A yacht fork truck and a fork truck control method

Abstract

The application provides a yacht forklift and a forklift control method, and belongs to the technical field of engineering vehicles. The yacht forklift comprises a portal, a fork assembly and a controller. The fork assembly comprises a swingable fork, and a plurality of independently controlled pad units are arranged on the fork. An electromagnet buffer assembly is arranged in each pad unit. The controller identifies the boat bottom contour through a camera, adaptively adjusts the fork angle and the lifting height of each pad unit, and forms a multi-point support surface conforming to the boat bottom. During loading, the electromagnetic repulsive force forms a resilient buffer space to absorb impact. During launching, each pad unit is actively pushed away in sequence according to the support force change trend, and gradual and stable launching is realized. The application realizes adaptive and active buffering in the whole process of yacht loading and unloading, is safe and reliable, and simplifies the structure.

Description

Technical Field

[0001] This application relates to the field of engineering vehicle technology, and in particular to a yacht forklift and a forklift control method. Background Technology

[0002] The land-based transfer and launching of yachts are typically accomplished using specialized forklifts. Existing yacht forklifts are generally equipped with lifting masts and forks, which are inserted into the sides of the hull to lift and move the yacht. However, existing technology has shortcomings in the following aspects:

[0003] First, the hull of a yacht typically has a complex curved profile, and the side angles of the hull vary considerably between different yacht models. Traditional yacht forklifts usually have forks at a fixed angle or can only pitch up and down, making it difficult to achieve a good fit with the side of the hull. This results in line or point contact between the forks and the hull, which can easily cause localized stress concentration and damage to the hull surface. This risk is even more pronounced for composite material hulls.

[0004] Secondly, during loading, there is a lack of effective cushioning protection between the forks and the hull. Traditional forklifts typically use passive cushioning elements such as rubber pads, whose cushioning characteristics are fixed and cannot be adjusted according to the actual load and contact conditions. When the forks are raised, a rigid impact can easily occur between the hull and the forks, posing a risk of damage. At the same time, due to the complex shape of the hull, a single cushioning element cannot adapt to the curvature changes in different areas of the hull, and cannot achieve uniform support.

[0005] Third, existing yacht forklifts lack the ability to perceive the hull's attitude and stress state in real time during operation. Operators mainly rely on experience to judge whether the forks are in position and whether the yacht's center of gravity has shifted, making precise control difficult. Especially during launching, as buoyancy gradually develops after the hull enters the water, if the forks fail to detach from the hull in a timely and stable manner, it may cause the hull to tilt or scrape against the forks, affecting launching safety.

[0006] Fourth, existing buffering and control schemes typically rely on various external sensors (such as displacement sensors, force sensors, Hall effect sensors, etc.) to achieve condition monitoring. However, yacht forklifts operate in humid, salt spray environments for extended periods, posing serious challenges to the sealing, corrosion resistance, and reliability of external sensors. This results in high sensor failure rates, high maintenance costs, and increases the complexity and cost of the system. Summary of the Invention

[0007] The purpose of this invention is to solve the above-mentioned problems by providing a yacht forklift and a forklift control method.

[0008] The technical solution of this application is implemented as follows:

[0009] In a first aspect, this application provides a yacht forklift, the yacht forklift comprising:

[0010] A mast is rotatably mounted on the front end of the yacht forklift, and a third connecting frame is slidably mounted on the mast, the third connecting frame being able to rise and fall in the height direction;

[0011] A fork carriage assembly is mounted on the third connecting frame. The fork carriage assembly includes a swingable fork, and a pad is slidably mounted on the bearing surface of the fork. A buffer assembly is installed between the pad and the fork.

[0012] A first power assembly is mounted on the fork carriage assembly, which can drive the forks to swing.

[0013] A second power assembly is installed inside the gantry, which can drive the third connecting frame to move up and down.

[0014] The yacht forklift is equipped with a third power unit, which can drive the mast to tilt towards the front and rear of the yacht forklift.

[0015] The yacht forklift also includes a camera assembly mounted on the third connecting frame, which captures an image of the yacht in front of the yacht forklift.

[0016] A controller is installed inside the yacht forklift. The controller can control the first power unit, the second power unit, and the third power unit. The controller is configured to: receive the image of the yacht, identify the outline of the yacht's bottom, and adjust the angle of the fork's bearing surface by controlling the extension and retraction of the first power unit so that the angle of the bearing surface adapts to the angle of the side of the bottom of the yacht.

[0017] The buffer component includes:

[0018] A first electromagnet is installed at the bottom of the pad;

[0019] The second electromagnet is installed between the forks and the pad block, and its position corresponds to that of the first electromagnet.

[0020] An electromagnet controller is installed inside the yacht forklift. The electromagnet controller is connected to the first electromagnet and the second electromagnet. The electromagnet controller can control the magnetic poles and the magnitude of the magnetic force of the first electromagnet and the second electromagnet.

[0021] Both the first electromagnet and the second electromagnet are connected to the power supply of the yacht forklift. The controller is also connected to the electromagnet controller to control the magnetic poles and the magnitude of the magnetic force of the first electromagnet and the second electromagnet.

[0022] In one embodiment, several pads are provided along the length of the fork, and each pad is provided with a buffer component below it; the controller can independently control the buffer component.

[0023] In one embodiment, the fork assembly includes:

[0024] A connecting bracket is installed on the third connecting bracket of the gantry;

[0025] A swing bracket, the first end of which is rotatably mounted on both sides of the connecting bracket, and the second end of which is connected to the fork, wherein the axial direction of the swing bracket is perpendicular to the axial direction of the fork;

[0026] A swing guide plate is mounted on the third connecting bracket, wherein the swing guide plate is located below the connecting bracket;

[0027] The lower part of the swing guide plate also has an arc-shaped portion, the curvature of which is consistent with the swing curvature of the swing bracket;

[0028] The second end of the swing bracket is also equipped with a buckle plate, which can be slidably fastened to the arc-shaped part of the swing guide plate;

[0029] The first power assembly includes a swing control hydraulic cylinder, the cylinder end of which is rotatably mounted on the connecting bracket, and the telescopic end of which is rotatably mounted on the swing bracket.

[0030] In one embodiment, the gantry includes:

[0031] The first connecting frame is connected to the front end of the yacht forklift;

[0032] The second connecting frame is slidably mounted on the first connecting frame;

[0033] The third connecting frame is slidably mounted on the second connecting frame, and the connecting bracket is mounted on the front end of the third connecting frame;

[0034] The second power assembly includes a first drive assembly and a second drive assembly;

[0035] The first drive component is installed between the first connecting frame and the second connecting frame, and the first drive component is used to make the second connecting frame slide up and down on the first connecting frame;

[0036] The second drive assembly is installed between the second connecting frame and the third connecting frame, and the second drive assembly is used to make the third connecting frame slide up and down on the second connecting frame;

[0037] Wherein, the first drive component is used to move the forks downward from the initial height, and the second drive component is used to move the forks upward from the initial height;

[0038] The first driving component includes:

[0039] The first hydraulic cylinder has its cylinder end fixed on the first connecting frame, its telescopic end facing upward, and a first sprocket rotatably mounted on the telescopic end.

[0040] A first chain, with its first end fixed to the second connecting frame, its second end fixed to the first connecting frame, and its middle part resting on the first sprocket, the first chain being adapted to the first sprocket;

[0041] The second driving component includes:

[0042] The second hydraulic cylinder has its cylinder end fixed on the second connecting frame, its telescopic end facing upward, and a second sprocket rotatably mounted on the telescopic end.

[0043] The second chain has its first end fixed to the third connecting frame, its second end fixed to the second connecting frame, and its middle part resting on the second sprocket. The second chain is adapted to the second sprocket.

[0044] The second connecting frame is equipped with a first connecting plate and a second connecting plate; the height of the first connecting plate on the second connecting frame is greater than the height of the second connecting plate on the second connecting frame.

[0045] The first end of the first chain is fixedly mounted on the first connecting plate by a bolt assembly;

[0046] The second end of the second chain is fixedly mounted on the second connecting plate by a bolt assembly;

[0047] The height of the forks when the telescopic end of the first hydraulic cylinder extends to its maximum stroke and the telescopic end of the second hydraulic cylinder retracts to its minimum stroke.

[0048] In one embodiment, the third power assembly includes: a third hydraulic cylinder mounted on the first connecting frame, the telescopic end of the third hydraulic cylinder being rotatably mounted on the first connecting frame, and the cylinder barrel end being rotatably mounted on the front end of the yacht forklift;

[0049] The bottom of the first connecting frame is also equipped with a connecting lug, and the bottom of the first connecting frame is rotatably connected to the front end of the yacht forklift through the connecting lug.

[0050] In one embodiment, the forks and the swing control hydraulic cylinders are symmetrically arranged in a pair with the axial direction of the yacht forklift as the axis of symmetry. The controller can control one of the forks individually or control the pair of forks together.

[0051] The yacht forklift also includes a first hydraulic sensor and a second hydraulic sensor. The first hydraulic sensor is installed at the pressure measuring port of the swing control hydraulic cylinder, and the second hydraulic sensor is installed at the pressure measuring port of the third hydraulic cylinder.

[0052] Both the first hydraulic sensor and the second hydraulic sensor are connected to the controller.

[0053] Secondly, this application also provides a yacht loading and unloading method based on the yacht forklift described above, the method including a method for loading a yacht with a forklift, a method for determining the center of gravity of a yacht with a forklift, and a method for launching a yacht into the water with a forklift;

[0054] The method for loading the yacht with a forklift includes:

[0055] S11. The camera assembly captures an image of the yacht in front of the yacht forklift; identifies the outline of the yacht's bottom; and the controller controls the swing of the forks through the first power assembly so that the angle of the fork's bearing surface adapts to the angle of the side of the yacht's bottom.

[0056] S12. The controller adjusts the magnetic poles of the first electromagnet and the second electromagnet through the electromagnet controller so that the two are in the same pole opposite state, and controls the electromagnet current to generate repulsive force to push the pad upward, so that a spring-loaded buffer space supported by electromagnetic repulsive force is formed between the pad and the fork.

[0057] S13. The controller or driver controls the yacht forklift to move towards the yacht until the two forks are located on both sides of the bottom of the boat. Then, the second power unit is controlled to move the fork assembly upward. When the pad contacts the bottom surface of the boat, the resilient buffer space is compressed until the first electromagnet on the forks on both sides is in contact with the second electromagnet. It is then determined that the forks can lift the yacht.

[0058] S14. The controller or driver controls the second power unit to drive the connecting bracket to move upward, so that the forks are raised and the yacht is lifted, and the yacht loading is completed;

[0059] The method for the forklift to determine the yacht's center of gravity includes:

[0060] S21. During the process of loading and transporting the yacht by the yacht forklift, the controller obtains the oil pressure of the swing control hydraulic cylinder that controls the swing of the forks through the first hydraulic sensor; namely, the left oil pressure corresponding to the left fork and the right oil pressure corresponding to the right fork.

[0061] S22. When the left or right oil pressure exceeds the threshold, the center of gravity is determined to be off, and a warning of center of gravity deviation is issued to the cab.

[0062] The method for launching the yacht using a forklift includes:

[0063] S31. The yacht forklift loads the yacht to the side of the water entry area, and the controller moves the connecting bracket downward through the second power component to put the bottom of the yacht into the water;

[0064] S32. The controller adjusts the magnetic poles of the first electromagnet and the second electromagnet through the electromagnet controller to make them the same, and during the process of the second power component moving the connecting bracket downward, the controller increases the magnetic strength of the first electromagnet and the second electromagnet through the electromagnet controller.

[0065] In one embodiment, the controller controls the buffer assembly to lift the pad, creating a spring-backed buffer space between the pad and the fork, including:

[0066] S111. The controller adjusts the magnetic poles of the first electromagnet and the second electromagnet through the electromagnet controller so that they are the same;

[0067] S112, The controller enhances the magnetic field strength of the first electromagnet and the second electromagnet through the electromagnet controller.

[0068] The advantages or beneficial effects of the above technical solutions include at least the following:

[0069] Compared with existing technologies, the yacht forklift and its loading and unloading method provided by this invention have the following beneficial effects: By setting swingable forks and using a camera to identify the hull contour, the controller can automatically adjust the angle of the fork bearing surface to ensure good fit with the shape of the hull side, achieving surface contact support, effectively avoiding local stress concentration, and protecting the hull surface. By setting a buffer assembly consisting of a first electromagnet, a second electromagnet, and an electromagnet controller between the pad and the forks, an actively adjustable and resilient buffer space is formed using electromagnetic repulsion. During loading, it can absorb the impact energy of lifting, achieving flexible contact. At the same time, the lifting height of each pad unit can be independently controlled according to the shape of the hull, forming a multi-point support surface conforming to the hull, significantly improving the uniformity and adaptability of support. By employing electromagnetic self-sensing technology, the inductance of the electromagnet coil is detected using a high-frequency injection method to infer the air gap value. Combined with current sampling and an electromagnetic force model, the supporting force of each pad unit is calculated in real time. This eliminates the need for displacement sensors, force sensors, and Hall effect sensors, enabling state perception and closed-loop control. This significantly simplifies the system structure, reduces electrical interfaces and sealing challenges, improves reliability in harsh environments such as humidity and salt spray, and lowers manufacturing costs and maintenance difficulty. By applying the calculated electromagnetic force to the launching process control, the controller can monitor the changing trend of the supporting force of each pad unit in real time, accurately determine the sequence of buoyancy generation in different parts of the hull, and sequentially control the corresponding pad units to actively apply pushing force, achieving a gradual and sequential smooth launching process and preventing hull tilting or scraping. Furthermore, by setting up first and second hydraulic sensors to monitor the oil pressure of the fork swing hydraulic cylinder and the mast tilt hydraulic cylinder respectively, the controller can determine in real time whether the yacht's center of gravity shifts during transportation and issue timely warnings, improving transportation safety. In summary, this invention achieves adaptive fitting, active buffering, intelligent sensing, and smooth control throughout the entire process of yacht loading, unloading, and launching operations, significantly improving the safety and reliability of the operation, while simplifying the system structure and reducing maintenance costs. Attached Figure Description

[0070] The accompanying drawings illustrate exemplary embodiments of the present application and, together with the description thereof, serve to explain the principles of the present application. These drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of this specification.

[0071] Figure 1 A schematic diagram of the fork mechanism according to an embodiment of the invention is shown;

[0072] Figure 2 A schematic diagram of a second driving component according to an embodiment of the invention is shown;

[0073] Figure 3 A schematic diagram of the second chain and the second sprocket according to an embodiment of the invention is shown;

[0074] Figure 4 A schematic diagram of a second driving component according to an embodiment of the invention is shown, in which the first driving component is hidden. Figure 4 4a in the diagram is a front view illustration. Figure 4 4b in the diagram is a schematic of the reverse side;

[0075] Figure 5 A schematic diagram of a first driving component according to an embodiment of the invention is shown;

[0076] Figure 6 A schematic diagram of a first sprocket, a first chain, and a first hydraulic cylinder according to an embodiment of the invention is shown;

[0077] Figure 7 A schematic diagram of the first connecting frame according to an embodiment of the invention is shown;

[0078] Figure 8 A schematic diagram of a first connecting plate and a second connecting plate according to an embodiment of the invention is shown. Figure 8 8a in the diagram is a schematic diagram showing the location of the second connecting plate. Figure 8 8b in the diagram is a schematic representation of the position of the first connecting plate;

[0079] Figure 9 A simplified schematic diagram of the fork at its initial height according to an embodiment of the invention is shown;

[0080] Figure 10 A simplified schematic diagram of the second drive assembly driving the fork to move upward is shown in an embodiment of the invention;

[0081] Figure 11 A simplified schematic diagram of the first drive assembly driving the fork to move downward is shown in an embodiment of the invention.

[0082] Figure 12 A schematic diagram of the fork structure of an embodiment of the invention is shown;

[0083] Figure 13 A schematic diagram showing the positions of the first electromagnet and the second electromagnet according to an embodiment of the invention is provided. Figure 13 In section 13a, the first and second electromagnets, being of the same polarity, repel each other, causing the pad to be lifted. Figure 13 In 13b, the first electromagnet and the second electromagnet are opposite poles and attract each other, so the pad is attracted.

[0084] Figure 14 A front view of the fork structure according to an embodiment of the invention is shown, where angle A is the swing angle of the swing bracket;

[0085] Figure 15 A schematic diagram of the arc-shaped portion of an embodiment of the invention is shown;

[0086] Figure 16A schematic diagram of the structure of the yacht forklift according to an embodiment of the invention is shown;

[0087] Figure 17 A schematic diagram showing the installation position of the third hydraulic cylinder according to an embodiment of the invention is provided.

[0088] Reference numerals: 10, mast; 11, first connecting frame; 111, connecting lug; 12, second connecting frame; 121, first connecting plate; 122, second connecting plate; 13, third connecting frame; 14, first drive assembly; 141, first hydraulic cylinder; 1411, first sprocket; 142, first chain; 15, second drive assembly; 151, second hydraulic cylinder; 1511, second sprocket; 152, second chain; 20, fork carriage assembly; 21, connecting bracket; 22, swing bracket; 221, fork; 222, pad; 2221, first electromagnet; 2222, second electromagnet; 223, latch plate; 23, swing guide plate; 231, arc-shaped part; 24, swing control hydraulic cylinder; 241, telescopic end; 242, cylinder end; 30, yacht forklift; 31, third hydraulic cylinder. Detailed Implementation

[0089] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0090] It should be noted that, where there is no conflict, 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.

[0091] It should be understood that the term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this application are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0092] It should be noted that the terms "one" and "more" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0093] The names of the messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0094] A yacht forklift, the yacht forklift 30 includes: a mast 10 mounted on the front end of the yacht forklift 30, and a fork assembly 20 mounted on the mast 10, the mast 10 being able to control the fork assembly 20 to move up and down;

[0095] Furthermore, the yacht forklift 30 has a first power assembly, a second power assembly, and a third power assembly; wherein the first power assembly is mounted on the fork carriage assembly 20 and can drive the forks 221 to swing; the second power assembly is mounted inside the mast 10 and can drive the third connecting frame 13 to move up and down; the third power assembly is mounted on the yacht forklift 30 and can drive the mast 10 to tilt towards the front and rear ends of the yacht forklift 30.

[0096] Based on the above structure, the gantry 10 includes: a first connecting frame 11, which is connected to the yacht forklift 30;

[0097] The second connecting frame 12 is slidably mounted on the first connecting frame 11. Specifically, the first connecting frame 11 has a sliding groove, and the second connecting frame 12 is movably mounted on the sliding groove.

[0098] The third connecting frame 13 is slidably mounted on the second connecting frame 12. Specifically, the second connecting frame 12 has a groove, and the third connecting frame 13 is vertically movable and mounted on the groove. The front end of the third connecting frame 13 is connected to the forklift assembly 20 for handling goods, such as... Figure 1 As shown;

[0099] Furthermore, the aforementioned second power assembly includes a first drive assembly 14 and a second drive assembly 15; wherein, the first drive assembly 14 is installed between the first connecting frame 11 and the second connecting frame 12, and the first drive assembly 14 is used to cause the second connecting frame 12 to slide up and down on the first connecting frame 11; the second drive assembly 15 is installed between the second connecting frame 12 and the third connecting frame 13, and the second drive assembly 15 is used to cause the third connecting frame 13 to slide up and down on the second connecting frame 12;

[0100] The first drive assembly 14 is used to move the fork downward from its initial height, such as... Figure 10As shown, the second drive assembly 15 is used to move the fork upward from its initial height, as... Figure 11 As shown, the initial height is as follows Figure 9 As shown.

[0101] The first drive component 14 includes:

[0102] The first hydraulic cylinder 141 has its cylinder end fixed to the first connecting frame 11, its telescopic end facing upwards, and a first sprocket 1411 rotatably mounted on the telescopic end. Figure 3 As shown;

[0103] The first chain 142 has its first end fixed on the second connecting frame 12, its second end fixed on the first connecting frame 11, and its middle part mounted on the first sprocket 1411. The first chain 142 is adapted to the first sprocket 1411.

[0104] When the telescopic end of the first hydraulic cylinder 141 retracts downward, the relative height between the first and second ends of the first chain 142 changes. Specifically, the first end of the first chain 142 moves downward. During this process, the first sprocket 1411 rotates to accommodate the chain movement. At this time, the first drive assembly 14 moves the entire second connecting frame 12 and the third connecting frame 13 downward together, allowing the forklift to move downward to a position lower than the bottom of the yacht forklift 30. Figure 11 As shown; conversely, when the telescopic end of the first hydraulic cylinder 141 extends upward again, the first end of the first chain 142 moves upward, pulling the entire second connecting frame 12 and the third connecting frame 13 upward together until the fork returns to its initial height.

[0105] The second drive component 15 includes:

[0106] The second hydraulic cylinder 151 has its cylinder end fixed on the second connecting frame 12, its telescopic end facing upward, and a second sprocket 1511 rotatably mounted on its telescopic end.

[0107] The second chain 152 has its first end fixed to the third connecting frame 13, its second end fixed to the second connecting frame 12, and its middle part mounted on the second sprocket 1511. The second chain 152 is adapted to the second sprocket 1511.

[0108] When the telescopic end of the second hydraulic cylinder 151 extends upward, the relative height between the first and second ends of the second chain 152 changes. Specifically, the first end of the first chain 142 moves downward. During this process, the second sprocket 1511 rotates to accommodate the chain movement. At this time, the second drive assembly 15 moves the entire third connecting frame 13 and the fork upward together, allowing the fork to be raised. Figure 10As shown, conversely, when the telescopic end of the second hydraulic cylinder 151 extends downward again, the first end of the second chain 152 moves downward, pulling the entire third connecting frame 13 and the fork downward together until the fork returns to its initial height.

[0109] The initial height is specifically defined as the height of the forklift when the telescopic end of the first hydraulic cylinder 141 extends to its maximum stroke and the telescopic end of the second hydraulic cylinder 151 retracts to its minimum stroke. Figure 9 As shown; and, there are two first drive assembly 14 and second drive assembly 15 arranged symmetrically about the axis of symmetry of the fork mechanism.

[0110] As a further improvement to the above structure, a first connecting plate 121 and a second connecting plate 122 are installed on the second connecting frame 12; the height of the first connecting plate 121 on the second connecting frame 12 is greater than the height of the second connecting plate 122 on the second connecting frame 12; the first end of the first chain 142 is fixedly installed on the first connecting plate 121 by a bolt assembly; the second end of the second chain 152 is fixedly installed on the second connecting plate 122 by a bolt assembly.

[0111] The aforementioned third power component includes a third hydraulic cylinder 31. The telescopic end of the third hydraulic cylinder 31 is rotatably mounted on the first connecting frame 11, and the cylinder end is rotatably mounted on the front end of the yacht forklift 30. A connecting lug 111 is also installed at the bottom of the first connecting frame 11, and the bottom of the first connecting frame 11 is rotatably connected to the front end of the yacht forklift 30 through the connecting lug 111. The driver of the yacht forklift 30 can adjust the elevation and tilt angles of the forks by extending and retracting the third hydraulic cylinder 31.

[0112] Based on the above structure, the fork carriage assembly 20 is mounted on the third connecting frame 13, and the fork carriage assembly 20 includes:

[0113] Connecting bracket 21 is installed on the third connecting bracket 13;

[0114] The swing bracket 22 has its first end rotatably mounted on both sides of the connecting bracket 21, and its second end has a fork 221. The axial direction of the swing bracket 22 is perpendicular to the axial direction of the fork 221, and the end of the fork 221 faces the front end of the yacht forklift 30.

[0115] The first drive assembly 14 is used to swing the swing bracket 22 along the connection point with the connecting bracket 21. The first drive assembly 14 includes a telescopic hydraulic cylinder. The cylinder end of the telescopic hydraulic cylinder is rotatably mounted on the connecting bracket 21, and the telescopic end is rotatably mounted on the swing bracket 22 via an adapter. By extending and retracting the telescopic hydraulic cylinder, the swing ends of the swing bracket 22 swing closer to or further away from each other. Figure 14As shown, the swing angle is A, and the swing bracket 22 can be swung by pushing or pulling the telescopic hydraulic cylinder.

[0116] Based on the further improvement of the above structure, the fork assembly 20 also includes: a swing guide plate 23, which is mounted on the third connecting bracket 13, wherein the swing guide plate 23 is located below the connecting bracket 21; the lower part of the swing guide plate 23 also has an arc-shaped portion 231, the arc of which is consistent with the swing arc of the swing bracket 22.

[0117] The second end of the swing bracket 22 is also equipped with a latch 223, which is slidably latched onto the arc-shaped portion 231 of the swing guide plate 23. The swing of the swing bracket 22 will cause the latch 223 to move on the arc-shaped portion 231. The latch 223 not only prevents the swing bracket 22 from detaching, but also guides the swing of the swing bracket 22. At the same time, when the fork 221 is transporting the yacht, the weight of the yacht presses on the fork 221. At this time, the fork 221 presses down on the swing bracket 22, causing the second end (lower end of the swing bracket 22) of the swing bracket 22 to deform towards the swing guide plate 23. At this time, the swing guide plate 23 plays a role in balancing the force and preventing the swing bracket 22 from undergoing severe torsional deformation. The first power component includes a swing control hydraulic cylinder 24. The cylinder end 242 of the swing control hydraulic cylinder 24 is rotatably mounted on the connecting bracket 21, and the telescopic end 241 is rotatably mounted on the swing bracket 22.

[0118] The forks 221 and the swing control hydraulic cylinders 24 are both symmetrically arranged in a pair with the axial direction of the length of the yacht forklift 30 as the axis of symmetry. The controller can control one fork 221 individually or control a pair of forks 221 together.

[0119] The yacht forklift 30 also includes a first hydraulic sensor and a second hydraulic sensor. The first hydraulic sensor is installed at the pressure measuring port of the swing control hydraulic cylinder 24, and the second hydraulic sensor is installed at the pressure measuring port of the third hydraulic cylinder 31.

[0120] Both the first and second hydraulic sensors are connected to the controller.

[0121] Furthermore, the yacht forklift 30 also includes:

[0122] The camera assembly is mounted on the third connecting bracket 13 and captures an image of the yacht in front of the yacht forklift 30.

[0123] The controller is installed inside the yacht forklift 30. The controller can control the first power unit, the second power unit and the third power unit. The controller is configured to: receive yacht images, identify the outline of the yacht bottom, and adjust the bearing surface angle of the forks 221 by controlling the extension and retraction of the first power unit so that the angle of the bearing surface adapts to the angle of the side of the bottom of the yacht.

[0124] A cushioning assembly is installed between the pad 222 and the fork 221. The cushioning assembly includes:

[0125] The first electromagnet 2221 is installed at the bottom of the pad 222;

[0126] The second electromagnet 2222 is installed between the fork 221 and the pad 222, and the position of the first electromagnet 2221 is corresponding.

[0127] An electromagnet controller is installed inside the yacht forklift 30. The electromagnet controller is connected to the first electromagnet 2221 and the second electromagnet 2222. The electromagnet controller can control the magnetic poles and magnetic force of the first electromagnet 2221 and the second electromagnet 2222. The electromagnet controller includes an adjustable polarity electromagnet driver (the adjustable polarity electromagnet driver is prior art and will not be described in detail here). Furthermore, both the first electromagnet 2221 and the second electromagnet 2222 are connected to the power supply of the yacht forklift 30. The controller is also connected to the electromagnet controller to control the magnetic poles and magnetic force of the first electromagnet 2221 and the second electromagnet 2222.

[0128] The controller can control the magnetic poles of the first electromagnet 2221 and the second electromagnet 2222 to be the same or opposite, thereby controlling the pad 222 to levitate upwards from the fork 221 or to be in close contact with the fork 221. At the same time, it can also control the height at which the pad 222 is levitated and the lifting force. Furthermore, several pads 222 are arranged along the length of the fork 221, and each pad 222 is provided with a buffer component below it. The controller can independently control the buffer component.

[0129] In another embodiment, in addition to having multiple pads 222 along the length of the fork 221, multiple pads 222 are also provided in the width direction. The width of the fork 221 is at least twice the width of the pads 222. Before the fork 221 lifts the yacht, the controller can suspend the pads 222 by controlling the electromagnet to adapt to the irregular curved contour of the yacht bottom.

[0130] Based on the above structure, a guide structure is installed between the pad 222 and the fork 221 to restrict the pad 222 to move up and down only along the height direction of the fork 221. The guide structure includes a guide post, which is installed on the fork 221, and the pad 222 is slidably installed on the guide post.

[0131] It also includes an electromagnet driving and detection circuit, which is connected to the first electromagnet 2221 and the second electromagnet 2222 of each pad 222 unit. The circuit includes: a current sampling module for real-time acquisition of the current of the electromagnet coil; a frequency injection module for injecting high-frequency detection pulses into the electromagnet driving gap; and a temperature detection module for acquisition of the temperature of the electromagnet coil.

[0132] The controller is further configured as follows:

[0133] 1. Inject high-frequency detection pulses into the electromagnet coil through the high-frequency injection module, calculate the coil inductance based on the current response, and then deduce the air gap value between the first electromagnet 2221 and the second electromagnet 2222.

[0134] 2. Calculate the electromagnetic force generated by the electromagnet based on the current sampling module's current coil current and the air gap value.

[0135] 3. Determine whether the first electromagnet 2221 and the second electromagnet 2222 are in contact by inductance saturation detection;

[0136] 4. Perform a self-calibration process to compensate for the impact of factors such as temperature and material aging on detection accuracy;

[0137] 5. Based on the air gap value, electromagnetic force, and bonding state of each pad 222 unit, independently control the magnetic poles and magnetic force of the first electromagnet 2221 and the second electromagnet 2222 in each pad 222 unit.

[0138] Inductance saturation detection is used to determine whether the first electromagnet 2221 and the second electromagnet 2222 are in a close contact state (i.e., the air gap is close to zero). The principle is that when the air gap of the magnetic circuit is zero, the inductance of the electromagnet coil no longer changes significantly with the increase of current, that is, it enters the saturation state.

[0139] The specific algorithm flow for inductor saturation detection is as follows:

[0140] S101, Set the detection current step size The preferred value is 0.5A;

[0141] Set the inductance change rate threshold The preferred value is 5%;

[0142] Set sampling window width The preferred method is to use 5 consecutive sampling points;

[0143] S102, Current ramp drive;

[0144] The controller controls the electromagnet drive circuit to increase the coil current at a constant rate, from Gradually increase to Wherein, it is assumed that the rated current is 120%;

[0145] At each current step, the current inductance value is measured using a high-frequency injection method. ;

[0146] S103, Calculate the rate of change of inductance;

[0147] For each current step Calculate the relative rate of change of inductance:

[0148] ;

[0149] in, This is the current inductance value;

[0150] S104. Determine the saturation point;

[0151] When the inductance change rate over N consecutive current steps < At that time, it is determined that the inductor has entered the saturation region;

[0152] Record the minimum current value at this time. As the saturation current threshold;

[0153] S105, Status Determination:

[0154] If the current drive current And inductance value If the deviation from the inductance value in the saturation region is less than the set range, it is determined that the first electromagnet 2221 and the second electromagnet 2222 are in contact.

[0155] Otherwise, it is determined that it does not fit properly.

[0156] The controller also features a self-calibration function, which compensates for the effects of temperature variations, electromagnet material aging, assembly tolerances, and other factors on the accuracy of inductance detection and electromagnetic force calculation. Self-calibration is performed automatically during system power-on initialization, or it can be manually triggered by the operator or performed automatically at a preset cycle (e.g., monthly).

[0157] The present invention also discloses a forklift control method, which is based on the above-mentioned yacht forklift and includes a method for loading a yacht with a forklift, a method for determining the center of gravity of a yacht with a forklift, and a method for launching a yacht into the water with a forklift.

[0158] Methods for loading yachts using forklifts include:

[0159] S11. The camera assembly captures an image of the yacht in front of the yacht forklift 30; it identifies the outline of the yacht's bottom; and the controller controls the forks 221 to swing through the first power assembly, so that the angle of the fork 221's bearing surface adapts to the angle of the side of the bottom of the yacht.

[0160] S12. The controller adjusts the magnetic poles of the first electromagnet 2221 and the second electromagnet 2222 through the electromagnet controller so that the two are in the same pole opposite state, and controls the electromagnet current to generate repulsive force to push the pad 222 upward, so that a spring-loaded buffer space supported by electromagnetic repulsive force is formed between the pad 222 and the fork 221.

[0161] S13. The controller or driver controls the yacht forklift 30 to move towards the yacht until the two forks 221 are located on both sides of the bottom of the boat. Then, the second power unit is controlled to move the fork assembly 20 upward. When the pad 222 contacts the bottom surface of the boat, the rebound buffer space is compressed until the first electromagnet 2221 on the two sides of the forks 221 and the second electromagnet 2222 are in contact. It is then determined that the forks 221 can lift the yacht.

[0162] S14. The controller or driver controls the second power unit to drive the connecting bracket 21 to move upward, so that the forks 221 are raised and the yacht is lifted, and the yacht loading is completed.

[0163] Methods for using a forklift to determine the center of gravity of a yacht include:

[0164] S21. During the process of loading and transporting the yacht by the yacht forklift 30, the controller obtains the oil pressure of the swing control hydraulic cylinder 24 that controls the swing of the forks 221 through the first hydraulic sensor; that is, the left oil pressure corresponding to the left fork 221 and the right oil pressure corresponding to the right fork 221.

[0165] S22. When the left or right oil pressure exceeds the threshold, the center of gravity is determined to be off, and a warning of center of gravity deviation is issued to the cab.

[0166] The driver adjusts the forklift's posture or stops the forklift from swinging excessively based on the warning.

[0167] This application also discloses a method for launching a yacht using a forklift. In a first embodiment, the method for launching a yacht using a forklift includes:

[0168] S311. After the yacht forklift 30 loads the yacht and drives it to the predetermined position on the shore, the controller controls the second power unit to drive the connecting bracket 21 to move downward, so that the bottom of the yacht gradually enters the water.

[0169] S312. During the downward movement of the connecting bracket 21, the controller obtains the electromagnetic force calculation value Fi and its rate of change dFi / dt of each pad block 222 unit in real time through the electromagnet drive and detection circuit.

[0170] S313. When the controller detects that the electromagnetic force calculation value of a certain pad block 222 unit begins to decrease (dFi / dt<0) and the decrease exceeds the first preset threshold, it determines that the bottom area of ​​the boat corresponding to the pad block 222 unit has received sufficient buoyancy and enters the pushing-away stage.

[0171] S314. The controller controls the first electromagnet 2221 and the second electromagnet 2222 of the pad block 222 unit to switch to the same pole repulsion state, and increases the electromagnet current at a set rate to generate a gradually increasing repulsive force, pushing the pad block 222 to separate from the bottom of the boat.

[0172] S315. The controller monitors the air gap value of the pad block 222 unit in real time using the high-frequency injection method. When the air gap value reaches the maximum stroke and the electromagnetic force calculation value approaches zero, it is determined that the pad block 222 unit has completely detached from the bottom of the boat, and the controller cuts off the power supply to the electromagnet of the pad block 222 unit.

[0173] S316. Repeat steps S313 to S315 until all pad blocks 222 units have been detached;

[0174] S317, The controller controls the second power unit to continue moving the connecting bracket 21 downward to a safe position, the yacht is fully submerged in water, and the yacht forklift 30 is disengaged.

[0175] In the second embodiment, the water entry method also includes a gradual water entry method based on multi-point independent buffering:

[0176] S321, Preparation for water entry:

[0177] After the yacht forklift 30 loads the yacht and moves it to the predetermined position on the shore, the controller controls the second power unit to drive the connecting bracket 21 to move downwards, causing the bottom of the yacht to gradually enter the water. During the water entry process, the controller continuously acquires the electromagnetic force calculation value Fi and its rate of change dF of each pad block 222 unit through the electromagnet drive and detection circuit. i / dt, and the air gap value δ of each pad block 222 unit. i .

[0178] S322. Buoyancy generation sequence identification:

[0179] The controller monitors the rate of change of electromagnetic force dFi / dt of each pad unit 222 in real time. When the electromagnetic force of a certain pad unit 222 begins to decrease (i.e., dFi / dt), the controller will detect the change. i When / dt<0) and the descent exceeds the first preset threshold, it is determined that the bottom area corresponding to the pad block 222 unit has begun to bear buoyancy. The controller records the order in which each pad block 222 unit enters the buoyancy state, usually sequentially from the stern to the bow along the length of the boat.

[0180] S323, Sequential Push-away Control: The controller performs push-away operations on each pad 222 unit in sequence according to the order in which buoyancy is generated. For the pad 222 unit to be pushed away, the controller switches the magnetic poles of the first electromagnet 2221 and the second electromagnet 2222 to be opposite to each other (repulsion mode). The controller gradually increases the electromagnet current at a set rate, so that the repulsion force gradually increases and actively pushes the pad 222 away from the bottom of the boat.

[0181] During the pushing process, the controller monitors the air gap value of unit 222 of the pad block in real time using a high-frequency injection method. And the calculated value of electromagnetic force F i ;

[0182] When the air gap value When the maximum stroke is reached (pad 222 is fully extended) and the electromagnetic force calculation value Fi approaches zero, it is determined that the pad 222 unit has completely detached from the bottom of the boat. The controller cuts off the power supply to the electromagnet of the pad 222 unit, completing the pushing of the unit away.

[0183] S324, Synchronous Coordination of Left and Right Sides:

[0184] During the pushing process, the controller compares in real time the rate of change of electromagnetic force of the corresponding pad block 222 units on the left and right forks 221. If the difference in the rate of decrease of electromagnetic force of the corresponding units on the left and right sides exceeds a second preset threshold (e.g., 20%), it is determined that the hull is tilting. At this time, the controller takes one or a combination of the following measures:

[0185] Slow down the rate of rise of the push-off current on the side with the faster rate of descent, and wait for the other side to catch up;

[0186] An auxiliary repulsive force is applied in advance to the pad 222 unit on the side with a slower descent rate to promote its detachment;

[0187] If the tilting trend continues to widen, the pushing will be paused and an audible and visual alarm will be issued to prompt the operator to adjust the forklift's posture or check the boat's condition.

[0188] S325. Safe Disengagement and Safe Exit:

[0189] Once all pad blocks 222 units have been detached, the controller controls the second power unit to move the connecting bracket 21 downwards a safe distance (e.g., 20-30 cm) to ensure that the forks 221 are completely detached from the water under the boat. Then, the yacht forklift 30 slowly reverses to complete the launching operation.

[0190] S326. Exception Handling:

[0191] If any of the following abnormal situations occur during the push-away process, the controller will execute the corresponding protection measures:

[0192] Timeout protection: If any pad 222 unit fails to completely detach after a set time (e.g., 10 seconds) from the start of push-away, the controller will issue an alarm and reduce the current of that unit, awaiting operator intervention; Overheat protection: If the temperature detection module detects that the temperature of the electromagnet coil exceeds the safety threshold (e.g., 120°C), the controller will automatically reduce the push-away current and extend the push-away time to prevent damage to the electromagnet.

[0193] Attitude Abnormality Protection: If the controller detects that the hull's pitch or roll angle exceeds the safe range (which can be determined by the optional tilt sensor or by the electromagnetic force distribution of each pad 222), it will immediately stop pushing away and prompt the operator to readjust the forklift position.

[0194] The controller controls the buffer assembly to lift the pad 222, creating a spring-loaded buffer space between the pad 222 and the fork 221, including:

[0195] S111, The controller adjusts the magnetic poles of the first electromagnet 2221 and the second electromagnet 2222 to be opposite to each other through the electromagnet controller;

[0196] S112. The controller gradually increases the coil current of the first electromagnet 2221 and the second electromagnet 2222 through the electromagnet controller, so that the two generate a mutually repulsive electromagnetic force.

[0197] S113. Under the action of the electromagnetic repulsion, the first electromagnet 2221 drives the pad 222 to move upward along the guide structure until a gap of a preset size is formed between the pad 222 and the fork 221. This gap is the spring-back buffer space.

[0198] S114. The controller dynamically adjusts the electromagnet current according to the target lifting height to stabilize the pad 222 at the target position. At this time, the pad 222 and the fork 221 are elastically supported by electromagnetic repulsion. When an external load is applied to the pad 222, the buffer space can be compressed and automatically restored after the load is removed.

[0199] For each pad unit 222, the controller performs the following operations independently via the electromagnet controller:

[0200] The magnetic poles of the first electromagnet 2221 and the second electromagnet 2222 are adjusted to be opposite each other, and the coil current is controlled to generate an upward electromagnetic repulsion force, so that the pad 222 moves upward relative to the fork 221 to form a spring-loaded buffer space supported by the electromagnetic repulsion force.

[0201] The controller adjusts the electromagnet current of each pad 222 unit according to the bottom contour of the boat identified by the camera assembly, so that the lifting height of each pad 222 is adapted to the local curvature of the side of the bottom of the boat, forming a multi-point buffer support surface that conforms to the shape of the bottom of the boat.

[0202] In another embodiment, Hall sensors can be installed on the fork 221 at positions on both sides of the magnetic pole of the second electromagnet 2222 to verify the detection results of the electromagnetic self-sensing system. The Hall sensors can sense the magnetic field strength superimposed by the first electromagnet 2221 and the second electromagnet 2222. When the magnetic field strength exceeds a threshold, it is determined that the two are approaching each other; when it is below the threshold, it is determined that they are moving away from each other. It should be noted that the Hall sensors are optional components. When using the aforementioned electromagnetic self-sensing scheme (high-frequency injection method, inductor saturation detection), the Hall sensors can be omitted to achieve a simpler structure.

[0203] Those skilled in the art should understand that the above embodiments are merely for illustrative purposes and are not intended to limit the scope of this application. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of this application.

Claims

1. A yacht forklift, characterized in that: The yacht forklift (30) includes: A mast (10) is rotatably mounted on the front end of the yacht forklift (30), and a third connecting frame (13) is slidably mounted on the mast (10), the third connecting frame (13) being able to rise and fall in the height direction; A fork carriage assembly (20) is mounted on the third connecting frame (13). The fork carriage assembly (20) includes a swingable fork (221). A pad (222) is slidably mounted on the bearing surface of the fork (221). A buffer assembly is installed between the pad (222) and the fork (221). A first power assembly is installed on the fork carriage assembly (20), which can drive the forks (221) to swing. The gantry (10) is equipped with a second power assembly, which can drive the third connecting frame (13) to move up and down. The yacht forklift (30) is equipped with a third power unit that can drive the mast (10) to tilt toward the front and rear of the yacht forklift (30). The yacht forklift (30) also includes a camera assembly mounted on the third connecting frame (13) for capturing images of the yacht in front of the yacht forklift (30). The controller is installed inside the yacht forklift (30) and can control the first power assembly, the second power assembly and the third power assembly. The controller is configured to: receive the yacht image, identify the outline of the yacht bottom, and adjust the bearing surface angle of the forks (221) by controlling the extension and retraction of the first power assembly so that the bearing surface angle adapts to the angle of the side of the bottom of the yacht. The buffer component includes: A first electromagnet (2221) is installed at the bottom of the pad (222); The second electromagnet (2222) is installed between the fork (221) and the pad (222), and corresponds to the position of the first electromagnet (2221); An electromagnet controller is installed inside the yacht forklift (30). The electromagnet controller is connected to the first electromagnet (2221) and the second electromagnet (2222). The electromagnet controller can control the magnetic poles and magnetic force of the first electromagnet (2221) and the second electromagnet (2222). The first electromagnet (2221) and the second electromagnet (2222) are both connected to the power supply of the yacht forklift (30). The controller is also connected to the electromagnet controller to control the magnetic poles and magnetic force of the first electromagnet (2221) and the second electromagnet (2222).

2. The yacht forklift according to claim 1, characterized in that: Several pads (222) are provided along the length of the fork (221), and each pad (222) is provided with a buffer component below it; the controller can independently control the buffer component.

3. The yacht forklift according to claim 2, characterized in that: The fork assembly (20) includes: A connecting bracket (21) is installed on the third connecting bracket (13) of the gantry (10); A swing bracket (22) has its first end rotatably mounted on both sides of the connecting bracket (21) and its second end connected to the fork (221). The axial direction of the swing bracket (22) is perpendicular to the axial direction of the fork (221). A swing guide plate (23) is mounted on the third connecting bracket (13), wherein the swing guide plate (23) is located below the connecting bracket (21); The swing guide plate (23) also has an arc-shaped part (231) below it, and the arc of the arc-shaped part (231) is consistent with the swing arc of the swing bracket (22); The second end of the swing bracket (22) is also equipped with a buckle (223), which is slidably fastened to the arc-shaped part (231) of the swing guide plate (23); The first power assembly includes a swing control hydraulic cylinder (24), the cylinder end (242) of which is rotatably mounted on the connecting bracket (21), and the telescopic end (241) of which is rotatably mounted on the swing bracket (22).

4. The yacht forklift according to claim 3, characterized in that: The gantry (10) includes: The first connecting frame (11) is connected to the front end of the yacht forklift (30); The second connecting frame (12) is slidably mounted on the first connecting frame (11); The third connecting frame (13) is slidably mounted on the second connecting frame (12), and the connecting bracket (21) is mounted on the front end of the third connecting frame (13); The second power assembly includes a first drive assembly (14) and a second drive assembly (15); The first drive component (14) is installed between the first connecting frame (11) and the second connecting frame (12), and the first drive component (14) is used to make the second connecting frame (12) slide up and down on the first connecting frame (11); The second drive assembly (15) is installed between the second connecting frame (12) and the third connecting frame (13), and the second drive assembly (15) is used to make the third connecting frame (13) slide up and down on the second connecting frame (12); Wherein, the first drive component (14) is used to move the forks (221) downward from the initial height, and the second drive component (15) is used to move the forks (221) upward from the initial height; The first driving component (14) includes: The first hydraulic cylinder (141) has its cylinder end fixed on the first connecting frame (11), its telescopic end facing upward, and a first sprocket (1411) is rotatably mounted on the telescopic end. The first chain (142) has its first end fixed to the second connecting frame (12), its second end fixed to the first connecting frame (11), and its middle part mounted on the first sprocket (1411). The first chain (142) is adapted to the first sprocket (1411). The second driving component (15) includes: The second hydraulic cylinder (151) has its cylinder end fixed on the second connecting frame (12), its telescopic end facing upward, and a second sprocket (1511) is rotatably mounted on the telescopic end. The second chain (152) has its first end fixed on the third connecting frame (13), its second end fixed on the second connecting frame (12), and its middle part mounted on the second sprocket (1511). The second chain (152) is adapted to the second sprocket (1511). A first connecting plate (121) and a second connecting plate (122) are mounted on the second connecting frame (12); the height of the first connecting plate (121) on the second connecting frame (12) is greater than the height of the second connecting plate (122) on the second connecting frame (12); The first end of the first chain (142) is fixedly mounted on the first connecting plate (121) by a bolt assembly; The second end of the second chain (152) is fixedly mounted on the second connecting plate (122) by a bolt assembly; The initial height is the height of the forks (221) when the telescopic end of the first hydraulic cylinder (141) extends to its maximum stroke and the telescopic end of the second hydraulic cylinder (151) retracts to its minimum stroke.

5. The yacht forklift according to claim 4, characterized in that: The third power assembly includes a third hydraulic cylinder (31) mounted on the first connecting frame (11), the telescopic end of the third hydraulic cylinder (31) being rotatably mounted on the first connecting frame (11), and the cylinder end being rotatably mounted on the front end of the yacht forklift (30). The bottom of the first connecting frame (11) is also equipped with a connecting ear (111), and the bottom of the first connecting frame (11) is rotatably connected to the front end of the yacht forklift (30) through the connecting ear (111).

6. The yacht forklift according to claim 5, characterized in that: The forks (221) and the swing control hydraulic cylinders (24) are symmetrically arranged in a pair with the axial direction of the length of the yacht forklift (30) as the axis of symmetry. The controller can control one of the forks (221) individually or control the pair of forks (221) together. The yacht forklift (30) also includes a first hydraulic sensor and a second hydraulic sensor. The first hydraulic sensor is installed at the pressure measuring port of the swing control hydraulic cylinder (24), and the second hydraulic sensor is installed at the pressure measuring port of the third hydraulic cylinder (31). Both the first hydraulic sensor and the second hydraulic sensor are connected to the controller.

7. A forklift control method, based on the yacht forklift of claim 6, characterized in that: The control method includes a method for loading a yacht with a forklift, a method for determining the center of gravity of a yacht with a forklift, and a method for launching a yacht into the water with a forklift. The method for loading the yacht with a forklift includes: S11. The camera assembly captures an image of the yacht in front of the yacht forklift (30); identifies the outline of the yacht's bottom; and the controller controls the forks (221) to swing through the first power assembly so that the angle of the fork (221) bearing surface adapts to the angle of the yacht's bottom side. S12. The controller adjusts the magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller so that the two are in the same pole opposite state, and controls the electromagnet current to generate repulsive force to push the pad (222) upward, so that a spring-loaded buffer space supported by electromagnetic repulsive force is formed between the pad (222) and the fork (221); S13. The controller or driver controls the yacht forklift (30) to move towards the yacht until the two forks (221) are located on both sides of the bottom of the boat. Then, the second power unit is controlled to move the fork assembly (20) upward. When the pad (222) contacts the bottom surface of the boat, the resilient buffer space is compressed until the first electromagnet (2221) on the forks (221) on both sides is in contact with the second electromagnet (2222). It is then determined that the forks (221) can lift the yacht. S14. The controller or driver controls the second power unit to drive the connecting bracket (21) to move upward, so that the forks (221) are raised and the yacht is lifted, and the yacht loading is completed; The method for the forklift to determine the yacht's center of gravity includes: S21. During the process of loading a yacht for transport by the yacht forklift (30), the controller obtains the oil pressure of the swing control hydraulic cylinder (24) that controls the swing of the forks (221) through the first hydraulic sensor, which are the left oil pressure corresponding to the left fork (221) and the right oil pressure corresponding to the right fork (221). S22. When the left or right oil pressure exceeds the threshold, the center of gravity is determined to be off, and a warning of center of gravity deviation is issued to the cab. The method for launching the yacht using a forklift includes: S31. The yacht forklift (30) loads the yacht to the side of the water entry area, and the controller moves the connecting bracket (21) downward through the second power component to put the bottom of the yacht into the water. S32. The controller adjusts the magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) by means of the electromagnet controller to make them the same. During the process of the second power component moving the connecting bracket (21) downward, the controller increases the magnetic strength of the first electromagnet (2221) and the second electromagnet (2222) by means of the electromagnet controller.

8. The forklift control method according to claim 7, characterized in that: The controller controls the buffer assembly to lift the pad (222), creating a spring-loaded buffer space between the pad (222) and the fork (221), including: S111, The controller adjusts the magnetic poles of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller so that they are the same; S112, The controller enhances the magnetic field strength of the first electromagnet (2221) and the second electromagnet (2222) through the electromagnet controller.

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