Electric fork lift truck control device

Abstract

The application discloses a control device for an electric forklift truck, which comprises an in-position information acquisition module, a load weight acquisition module, a mast height acquisition module and a control module; the in-position information acquisition module acquires driving in-position information of a driver; the load weight acquisition module acquires load weight information of the electric forklift truck; the mast height acquisition module acquires mast height information of the electric forklift truck; the control module receives the driving in-position information, the load weight information and the mast height information, determines an in-position level state according to the driving in-position information, determines an actual driving off-seat warning level state according to the load weight information and the mast height information, and performs graded control on the electric forklift truck according to the in-position level state and the actual driving off-seat warning level state. The load weight and the mast height of the electric forklift truck are combined to realize the judgment of the in-position state of the driver during the operation of the electric forklift truck and the automatic control of the electric forklift truck, the accuracy of the driving in-position detection is improved, and the operation safety of the electric forklift truck is ensured.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more particularly to an electric forklift control device. Background Technology

[0002] Electric forklifts are indispensable material handling tools in the industrial field, capable of loading, unloading, stacking, and short-distance transport of palletized goods. During the use of electric forklifts, the operator's off-site monitoring is crucial for the safe operation of the forklifts.

[0003] Traditional driver off-duty monitoring methods involve a timing module that records the working time of the forklift while it is running. The system determines the normal working time of each forklift driver based on the number of times the steering wheel is returned to center, the number of times the lifting handle automatically resets, the number of times the tilt handle automatically resets, or the number of times the side shift handle automatically resets. The system then displays information indicating whether the working status is normal or abnormal through an alert module.

[0004] The above driver off-duty alarm scheme does not take into account the height of the electric forklift mast and the load weight, which leads to inaccurate judgment of the driver's on-duty status during electric forklift operation and affects operational safety. Summary of the Invention

[0005] This invention provides an electric forklift control device that combines driver presence information with the load weight and mast height of the electric forklift to determine the driver's presence status and automatically control the electric forklift during operation, thereby improving the accuracy of driver presence detection and ensuring the operational safety of the electric forklift.

[0006] The electric forklift control device provided in this embodiment of the invention includes an in-situ information acquisition module, a load weight acquisition module, a mast height acquisition module, and a control module;

[0007] The on-duty information collection module is used to collect the driver's on-duty driving information;

[0008] The load weight acquisition module is used to collect the load weight information of the electric forklift;

[0009] The mast height acquisition module is used to collect mast height information of electric forklifts;

[0010] The control module is communicatively connected to the presence information acquisition module, load weight acquisition module, and mast height acquisition module to receive driver presence information, load weight information, and mast height information; it determines the presence level status based on the driver presence information, determines the actual driver departure warning level status based on the load weight information and mast height information, and performs graded control of the electric forklift based on the presence level status and the actual driver departure warning level status.

[0011] Optionally, the incumbent status includes a first-level incumbent status and a second-level incumbent status;

[0012] The actual driving departure warning level includes Level 1 departure warning and Level 2 departure warning; the load weight information corresponding to Level 2 departure warning is greater than the load weight information corresponding to Level 1 departure warning, and / or, the gantry height information corresponding to Level 2 departure warning is greater than the gantry height information corresponding to Level 1 departure warning;

[0013] When the control module determines that the in-seat level is Level 2 in-seat and the actual driver departure warning level is Level 1 departure warning, the control module controls the electric forklift based on the driver's departure time.

[0014] When the control module determines that the in-position level is Level 2 in-position and the actual driver departure warning level is Level 2 departure warning, the control module locks the electric forklift function. After obtaining the Level 1 in-position status, it keeps the electric forklift function locked. When it detects the electric forklift's reset information and the mast height information drops below the preset height, it restores the electric forklift function. The preset height is the maximum height of the mast height information in the Level 1 departure warning state corresponding to the current load weight information.

[0015] Optionally, when the control module determines that the on-site status is Level 2 on-site status, the actual driver departure warning status is Level 1 departure warning status, and the time during which the control module does not obtain Level 1 on-site status is less than a preset duration, the control module is used to maintain the function of the electric forklift.

[0016] When the control module determines that the on-site status is Level 2 on-site status, the actual driver departure warning status is Level 1 departure warning status, and the control module fails to obtain Level 1 on-site status for a period of time exceeding the preset duration, the control module controls the electric forklift to lock its function until the control module obtains the on-site status and detects the electric forklift's reset information, at which point the electric forklift's function is restored.

[0017] Optionally, the electric forklift control device also includes a prompting module, which is communicatively connected to the control module;

[0018] When the control module determines that the on-duty status is Level 2 on-duty status, the actual driver departure warning status is Level 1 departure warning status, and the control module has not obtained Level 1 on-duty status for a period of time exceeding the preset duration, the control module is also used to control the prompting module to issue a first warning message; the first warning message includes a return reminder message, an operating handle operation reminder message, and a forklift gear operation reminder message;

[0019] When the control module determines that the in-seat status is Level 2 in-seat and the actual driver departure warning status is Level 2 departure warning, the control module is also used to control the prompting module to issue a second warning message; the second warning message includes a return-to-position reminder message, an operating handle operation reminder message, a forklift gear operation reminder message, and a mast height operation reminder message.

[0020] Optionally, when the control module determines that the in-situ status is Level 1 in-situ and has not entered Level 2 in-situ, and when the control module does not acquire Level 1 in-situ status, the control module is used to maintain the function of the electric forklift.

[0021] Optionally, when the control module detects that the mast height information has dropped below the preset height and the electric forklift is in a non-driving state, and the control module has not obtained the first-level on-duty status, the control module is used to maintain the function of the electric forklift; the preset height is the maximum height of the mast height information in the first-level off-duty warning state corresponding to the current load weight information.

[0022] Optionally, the control module is used to determine the actual driver departure warning level as a Level 1 departure warning state when the load weight information is less than the first load weight information percentage threshold and / or the gantry height information is less than the first gantry height percentage threshold; and to determine the actual driver departure warning level as a Level 2 departure warning state when the load weight information is greater than or equal to the first load weight information percentage threshold and the gantry height information is greater than or equal to the first gantry height percentage threshold.

[0023] Optionally, the control module is used to determine the actual driver departure warning level based on the preset correspondence between the load weight information percentage threshold, the gantry height percentage threshold, and the reference driver departure warning level.

[0024] Optionally, the in-situ information acquisition module includes a seat switch, a seat pressure sensor, an operating handle, a forklift gear position sensor, and a steering wheel encoder.

[0025] The control module is connected to the seat switch, seat pressure sensor, operating handle, forklift gear position, and steering wheel encoder to determine the driver's primary position based on the conduction status of the seat switch and the sensing value of the seat pressure sensor; and after confirming the driver's primary position, it determines the driver's secondary position based on the changes in the operating handle, the changes in the forklift gear position, and the rotation angle of the steering wheel encoder.

[0026] Optionally, the electric forklift control device also includes a power module, which is electrically connected to the control module, the location information acquisition module, the load weight acquisition module, and the mast height acquisition module, and is used to supply power to the control module, the location information acquisition module, the load weight acquisition module, and the mast height acquisition module.

[0027] The electric forklift control device provided in this embodiment of the invention includes a driver presence information acquisition module, a load weight acquisition module, a mast height acquisition module, and a control module. The driver presence information acquisition module acquires the driver's presence information, the load weight acquisition module acquires the load weight information of the electric forklift, and the mast height acquisition module acquires the mast height information of the electric forklift. The control module is communicatively connected to the driver presence information acquisition module, the load weight acquisition module, and the mast height acquisition module, receiving the driver presence information, load weight information, and mast height information. The control module determines the presence level based on the driver presence information, determines the actual driver absence warning level based on the load weight information and the mast height information, and performs graded control of the electric forklift based on the presence level and the actual driver absence warning level. By adopting the above technical solution, combining the load weight and mast height of the electric forklift to determine the driver presence status during operation and setting corresponding absence warning levels, automatic control of the electric forklift is achieved, improving the accuracy of driver presence detection and ensuring the operational safety of the electric forklift. This solution addresses the problem of inaccurate driver presence assessment and operational safety issues arising from the electric forklift departure alarm scheme's failure to consider the forklift mast height and load weight. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the first type of electric forklift control device provided in the embodiments of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the second type of electric forklift control device provided in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the third type of electric forklift control device provided in the embodiments of the present invention;

[0031] Figure 4 This is a schematic diagram of the fourth type of electric forklift control device provided in the embodiments of the present invention.

[0032] In this embodiment of the invention, the reference numerals and corresponding feature names are as follows:

[0033] 10-Location information acquisition module, 11-Seat switch, 12-Seat pressure sensor, 13-Operating handle, 14-Forklift gear position, 15-Steering wheel encoder, 20-Load weight acquisition module, 30-Mast height acquisition module, 40-Control module, 50-Indication module, 60-Power module. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0035] The terminology used in the embodiments of this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. It should be noted that directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this invention are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this invention. Furthermore, in the context, it should be understood that when referring to an element being formed "upper" or "lower" of another element, it can be formed not only directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] Figure 1 This is a schematic diagram of the structure of the first type of electric forklift control device provided in an embodiment of the present invention. This embodiment of the present invention is applicable to situations where the driver needs to leave their seat during the operation of an electric forklift, and for the safety control of the electric forklift. Figure 1As shown, the electric forklift control device provided in this embodiment of the invention includes an on-duty information acquisition module 10, a load weight acquisition module 20, a mast height acquisition module 30, and a control module 40. The on-duty information acquisition module 10 is used to acquire the driver's on-duty information; the load weight acquisition module 20 is used to acquire the load weight information of the electric forklift; the mast height acquisition module 30 is used to acquire the mast height information of the electric forklift; the control module 40 is communicatively connected to the on-duty information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30, respectively, and is used to receive the driver's on-duty information, the load weight information, and the mast height information; determine the on-duty level status based on the driver's on-duty information, determine the actual driver departure warning level status based on the load weight information and the mast height information, and perform graded control of the electric forklift based on the on-duty level status and the actual driver departure warning level status.

[0038] In this embodiment, the electric forklift control device includes an in-situ information acquisition module 10, a load weight acquisition module 20, a mast height acquisition module 30, and a control module 40. The in-situ information acquisition module 10 can be understood as a module capable of real-time acquisition, identification, and output of whether the driver is in the driver's seat, sensing the driver's physical presence information. Exemplarily, the in-situ information acquisition module 10 includes, but is not limited to, a seat pressure sensor and a steering wheel encoder; this embodiment of the invention does not impose limitations on these. The in-situ information acquisition module 10 is used to collect the driver's driving presence information.

[0039] The load weight acquisition module 20 can be understood as a sensing and data processing module capable of accurately acquiring the load weight of the equipment and outputting the load weight data. For example, the load weight acquisition module 20 may include, but is not limited to, an oil pressure sensor. The load weight acquisition module 20 is used to acquire the load weight information of the electric forklift. The mast height acquisition module 30 can be understood as a sensing and data processing module used in forklifts and other specialized equipment with a liftable mast to acquire the mast lifting height, lifting speed, and position status in real time. For example, the mast height acquisition module 30 may be a pull rope sensor; this embodiment of the invention does not limit this. The mast height acquisition module 30 is used to acquire the mast height information of the electric forklift.

[0040] The control module 40 can be understood as an integrated modular component that integrates data reception, logical operation, instruction output, and status feedback. The control module 40 can receive signals, complete logical judgment and operation processing, and output control instructions to the actuator of the device. For example, the control module 40 includes, but is not limited to, a controller, and the embodiments of the present invention do not impose any limitations on this.

[0041] Specifically, the control module 40 is communicatively connected to the presence information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30. The control module 40 receives driver presence information collected by the presence information acquisition module 10, load weight information collected by the load weight acquisition module 20, and mast height information collected by the mast height acquisition module 30. Based on the driver presence information, the control module 40 uses preset judgment rules to classify and quantify the driver's physical presence status and operational effectiveness in the driver's seat, determining the presence level. The presence level can be understood as a graded status identifier of the driver's presence output by the control module 40, and the control module 40 performs different electric forklift controls for different presence levels.

[0042] The control module 40 determines the actual driver departure warning level based on the load weight information and the mast height information. This actual driver departure warning level can be understood as a driver departure warning rule formed by the control module 40 combining the load weight information and the mast height information, and the departure warning classification status identifier output according to this rule. The control module 40 performs graded control of the electric forklift based on the presence level status and the actual driver departure warning level status.

[0043] For example, the in-situ status is set to Level 1 in-situ and Level 2 in-situ, with the response priority of Level 2 in-situ being higher than that of Level 1 in-situ. When the control module 40 determines that the driver is in Level 2 in-situ, if the control module 40 detects that the driver has left the vehicle, it will determine the actual driver departure warning level based on the current load weight information and mast height information of the electric forklift, issue a corresponding warning to the driver, and simultaneously control the electric forklift to ensure its safe operation.

[0044] The electric forklift control device provided in this embodiment of the invention includes a driver presence information acquisition module 10, a load weight acquisition module 20, a mast height acquisition module 30, and a control module 40. The driver presence information is acquired by the driver presence information acquisition module 10, the load weight information of the electric forklift is acquired by the load weight acquisition module 20, and the mast height information of the electric forklift is acquired by the mast height acquisition module 30. The control module 40 is communicatively connected to the driver presence information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30, receiving driver presence information, load weight information, and mast height information. The control module 40 determines the presence level based on the driver presence information, determines the actual driver departure warning level based on the load weight information and the mast height information, and performs graded control of the electric forklift based on the presence level and the actual driver departure warning level. By adopting the above technical solution, which combines the load weight and mast height of the electric forklift to determine the driver's on-duty status during operation and set corresponding off-duty warning levels, the automatic control of the electric forklift is achieved. This improves the accuracy of driver on-duty detection and ensures the operational safety of the electric forklift. It solves the problem of inaccurate driver on-duty status judgment and its impact on operational safety caused by the previous electric forklift off-duty alarm schemes that did not consider the mast height and load weight factors.

[0045] Optional, you can continue to refer to Figure 1 The on-duty status includes Level 1 on-duty status and Level 2 on-duty status; the actual driver departure warning status includes Level 1 departure warning status and Level 2 departure warning status; the load weight information corresponding to Level 2 departure warning status is greater than the load weight information corresponding to Level 1 departure warning status, and / or, the mast height information corresponding to Level 2 departure warning status is greater than the mast height information corresponding to Level 1 departure warning status; when the control module 40 determines that the on-duty status is Level 2 on-duty status and the actual driver departure warning status is Level 1 departure warning status, the control module 40 controls the electric forklift according to the driver departure time; when the control module 40 determines that the on-duty status is Level 2 on-duty status and the actual driver departure warning status is Level 2 departure warning status, the control module 40 controls the electric forklift function to lock, after obtaining Level 1 on-duty status, controls the electric forklift function to remain locked, and controls the electric forklift function to recover when the electric forklift reset information is detected and the mast height information is detected to drop below the preset height; the preset height is the maximum height of the mast height information in the Level 1 departure warning status corresponding to the current load weight information.

[0046] In this embodiment, the presence level includes a Level 1 presence state and a Level 2 presence state. The Level 1 presence state can be understood as the presence level determined by the control module 40 after detecting the driver's physical presence. For example, when the driver sits in the driver's seat, if the presence information acquisition module 10 collects pressure information from the driver's seat that exceeds a pressure information threshold set by the control module 40, then the presence level is determined to be Level 1. The Level 2 presence state can be understood as the presence level determined by the control module 40 after detecting interaction information and valid operations between the driver and the presence information acquisition module 10. For example, when the driver sits in the driver's seat and operates the steering wheel or gear shift, if the control module 40 detects interaction information between the driver and the presence information acquisition module 10, then the presence level is determined to be Level 2.

[0047] The actual driver departure warning level includes a Level 1 departure warning and a Level 2 departure warning. A Level 1 departure warning can be understood as a warning state where the load weight information determined by the control module 40 based on the load weight information and gantry height information is a small percentage of the full load, or the gantry height information is low, or both the load weight information and the gantry height information are low. A Level 2 departure warning is triggered when the load weight information is greater than the load weight information corresponding to the Level 1 departure warning, or when the load weight information is greater than the load weight information corresponding to the Level 1 departure warning, or when both the load weight information and the gantry height information are greater than the gantry height information corresponding to the Level 1 departure warning.

[0048] For example, the load weight information corresponding to the Level 1 Leave Warning state accounts for 30% of the electric forklift's full load, and / or, the mast height information corresponding to the Level 1 Leave Warning state accounts for 30% of the electric forklift's mast height; the load weight information corresponding to the Level 2 Leave Warning state can account for 60% of the electric forklift's full load, and / or, the mast height information corresponding to the Level 2 Leave Warning state can account for 60% of the electric forklift's mast height.

[0049] Specifically, when the control module 40 determines that the driver's on-duty status is Level 2 and the actual driver departure warning status is Level 1, the control module 40 controls the electric forklift based on the time the driver left the vehicle. For example, when the control module 40 determines that the driver's on-duty status is Level 2 and detects that the driver has left the vehicle, such as when the driver has left the vehicle during lifting or driving operations, the control module 40 determines that the actual driver departure warning status is Level 1 and controls the forklift accordingly.

[0050] Optional, you can continue to refer to Figure 1When the control module 40 determines that the on-site status is Level 2 on-site, the actual driver departure warning status is Level 1 departure warning, and the time during which the control module 40 has not acquired Level 1 on-site status is less than a preset duration, the control module 40 maintains the electric forklift function. When the control module 40 determines that the on-site status is Level 2 on-site, the actual driver departure warning status is Level 1 departure warning, and the time during which the control module has not acquired Level 1 on-site status exceeds a preset duration, the control module 40 locks the electric forklift function until the control module 40 acquires the on-site status and detects the electric forklift's reset information, at which point the electric forklift function is restored.

[0051] Specifically, when the control module 40 determines that the on-duty status is Level 2 on-duty status, the actual driver departure warning status is Level 1 departure warning status, and the time during which the control module 40 has not obtained Level 1 on-duty status is less than a preset duration, the control module 40 controls the electric forklift to maintain its function. For example, the preset duration includes, but is not limited to, 1.5 seconds; this embodiment of the invention does not impose this limitation.

[0052] For example, when the control module 40 determines that the driver's on-duty status is Level 2 and obtains information about the driver leaving the seat, such as when the driver leaves the seat during the lifting or driving operation of the electric forklift, the control module 40 determines that the actual driver departure warning status is Level 1 departure warning status. Then, the timer starts from the moment the driver leaves the seat. If the control module 40 senses that the driver has returned to the driver's seat within 1.5 seconds, the control module 40 maintains the function of the electric forklift, and the electric forklift can work normally.

[0053] Specifically, when the control module 40 determines that the on-duty level is Level 2 on-duty, the actual driver departure warning level is Level 1 departure warning, and the control module 40 has not acquired Level 1 on-duty status for a period exceeding a preset time, the control module 40 locks the electric forklift function until the control module 40 acquires the on-duty level and detects the electric forklift's reset information, at which point the electric forklift function is restored. The electric forklift's reset information includes, but is not limited to, the electric forklift shifting to neutral and the electric forklift's handle resetting. This embodiment of the invention does not impose limitations on this.

[0054] For example, when the control module 40 determines that the driver's on-duty status is Level 2 and detects that the driver has left the seat (e.g., when the driver leaves the seat during lifting or driving of the electric forklift), the control module 40 determines that the actual driver departure warning level is Level 1. Then, a timer starts from the moment the driver leaves the seat. If the control module 40 does not sense the driver returning to the driver's seat within 1.5 seconds, the electric forklift immediately stops operating. Once the driver returns to the seat and the gear shift and handle of the electric forklift are both reset, the electric forklift's functions are restored.

[0055] Specifically, when the control module 40 determines that the in-seat status is Level 2 in-seat and the actual driver departure warning status is Level 2 departure warning, the control module 40 locks the electric forklift function. After obtaining the Level 1 in-seat status, it keeps the electric forklift function locked. When it detects the electric forklift's reset information and the mast height information drops below a preset height, it restores the electric forklift function. The preset height is the maximum height of the mast height information in the Level 1 departure warning status corresponding to the current load weight information. For example, Table 1 is the actual driver departure warning status table of the electric forklift control device provided in this embodiment of the invention. As shown in Table 1, if the current load weight information is 100% full load, the preset height is H2%, and this embodiment of the invention does not impose any limitation on this.

[0056] Table 1 Actual Driver Exit Warning Level Status Table of Electric Forklift Control Device

[0057]

[0058] Among them, 100% > N6% > N5% > N4% > N3% > N2% > N1% > 0, and 100% > H5% > H4% > H3% > H2% > H1% > 0.

[0059] For example, when the control module 40 determines that the driver is in a Level 2 on-duty state and the actual driver departure warning level is a Level 2 departure warning state, the control module 40 controls the electric forklift to immediately stop working. After the driver returns to the seat, the lifting function of the electric forklift remains locked. After the driver returns the gear and handle of the electric forklift to the reset state, and the mast height of the electric forklift is lowered below the maximum height of the mast height information corresponding to the Level 1 departure warning state of the electric forklift's current load weight information, all functions of the electric forklift return to normal.

[0060] The electric forklift control device provided in this invention establishes a primary and secondary on-duty state, as well as a primary and secondary off-duty warning state. The control module 40 performs different controls on the electric forklift based on different on-duty and actual off-duty warning levels, ensuring accurate monitoring of the driver's presence during operation and guaranteeing safe operation. This achieves refined monitoring and hierarchical control of the driver's on-duty status and operational risk status, avoiding misjudgments of on-duty status and indiscriminate control that affect the operating efficiency and safety of the electric forklift, and resolving the disconnect between on-duty monitoring and electric forklift control.

[0061] Figure 2 This is a schematic diagram of the structure of the second type of electric forklift control device provided in the embodiments of the present invention, as shown below. Figure 2 As shown, the electric forklift control device also includes a prompting module 50, which is communicatively connected to the control module 40. When the control module 40 determines that the on-duty level is a level two on-duty state, the actual driver departure warning level is a level one departure warning state, and the time during which the control module 40 has not obtained the level one on-duty state exceeds a preset duration, the control module 40 is also used to control the prompting module 50 to issue a first warning message. The first warning message includes a return-to-position reminder message, an operating handle operation reminder message, and a forklift gear operation reminder message. When the control module 40 determines that the on-duty level is a level two on-duty state, and the actual driver departure warning level is a level two departure warning state, the control module 40 is also used to control the prompting module 50 to issue a second warning message. The second warning message includes a return-to-position reminder message, an operating handle operation reminder message, a forklift gear operation reminder message, and a mast height operation reminder message.

[0062] In this embodiment, the electric forklift control device further includes a prompting module 50. The prompting module 50 can be understood as an information output and warning prompting component communicatively connected to the control module 40. It is a component capable of outputting warning prompts and operation instructions to the driver through sound, light, or visual prompts according to preset prompting rules. For example, the prompting module 50 may include, but is not limited to, the electric forklift's dashboard; this embodiment of the invention does not impose such limitations.

[0063] Specifically, the prompting module 50 is communicatively connected to the control module 40. When the control module 40 determines that the on-seat level is a Level 2 on-seat state, the actual driver departure warning level is a Level 1 departure warning state, and the control module 40 has not obtained a Level 1 on-seat state for a preset duration, the control module 40 controls the prompting module 50 to issue a first warning message. The first warning message can be understood as a warning message output by the control module 40 to the driver by the prompting module 50 based on the current on-seat level and the actual driver departure warning level. The first warning message includes a return-to-seat reminder, an operating handle operation reminder, and a forklift gear operation reminder. The return-to-seat reminder is a prompt issued to the driver by the control module 40 after sensing the driver's Level 1 on-seat state upon the driver returning to the driver's seat. For example, the first warning message could be a "Please return to your seat" prompt; this embodiment of the invention does not limit this. The operating handle operation reminder information and forklift gear operation reminder information can be understood as prompts issued by the control prompt module 50 to the driver to perform corresponding operations on the on-site information collection module 10 after the control module 40 determines that the driver has entered the first-level on-site state. The driver's operation methods on the on-site information collection module 10 include, but are not limited to, operating the handle or changing the forklift gear; this embodiment of the invention does not impose any restrictions on these methods.

[0064] When the control module 40 determines that the on-seat level is Level 2 on-seat and the actual driver departure warning level is Level 2 departure warning, the control module 40 controls the prompting module 50 to issue a second warning message. The second warning message can be understood as a warning or operational guidance message output by the control module 40 to the driver through the prompting module 50 based on the current on-seat level and the actual driver departure warning level. The second warning message includes a return-to-seat reminder, a lever operation reminder, a forklift gear operation reminder, and a mast height operation reminder. For example, the second warning message could be a "Please return to your seat immediately" reminder issued by the prompting module 50 after the driver leaves the driver's seat. The second warning message could also be a lever operation reminder, forklift gear operation reminder, and mast height operation reminder issued by the prompting module 50 after the control module 40 determines that the driver has entered Level 1 on-seat status; this embodiment of the invention does not limit this.

[0065] For example, when the control module 40 determines that the driver's on-seat status is Level 2 and the driver leaves the seat, the control module 40 determines that the actual driver departure warning level is Level 1. A timer starts from the moment the driver leaves the seat. If the control module 40 does not sense the driver returning to the driver's seat within 1.5 seconds, the prompting module 50 immediately issues a "Please return to the seat" prompt. When the control module 40 determines that the driver is in Level 2 on-seat status and the actual driver departure warning level is Level 2, the prompting module 50 immediately issues a "Please return to the seat immediately" prompt. After the driver returns to the seat, the prompting module 50 will then issue an operation guidance message, "Please return to neutral and control the mast to lower," guiding the driver to control the electric forklift.

[0066] The electric forklift control device provided in this embodiment of the invention, through the inclusion of a prompting module 50 electrically connected to the control module 40, issues a first warning message when the control module 40 determines the on-duty level to be Level 2 on-duty, the actual driver departure warning level to be Level 1 departure warning, and the time during which the control module 40 has not acquired Level 1 on-duty status exceeds a preset duration. When the control module 40 determines the on-duty level to be Level 2 on-duty and the actual driver departure warning level to be Level 2 departure warning, a second warning message is issued. This targeted output of differentiated first and second warning messages achieves a tiered prompting strategy of low-risk minor warnings and high-risk strong warnings. Different warning messages correspond to different risk scenarios, allowing the driver to quickly determine the current forklift's operational risk level through the warning type, improving the efficiency and targeted nature of the warning response. The device automatically and in real-time issues corresponding warning messages without manual intervention, ensuring the real-time nature and effectiveness of the warnings and guaranteeing the safe operation of the electric forklift. This solves the problems of slow warning response, low processing efficiency, and false warnings.

[0067] Optional, you can continue to refer to Figure 2 When the control module 40 determines that the in-situ status is Level 1 in-situ and has not entered Level 2 in-situ, and when the control module 40 does not acquire Level 1 in-situ status, the control module 40 is used to maintain the function of the electric forklift.

[0068] Specifically, when the control module 40 detects that the driver has entered the first-level in-position state but not the second-level in-position state, and the control module 40 has not acquired the first-level in-position state, the control module 40 controls the prompt module 50 not to issue a warning and maintains the function of the electric forklift.

[0069] For example, when the driver leaves the seat without operating the electric forklift after entering it, that is, when the control module 40 only detects the driver's first-level presence status but not the second-level presence status, the electric forklift does not trigger a departure warning and the electric forklift's functions are not locked.

[0070] The electric forklift control device provided in this embodiment of the invention maintains the electric forklift function and does not issue warnings when the control module 40 determines that the on-site status is at level one and has not entered level two, and when the control module 40 does not acquire level one on-site status. This setting achieves precise differentiation between the electric forklift's running and non-running actions, realizing precise control of the electric forklift, reducing interference in non-running scenarios, and closely aligning with actual operating scenarios. It also reduces wear and tear from frequent start-stop cycles, extends the service life of the electric forklift's core components, and lowers maintenance costs.

[0071] Optional, you can continue to refer to Figure 2 When the control module 40 detects that the mast height information has dropped below the preset height and the electric forklift is in a non-driving state, and the control module 40 has not obtained the first-level on-duty state, the control module 40 is used to control the electric forklift to maintain its function; the preset height is the maximum height of the mast height information in the first-level off-duty warning state corresponding to the current load weight information.

[0072] Specifically, when the control module 40 detects that the mast height of the electric forklift has dropped below a preset height and the electric forklift is in a non-driving state, the control module 40 determines that the electric forklift is in a safe non-operating condition or a low-risk operating condition. At this time, the control module 40 does not obtain a Level 1 on-duty status, and the control module 40 will control the electric forklift to maintain its function and not trigger a driver departure warning. The preset height is the maximum height of the mast height in the Level 1 departure warning state corresponding to the current load weight information. For example, you can continue to refer to Table 1. If the current load weight information is 100% full load, then the preset height is H2%. This embodiment of the invention does not limit this.

[0073] For example, when the electric forklift is in operation, if the driver temporarily stops the forklift and lowers the load weight information of the first-level off-duty warning state before the forklift mast height is lowered, and sets the forklift to neutral and the handbrake is engaged, the driver leaving the forklift will be determined by the control module 40 as a safe off-duty state, and the off-duty warning will not be triggered and the electric forklift function will be maintained.

[0074] The electric forklift control device provided in this embodiment of the invention, when the control module 40 detects that the mast height information has dropped below a preset height and the electric forklift is in a non-driving state, and the control module 40 has not acquired a first-level on-position status, the control module 40 maintains the function of the electric forklift. This setting, combined with the actual operating conditions of the electric forklift, achieves precise matching of the control intensity of the electric forklift, avoids over-control and misjudgment / miscontrol, reduces the losses from frequent start-stop of the electric forklift control system, and improves the operational stability of the control system.

[0075] Optional, you can continue to refer to Figure 2 According to Table 1, the control module 40 is used to determine the actual driver departure warning level as a Level 1 departure warning state when the load weight information is less than the first load weight information percentage threshold and / or the gantry height information is less than the first gantry height percentage threshold; and to determine the actual driver departure warning level as a Level 2 departure warning state when the load weight information is greater than or equal to the first load weight information percentage threshold and the gantry height information is greater than or equal to the first gantry height percentage threshold.

[0076] In this embodiment, the first load weight information percentage threshold can be understood as a preset percentage of the electric forklift's load weight to the full load weight. For example, referring to Table 1, the first load weight information percentage threshold includes, but is not limited to, N1%, N2%, N3%, N4%, N5%, N6%, and 100%. This embodiment of the invention does not impose any limitations on this. The first mast height percentage threshold can be understood as a preset percentage of the electric forklift's mast height to the overall mast height. For example, referring to Table 1, the first mast height percentage threshold includes, but is not limited to, H1%, H2%, H3%, H4%, H5%, and 100%. This embodiment of the invention does not impose any limitations on this.

[0077] Specifically, the control module 40 determines the actual driver departure warning level to be a Level 1 departure warning state when the load weight information is less than the first load weight information percentage threshold and / or the gantry height information is less than the first gantry height percentage threshold. That is, when the load weight information is less than the first load weight information percentage threshold, the gantry height information is less than the first gantry height percentage threshold, or when both the load weight information and the gantry height information are less than the first gantry height percentage threshold, the actual driver departure warning level is Level 1. When the load weight information is greater than or equal to the first load weight information percentage threshold, and the gantry height information is greater than or equal to the first gantry height percentage threshold, the actual driver departure warning level is determined to be a Level 2 departure warning state. That is, when both the load weight information and the gantry height information are high, the actual driver departure warning level is Level 2.

[0078] Optional, you can continue to refer to Figure 2 According to Table 1, the control module 40 is used to determine the actual driver departure warning level state based on the preset correspondence between the load weight information ratio threshold, the gantry height ratio threshold and the reference driver departure warning level state.

[0079] Specifically, the control module 40 converts physical operating parameters into standardized judgment rules for the actual driver departure warning level state based on the preset correspondence between the load weight information proportion threshold, the mast height proportion threshold, and the reference driver departure warning level state. The actual driver departure warning level state can be understood as the current actual driver departure warning level output by the control module 40 after matching the real-time load weight information and mast height information of the electric forklift with the preset correspondence.

[0080] For example, when the load weight information of the electric forklift is N1% to 100% of the full load weight and the mast height information of the electric forklift is less than H3% of the maximum height, the control module 40 determines the actual driver departure warning level to be a Level 1 departure warning state. When the mast height information of the electric forklift is N1% to 100% of the maximum height and the load weight information is greater than or equal to H2% of the full load weight, the control module 40 determines the actual driver departure warning level to be a Level 2 departure warning state. If the load weight information of the electric forklift is N3% and the mast height information is H4% at this time, the control module 40 determines the actual driver departure warning level to be a Level 1 departure warning state. If the load weight information of the electric forklift is N6% and the mast height information is H5% at this time, the control module 40 determines the actual driver departure warning level to be a Level 2 departure warning state.

[0081] The electric forklift control device provided in this invention determines the actual driver's departure warning level as a Level 1 departure warning state when the load weight information is less than a first load weight information percentage threshold and / or the mast height information is less than a first mast height percentage threshold. It also determines the actual driver's departure warning level as a Level 2 departure warning state when the load weight information is greater than or equal to the first load weight information percentage threshold and the mast height information is greater than or equal to the first mast height percentage threshold. This setting provides a clear quantitative basis for the classification of Level 1 and Level 2 departure warning states, standardizing the departure warning level determination, simplifying the determination logic, and adapting to different scenarios. Simultaneously, the control module determines the actual driver's departure warning level based on the correspondence between the preset load weight information percentage threshold, mast height percentage threshold, and reference driver departure warning level, achieving a match between the departure warning level and the actual departure safety risk. This solves the problems of ambiguous, complex, and impractical departure warning level determination rules.

[0082] Figure 3 This is a schematic diagram of the third type of electric forklift control device provided in the embodiments of the present invention, as shown below. Figure 3As shown, the presence information acquisition module 10 includes a seat switch 11, a seat pressure sensor 12, an operating handle 13, a forklift gear position 14, and a steering wheel encoder 15. The control module 40 is communicatively connected to the seat switch 11, the seat pressure sensor 12, the operating handle 13, the forklift gear position 14, and the steering wheel encoder 15, respectively, and is used to determine the driver's first-level presence based on the conduction state of the seat switch 11 and the sensing value of the seat pressure sensor 12; and after confirming the driver's first-level presence, it determines the driver's second-level presence based on the change information of the operating handle 13, the change information of the forklift gear position 14, and the rotation angle of the steering wheel encoder 15.

[0083] In this embodiment, the driver presence information acquisition module 10 includes a seat switch 11, a seat pressure sensor 12, an operating handle 13, a forklift gear shift 14, and a steering wheel encoder 15. The seat switch 11 can be understood as an on / off switch installed under the driver's seat or inside the seat cushion of the electric forklift, used to detect driver presence. Exemplarily, the seat switch 11 includes, but is not limited to, normally closed / normally open limit switches or push-button switches; this embodiment of the invention does not impose such limitations. The seat pressure sensor 12 can be understood as a pressure-sensitive sensing element installed under the seat cushion of the electric forklift driver's seat, capable of detecting driver presence.

[0084] Specifically, the control module 40 is communicatively connected to the seat switch 11 and the seat pressure sensor 12, respectively. It determines the driver's primary position based on the on / off state of the seat switch 11 and the sensing value of the seat pressure sensor 12. When the driver applies pressure to the seat, the seat switch 11 is mechanically closed, and the seat pressure sensor 12 senses a pressure value exceeding a set threshold. After receiving the on / off signal from the seat switch 11 and the pressure signal from the seat pressure sensor 12, the control module 40 initially determines whether the driver's seat is physically occupied, thus confirming the driver's primary position.

[0085] The operating handle 13 can be understood as a manual operation actuator of the electric forklift. It can detect whether the driver has gripped or touched the handle and output an operation interaction signal to the control module 40. The control module 40 determines the validity of the driver's operation based on the operation interaction signal. The forklift gear 14 can be understood as a gear control component used by the electric forklift to switch operating modes. The driver outputs a gear switch signal to the control module 40 by switching gears, and the control module 40 determines the validity of the driver's operation based on the gear switch signal. The steering wheel encoder 15 can be understood as a sensing component installed on the steering wheel shaft of the electric forklift. By detecting the rotation of the steering wheel or changes in the signal triggered by gripping, it outputs an operation interaction signal from the driver to the control module 40, and the control module 40 determines the validity of the driver's operation.

[0086] Specifically, the control module 40 is communicatively connected to the operating handle 13, the forklift gear shift 14, and the steering wheel encoder 15. After confirming the driver's primary position, it determines the driver's secondary position based on any signal change among the changes in the operating handle 13, the forklift gear shift 14, and the rotation angle of the steering wheel encoder 15. Each time the electric forklift is powered on, the control module 40 re-evaluates the driver's primary and secondary positions. If the control module 40 detects that the driver has entered the secondary position, it confirms that the driver has operated the electric forklift. Even if the driver is in the primary position after work but has not operated the operating handle 13, the forklift gear shift 14, or the steering wheel encoder 15, the control module 40 still determines that the driver is in the secondary position.

[0087] For example, when the driver sits in the driver's seat, the seat switch 11 closes, the value of the seat pressure sensor 12 increases, and the control module 40 detects that the seat switch 11 is closed and the value of the seat pressure sensor 12 exceeds a set threshold, thus determining that the driver is in position at level one. To avoid misjudgment caused by heavy objects being placed on the driver's seat, when the driver is in position at level one, the control module 40 collects signal change information of the forklift gear 14, change information of the operating handle 13, and whether the steering wheel rotation angle exceeds a threshold. When any of these information changes, the control module 40 determines that the driver is in position at level two.

[0088] When the control module 40 determines that the current driver is in Level 1 position, the control module 40 starts timing. When the duration of Level 1 position exceeds a preset time, the control module 40 controls the prompt module 50 to issue a "Please enter working state" prompt message. When the driver enters Level 2 position, the prompt module 50 stops issuing prompts. If the driver is in Level 2 position for more than the preset time, the control module 40 determines that the work is completed but the driver forgot to turn off the power, and then controls the prompt module 50 to issue a "Work completed, please turn off the vehicle power" prompt message.

[0089] The electric forklift control device provided in this embodiment of the invention is communicatively connected to the control module 40 via a seat switch 11, a seat pressure sensor 12, an operating handle 13, a forklift gear position 14, and a steering wheel encoder 15. The control module 40 determines the driver's primary position based on the conduction state of the seat switch 11 and the sensing value of the seat pressure sensor 12. After confirming the driver's primary position, it determines the driver's secondary position based on changes in the operating handle 13, changes in the forklift gear position 14, and the rotation angle of the steering wheel encoder 15. This forms a step-by-step logical determination of the driver's position status, first based on basic physical position determination and then on subsequent operational validity determination. This configuration achieves accurate determination of the driver's position status, precise matching of the driver's actual operating state, and comprehensive coverage of driver position judgment, solving the problem of inaccurate determination caused by the single-dimensional judgment of the driver's position status in traditional single-sensor methods.

[0090] Figure 4 This is a schematic diagram of the fourth type of electric forklift control device provided in the embodiments of the present invention, as shown below. Figure 4 As shown, the electric forklift control device also includes a power module 60, which is electrically connected to the control module 40, the on-site information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30, and is used to supply power to the control module 40, the on-site information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30.

[0091] In this embodiment, the power module 60 can be understood as a basic energy guarantee component that can provide stable and compatible electrical energy to the electric forklift and ensure the normal operation of the electric forklift. The power module 60 includes, but is not limited to, a power supply circuit or an external power supply. This embodiment of the invention does not impose any restrictions on this.

[0092] Specifically, the power module 60 is electrically connected to the control module 40, the location information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30. The power module 60 supplies power to the control module 40, the location information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30. The power module 60 is designed to match the electric forklift control system, providing power assurance for the normal operation of the electric forklift and providing suitable voltages for various components of the electric forklift.

[0093] The electric forklift control device provided in this embodiment of the invention, by setting up a power supply module 60, which is electrically connected to the control module 40, the on-site information acquisition module 10, the load weight acquisition module 20, and the mast height acquisition module 30, supplies power to these modules. This achieves precise power supply to each component of the electric forklift, adapts to the differentiated power supply needs of multiple components, ensures the safe and stable operation of the electric forklift, and solves the problem of electric forklift malfunctions caused by power outages and voltage fluctuations.

[0094] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An electric forklift control device, characterized in that, It includes an in-situ information acquisition module, a load weight acquisition module, a gantry height acquisition module, and a control module; The on-site information collection module is used to collect the driver's on-site driving information; The load weight acquisition module is used to collect the load weight information of the electric forklift; The mast height acquisition module is used to acquire mast height information of the electric forklift; The control module is communicatively connected to the presence information acquisition module, the load weight acquisition module, and the mast height acquisition module, respectively, and is used to receive the driver presence information, the load weight information, and the mast height information; determine the presence level status based on the driver presence information; determine the actual driver departure warning level status based on the load weight information and the mast height information; and perform graded control of the electric forklift based on the presence level status and the actual driver departure warning level status. The in-situ status includes Level 1 in-situ status and Level 2 in-situ status; the actual driver departure warning status includes Level 1 departure warning status and Level 2 departure warning status; the load weight information corresponding to Level 2 departure warning status is greater than the load weight information corresponding to Level 1 departure warning status, and / or, the gantry height information corresponding to Level 2 departure warning status is greater than the gantry height information corresponding to Level 1 departure warning status; When the control module determines that the in-position level is the Level 2 in-position state and the actual driver departure warning level is the Level 2 departure warning state, the control module controls the electric forklift function to lock. After obtaining the Level 1 in-position state, the control module keeps the electric forklift function locked. When the reset information of the electric forklift is detected and the mast height information is detected to drop below a preset height, the control module controls the electric forklift function to recover. The preset height is the maximum height of the mast height information in the Level 1 departure warning state corresponding to the current load weight information. The in-situ information acquisition module includes a seat switch, a seat pressure sensor, an operating handle, a forklift gear position, and a steering wheel encoder; The control module is communicatively connected to the seat switch, the seat pressure sensor, the operating handle, the forklift gear position, and the steering wheel encoder, and is used to determine the driver's primary position based on the conduction status of the seat switch and the sensing value of the seat pressure sensor. After confirming that the first-level driver is in place, the second-level driver is determined to be in place based on the change information of the operating handle, the change information of the forklift gear, and the rotation angle of the steering wheel encoder. The control module is used to determine the actual driver departure warning level state based on the preset correspondence between the load weight information proportion threshold, the gantry height proportion threshold and the reference driver departure warning level state. The control module is used to determine the actual driver departure warning level as a Level 1 departure warning state when the load weight information is less than a first load weight information percentage threshold, and / or the mast height information is less than a first mast height percentage threshold; and to determine the actual driver departure warning level as a Level 2 departure warning state when the load weight information is greater than or equal to the first load weight information percentage threshold, and the mast height information is greater than or equal to the first mast height percentage threshold; wherein, the first load weight information percentage threshold is a preset percentage of the electric forklift load weight to the full load weight, and the first mast height percentage threshold is a preset percentage of the electric forklift mast height to the overall mast height; When the control module determines that the in-situ status is the Level 2 in-situ status and the actual driver departure warning status is the Level 1 departure warning status, the control module is used to control the electric forklift according to the driver's departure time. When the control module determines that the in-situ status is the Level 2 in-situ status, the actual driver departure warning status is the Level 1 departure warning status, and the time during which the control module does not obtain the Level 1 in-situ status is less than a preset duration, the control module is used to control the electric forklift to maintain its function. When the control module determines that the on-site status is the Level 2 on-site status, the actual driver departure warning status is the Level 1 departure warning status, and the time during which the control module fails to acquire the Level 1 on-site status exceeds a preset duration, the control module controls the electric forklift to lock its function until the control module acquires the on-site status and detects the electric forklift's reset information, at which point the electric forklift's function is restored.

2. The electric forklift control device according to claim 1, characterized in that, The electric forklift control device also includes a prompting module, which is communicatively connected to the control module. When the control module determines that the on-duty level is the Level 2 on-duty state, the actual driver departure warning level is the Level 1 departure warning state, and the control module has not obtained the Level 1 on-duty state for a period of time exceeding a preset duration, the control module is further configured to control the prompting module to issue a first warning message; the first warning message includes a return-to-position reminder message, an operating handle operation reminder message, and a forklift gear operation reminder message; When the control module determines that the in-situ status is the Level 2 in-situ status and the actual driver departure warning status is the Level 2 departure warning status, the control module is further configured to control the prompting module to issue a second warning message; the second warning message includes a return-to-position reminder message, an operating handle operation reminder message, a forklift gear operation reminder message, and a mast height operation reminder message.

3. The electric forklift control device according to claim 1, characterized in that, When the control module determines that the in-situ status is the first-level in-situ status and has not entered the second-level in-situ status, and when the control module does not obtain the first-level in-situ status, the control module is used to control the electric forklift to maintain its function.

4. The electric forklift control device according to claim 1, characterized in that, When the control module detects that the mast height information has dropped below a preset height and the electric forklift is in a non-driving state, and the control module does not obtain the first-level in-position status, the control module is used to control the electric forklift to maintain its function; the preset height is the maximum height of the mast height information in the first-level off-duty warning state corresponding to the current load weight information.

5. The electric forklift control device according to claim 1, characterized in that, The electric forklift control device also includes a power module, which is electrically connected to the control module, the location information acquisition module, the load weight acquisition module, and the mast height acquisition module, and is used to supply power to the control module, the location information acquisition module, the load weight acquisition module, and the mast height acquisition module.

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