreasonable—excessive anti-tipping control (such as frequently limiting lifting height and reducing operating speed) will affect operational efficiency, while insufficient control will increase safety risks. The arithmetic or weighted average of multiple sensor data does not take into account sensor noise characteristics and system dynamic changes. For example, simply superimposing angle and pressure sensor data will directly affect the accuracy of the fusion result if one of the sensors has high noise, making it impossible to achieve optimal state estimation. Therefore, it is necessary to comprehensively judge the forklift tilting situation based on the data of each sensor. However, the traditional method of directly acquiring data from each sensor within a fixed time and simply superimposing it to calculate the forklift tilting situation cannot reflect the tilting situation of the forklift under different postures. At the same time, there are data fluctuations during the data acquisition process, which leads to inaccurate judgment of the forklift tilting situation.

[0027] Based on the above research, this disclosure provides a data processing system and method for forklifts. The corresponding marker acquisition module is determined according to different postures. When calculating the comprehensive dumping parameters, the data collected by the marker acquisition module is emphasized, while the data fluctuation moments of the marker acquisition module during data collection are eliminated.

[0028] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as the inventor's contribution to this disclosure.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] like Figures 1 to 2 As shown, at least one embodiment provides a data processing system for a forklift, comprising: a control module, a left hydraulic cylinder data acquisition module, a right hydraulic cylinder data acquisition module, a gantry data acquisition module, a drive motor data acquisition module, a lifting motor data acquisition module, and a braking data acquisition module; wherein the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module are electrically connected to the control module; the control module is configured to acquire corresponding data on the forklift through the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module, and identify one of them as a marker acquisition module; the control module is further configured to acquire the data fluctuation time of the marker acquisition module when acquiring data, and to acquire all data acquired by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and braking data acquisition module before the data fluctuation time, and perform fusion calculation to form a matrix database.

[0032] Specifically, by analyzing the data through a matrix database, it is possible to accurately determine whether a forklift will tip over.

[0033] In at least one embodiment, the attitude of the forklift can be determined by acquiring various data on the forklift, and the corresponding marker acquisition module can be determined according to different attitudes. When constructing the matrix database, the focus is on the data collected by the marker acquisition module, and the data fluctuation moments when the marker acquisition module collects data can be eliminated. The impact of data fluctuation on the determination of whether the forklift has tipped over can be minimized, so as to achieve accurate determination of whether the forklift has tipped over.

[0034] In at least one embodiment, please refer to Figure 2The control module is configured to determine the marker acquisition module according to the first priority, that is, to obtain the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module respectively. When the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is inconsistent, the control module is configured to determine the one with the faster acquisition response time among the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module as the marker acquisition module.

[0035] Specifically, the left and right hydraulic cylinder data acquisition modules collect data from the left and right hydraulic cylinders of the forklift, respectively. The cylinder data is used to provide weight feedback. The left and right hydraulic cylinder data acquisition modules are set as the first priority. At the same time, because there are left and right hydraulic cylinders, the consistency between the left and right cylinders must be considered. If the consistency is not good, weight misjudgment may occur, leading to abnormal judgment of the forklift status. By identifying the left and right hydraulic cylinder data acquisition modules with the faster acquisition response time as the marked acquisition module, the faster acquisition response time can be prioritized as the marked acquisition module, thereby improving data accuracy.

[0036] Specifically, the data for the left hydraulic cylinder is the pressure signal of the left hydraulic cylinder: a 4-20mA signal corresponds to a pressure of 0-400 bar.

[0037] Specifically, the right cylinder data is the right cylinder pressure signal: a 4-20mA signal corresponds to a pressure of 0-400 bar.

[0038] In at least one embodiment, please refer to Figure 2 The control module is configured to determine the marker acquisition module according to the second priority, that is, when the lifting motor data exceeds the lifting motor data threshold, the control module is configured to determine the lifting motor data acquisition module as the marker acquisition module.

[0039] Specifically, the second priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is consistent.

[0040] Specifically, the lifting motor data acquisition module collects the lifting speed data of the forklift, and the lifting speed data affects the balance of the container on the forklift. Therefore, the lifting motor data acquisition module is set as the second priority.

[0041] Specifically, the lifting speed data is obtained by acquiring motor controller data via the CAN bus. The motor controller detects the motor speed through resolver signals and through sin, cos, and ref signals.

[0042] In at least one embodiment, please refer to Figure 2The control module is configured to determine the tag acquisition module according to the third priority, that is, when the gantry data exceeds the gantry data threshold, the control module is configured to determine the gantry data acquisition module as the tag acquisition module.

[0043] Specifically, the third priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module are consistent and the lifting motor data is within the lifting motor data threshold.

[0044] Specifically, the gantry data is the gantry height. When the gantry is lifting, the proximity switch signal detects once, and the count is incremented once, up to a maximum of 39. The height between the detection blocks is 380mm, and the current gantry height is the product of the total counted detection block heights. When the gantry is lowering, the proximity switch signal detects once, and the count is decremented once, down to a maximum of 0, and stored in real time. The height between the detection blocks is 380mm, and the current gantry height is the product of the total counted detection block heights. Accurate gantry height is crucial for calculating the comprehensive tipping parameters of the forklift.

[0045] Specifically, the gantry data consists of a frequency square wave signal, with the gantry height determined by the rising edge data; there are 0-39 square waves, a total of 39 rising edges, and each rising edge is 390mm high.

[0046] In at least one embodiment, please refer to Figure 2 The control module is configured to determine the tag acquisition module according to the fourth priority, that is, when the drive motor data exceeds the drive motor data threshold, the control module is configured to determine the drive motor data acquisition module as the tag acquisition module.

[0047] Specifically, the fourth priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is consistent, and the lifting motor data is within the lifting motor data threshold and the gantry data is within the gantry data threshold.

[0048] Specifically, the real-time speed of the entire vehicle can be accurately calculated by using the current speed of the drive motor.

[0049] Specifically, the drive motor data is collected via the CAN bus. The motor controller detects the motor speed through resolver signals and through sin, cos, and ref signals.

[0050] In at least one embodiment, please refer to Figure 2 The control module is configured to determine the marker acquisition module according to the fifth priority, that is, when the braking data exceeds the braking data threshold, the control module is configured to determine the braking data acquisition module as the marker acquisition module.

[0051] Specifically, the fifth priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is consistent, and the lifting motor data is within the lifting motor data threshold, the gantry data is within the gantry data threshold, and the drive motor data is within the drive motor data threshold.

[0052] Specifically, braking data: Braking pressure is detected by a brake pressure sensor. A 4-20mA signal corresponds to a pressure of 0-400 bar, while a 0-115 bar pressure corresponds to 0-100% of the brake pedal position.

[0053] In at least one embodiment, please refer to Figure 2 The control module is configured to determine the marker acquisition module according to the sixth priority. That is, the control module is configured to acquire the number of data fluctuations per unit time of the left oil cylinder data acquisition module, right oil cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and brake data acquisition module respectively, so as to determine the acquisition module with the most data fluctuations per unit time.

[0054] Specifically, the sixth priority refers to the condition that the data acquisition response time of the left cylinder data acquisition module and the right cylinder data acquisition module is consistent, and the lifting motor data is within the lifting motor data threshold, the gantry data is within the gantry data threshold, the drive motor data is within the drive motor data threshold, and the braking data is within the braking data threshold.

[0055] Specifically, based on the data fluctuations during data acquisition by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module, the data calculation time is regenerated. Taking the acquisition module with the most data fluctuations as the standard, the tipping situation of the forklift is calculated for all data before the data fluctuation. The calculation is based on the amount of data before the fluctuation data, which can eliminate the fluctuation data.

[0056] In at least one embodiment, the control module is further configured to sequentially determine the tag acquisition module according to a first priority, a second priority, a third priority, a fourth priority, a fifth priority, and a sixth priority, and the number of times the control module calculates the data each time it determines the tag acquisition module is the sum of the number of basic calculations and the number of times the acquisition module fluctuates the data per unit time.

[0057] Specifically, the basic number of calculations is the number of times each acquisition module calculates the data per unit time. Since it is necessary to remove data fluctuations, the amount of data will be reduced. Therefore, by increasing the number of calculations on the data, the amount of data can be increased accordingly, thereby improving the accuracy of the calculations.

[0058] In at least one embodiment, please refer to Figure 2 The control module is also configured to adjust the maximum speed and output torque of the travel motor based on the matrix database of the forklift.

[0059] Specifically, the speed limit control of the travel motor of the forklift is achieved by calculating the current maximum allowable travel speed, then calculating the maximum allowable speed of the travel motor, and adjusting the output torque of the travel motor through PID control based on the deviation between the current speed and the maximum speed.

[0060] Based on the same technical concept, at least one embodiment also provides a data processing method using the data processing system for an empty container stacker as described above, which includes: a control module acquiring corresponding data on the stacker through a left hydraulic cylinder data acquisition module, a right hydraulic cylinder data acquisition module, a gantry data acquisition module, a drive motor data acquisition module, a lifting motor data acquisition module, and a braking data acquisition module, and identifying one of them as a marker acquisition module; the control module acquiring the data fluctuation time of the marker acquisition module when acquiring data, and acquiring all data acquired by the left hydraulic cylinder data acquisition module, the right hydraulic cylinder data acquisition module, the gantry data acquisition module, the drive motor data acquisition module, the lifting motor data acquisition module, and the braking data acquisition module before the data fluctuation time, to form a matrix database.

[0061] In at least one embodiment, the control module is configured to determine the marked acquisition module according to a first priority, that is, to acquire the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module respectively. When the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is inconsistent, the control module determines the one with the faster acquisition response time as the marked acquisition module. The control module determines the marked acquisition module according to a second priority, that is, when the lifting motor data exceeds the lifting motor data threshold, the control module determines the lifting motor data acquisition module as the marked acquisition module. The control module determines the marked acquisition module according to a third priority, that is, when the gantry data exceeds the gantry data threshold, the control module determines the gantry data acquisition module as the marked acquisition module. The control module determines the marked acquisition module according to a fourth priority, that is, when the drive motor data exceeds the drive motor data threshold, the control module determines the drive motor data acquisition module as the marked acquisition module. The module is a marker acquisition module; the control module determines the marker acquisition module according to the fifth priority, that is, when the braking data exceeds the braking data threshold, the control module determines the braking data acquisition module as the marker acquisition module; the control module determines the marker acquisition module according to the sixth priority, that is, the control module obtains the number of data fluctuations per unit time of the left cylinder data acquisition module, right cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and braking data acquisition module respectively, and determines the module with the most data fluctuations per unit time as the marker acquisition module; the control module is also configured to determine the marker acquisition module in a cyclical manner according to the first priority, second priority, third priority, fourth priority, fifth priority and sixth priority, and the number of data calculations performed by the control module each time the marker acquisition module is determined is the sum of the base calculation number and the number of data fluctuations of the acquisition module per unit time.

[0062] In summary, this invention can determine the attitude of the forklift by acquiring various data from it, and determine the corresponding marker acquisition module according to different attitudes. When constructing the matrix database, it focuses on the data collected by the marker acquisition module, and can also eliminate the data fluctuation moments when the marker acquisition module collects data. This can minimize the impact of data fluctuation on the judgment of whether the forklift has tipped over, and achieve accurate judgment of whether the forklift has tipped over.

[0063] The disclosures and other solutions, examples, embodiments, modules, and functional operations described in this document can be implemented in digital electronic circuits, or computer software, firmware, or hardware, including the structures disclosed in this document and their structural equivalents, or combinations thereof. The disclosures and other embodiments can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a tangible and non-volatile computer-readable medium for execution by a data processing apparatus or for controlling the operation of the data processing apparatus. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a material composition that influences machine-readable propagated signals, or one or more of these. The terms "data processing unit" or "data processing apparatus" include all means, devices, and machines for processing data, including, for example, programmable processors, computers, or multiprocessors or computer groups. In addition to hardware, the apparatus may also include code that creates an execution environment for a computer program, such as code constituting processor firmware, a protocol stack, a database management system, an operating system, or combinations thereof. The propagated signals are artificially generated signals, such as machine-generated electrical, optical, or electromagnetic signals, which are generated to encode information for transmission to a suitable receiver device.

[0064] Computer programs (also known as programs, software, software applications, scripts, or code) can be written in any programming language (including compiled or interpreted languages) and can be deployed in any form, including as standalone programs or as modules, components, subroutines, or other units suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to that program, or in multiple coordinating files (e.g., a file storing one or more modules, subroutines, or portions of code). Computer programs can be deployed and executed on one or more computers located at a single site or distributed across multiple sites interconnected by a communication network.

[0065] The processing and logic flows described in this document can be executed by one or more programmable processors that execute one or more computer programs to perform functions by manipulating input data and generating outputs. The processing and logic flows can also be executed by special-purpose logic circuitry, and the devices can be implemented as special-purpose logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits).

[0066] For example, processors suitable for executing computer programs include general-purpose and special-purpose microprocessors, as well as any one or more of any type of digital computer. Typically, the processor receives instructions and data from read-only memory or random access memory, or both. The basic components of a computer are a processor that executes instructions and one or more storage devices that store the instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or operatively coupled to receive data from or transfer data to mass storage devices, or both. However, a computer does not necessarily have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example, semiconductor memory devices such as erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and optical disc read-only memory (CD ROM) and digital versatile optical disc read-only memory (DVD-ROM). The processor and memory may be supplemented by dedicated logic circuitry or incorporated into dedicated logic circuitry.

[0067] While this patent document contains numerous details, it should not be construed as limiting the scope of any invention or claim, but rather as a description of features of specific embodiments of a particular invention. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various functions described in the context of a single embodiment may also be implemented individually in multiple embodiments, or in any suitable sub-combination. Furthermore, although the foregoing features may be described as functioning in certain combinations, or even initially claimed to be so, in certain circumstances, one or more features from a combination of claims may be removed from the combination, and a combination of claims may refer to a sub-combination or a variation of a sub-combination.

[0068] Similarly, although the operations are described in a specific order in the accompanying drawings, this should not be construed as requiring the specific order or sequence shown to perform such operations, or all the described operations, in order to obtain the desired result. Furthermore, the separation of various system components in the embodiments of this patent document should not be construed as requiring such separation in all embodiments.

[0069] Only some implementations and examples are described; other implementations, enhancements, and variations can be made based on the content described and illustrated in this patent document.

[0070] When no intermediate component exists other than a line, trace, or other medium between the first and second components, the first component is directly coupled to the second component. When an intermediate component other than a line, trace, or other medium exists between the first and second components, the first component is indirectly coupled to the second component. The term "coupling" and its variations include direct coupling and indirect coupling. Unless otherwise stated, the term "about" is used to mean a range including upper and lower 10% of the value.

[0071] While several embodiments are provided in this disclosure, it should be understood that the disclosed systems and methods may be embodied in many other specific forms without departing from the spirit or scope of this disclosure. The present examples are intended to be illustrative rather than restrictive and are not limited to the details given. For example, various elements or components may be combined or integrated into another system, or certain features may be omitted or not implemented.

[0072] In the several embodiments provided herein, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0073] Furthermore, without departing from the scope of this disclosure, the discrete or individual technologies, systems, subsystems, and methods described and illustrated in the various embodiments may be combined or integrated with other systems, modules, technologies, or methods. Other items shown or discussed as coupled may be directly connected or indirectly coupled or communicated via some interface, device, or intermediate component in an electrical, mechanical, or other manner. Those skilled in the art can identify other examples of changes, substitutions, and modifications without departing from the spirit and scope of this disclosure.

Claims

1. A data processing system for a forklift, characterized in that, include: Control module, left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and brake data acquisition module; in The left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module are electrically connected to the control module respectively; The control module is configured to acquire corresponding data from the stacker via the left hydraulic cylinder data acquisition module, the right hydraulic cylinder data acquisition module, the gantry data acquisition module, the drive motor data acquisition module, the lifting motor data acquisition module, and the brake data acquisition module, and to identify one of them as the marker acquisition module; The control module is also configured to acquire the data fluctuation moment when the marker acquisition module is acquiring data, and to acquire all data acquired by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module before the data fluctuation moment, so as to form a matrix database; The control module is configured to determine the marker acquisition module according to the first priority, that is, to obtain the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module respectively. When the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is inconsistent, the control module is configured to determine the one with the faster acquisition response time among the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module as the marker acquisition module. The control module is configured to determine the tag acquisition module according to the second priority, that is, when the lifting motor data exceeds the lifting motor data threshold, the control module is configured to determine the lifting motor data acquisition module as the tag acquisition module; The second priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is consistent; The control module is configured to determine the tag acquisition module according to the third priority, that is, when the gantry data exceeds the gantry data threshold, the control module is configured to determine the gantry data acquisition module as the tag acquisition module; The third priority refers to the condition that the data acquisition response time of the left cylinder data acquisition module and the right cylinder data acquisition module is consistent and the lifting motor data is within the lifting motor data threshold. The control module is configured to determine the tag acquisition module according to the fourth priority, that is, when the drive motor data exceeds the drive motor data threshold, the control module is configured to determine the drive motor data acquisition module as the tag acquisition module; The fourth priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module are consistent, and the lifting motor data is within the lifting motor data threshold and the gantry data is within the gantry data threshold. The control module is configured to determine the tag acquisition module according to the fifth priority, that is, when the braking data exceeds the braking data threshold, the control module is configured to determine the braking data acquisition module as the tag acquisition module; The fifth priority refers to the condition that the data acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module are consistent, and the lifting motor data is within the lifting motor data threshold, the gantry data is within the gantry data threshold, and the drive motor data is within the drive motor data threshold. The control module is configured to determine the marker acquisition module according to the sixth priority. That is, the control module is configured to acquire the number of data fluctuations per unit time of the left oil cylinder data acquisition module, right oil cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module and brake data acquisition module respectively, so as to determine the acquisition module with the most data fluctuations per unit time. The sixth priority refers to the following conditions: the data acquisition response time of the left cylinder data acquisition module and the right cylinder data acquisition module are consistent, the lifting motor data is within the lifting motor data threshold, the gantry data is within the gantry data threshold, the drive motor data is within the drive motor data threshold, and the braking data is within the braking data threshold. The control module is also configured to sequentially determine the marker acquisition module according to the first priority, second priority, third priority, fourth priority, fifth priority, and sixth priority, and the number of data calculations performed by the control module each time a marker acquisition module is determined is the sum of the base calculation count and the number of data fluctuations of the acquisition module per unit time.

2. A data processing method using the data processing system for a forklift as described in claim 1, characterized in that, include: The control module acquires corresponding data from the stacker through the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module, and identifies one of them as the marker acquisition module; The control module acquires the data fluctuation moment of the marker acquisition module during data acquisition, and acquires all data acquired by the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module before the data fluctuation moment to form a matrix database.

3. The data processing method as described in claim 2, characterized in that, The control module is configured to prioritize the tag acquisition module. The acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module are obtained respectively. When the acquisition response time of the left hydraulic cylinder data acquisition module and the right hydraulic cylinder data acquisition module is inconsistent, the control module determines the acquisition module with the faster acquisition response time as the marked acquisition module. The control module prioritizes the tag acquisition module, i.e. When the lifting motor data exceeds the lifting motor data threshold, the control module determines that the lifting motor data acquisition module is the marker acquisition module; The control module selects the tag acquisition module as the third priority, i.e. When the gantry data exceeds the gantry data threshold, the control module determines that the gantry data acquisition module is the marker acquisition module; The control module determines the tag acquisition module according to the fourth priority, i.e. When the drive motor data exceeds the drive motor data threshold, the control module determines that the drive motor data acquisition module is a marker acquisition module; The control module determines the tag acquisition module according to the fifth priority, i.e. When the braking data exceeds the braking data threshold, the control module determines that the braking data acquisition module is a marker acquisition module; The control module determines the tag acquisition module according to the sixth priority, i.e. The control module acquires the number of data fluctuations per unit time from the left hydraulic cylinder data acquisition module, right hydraulic cylinder data acquisition module, gantry data acquisition module, drive motor data acquisition module, lifting motor data acquisition module, and brake data acquisition module, respectively, and identifies the acquisition module with the most data fluctuations per unit time as the marked acquisition module; The control module is also configured to sequentially determine the tag acquisition module according to the first priority, second priority, third priority, fourth priority, fifth priority, and sixth priority, and the number of data calculations performed by the control module each time a tag acquisition module is determined is the sum of the basic calculation count and the number of data fluctuations of that acquisition module per unit time.

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