A control method, device and system for a forward-moving forklift

Abstract

The application discloses a control method, device and system of a front-moving forklift, and relates to the technical field of automatic control, which comprises the following steps: obtaining a driving control signal of the front-moving forklift; determining the driving condition of the front-moving forklift according to the driving control signal and detection data collected by a preset detection device; wherein the preset detection device comprises a mast telescopic detection device, a forklift load detection device and a climbing detection device, the driving condition comprises a dangerous driving state, and the dangerous driving state comprises a heavy-load climbing state with the mast retracted; and if the driving condition is a target dangerous driving state, the front-moving forklift is controlled according to a target safety strategy; the mast telescopic detection device, the forklift load detection device and the climbing detection device are used to detect and identify the dangerous driving condition, so that the front-moving forklift is automatically controlled according to the corresponding preset safety strategy, and the safety problem of the vehicle when climbing with heavy load is solved completely, and the driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a control method, device and system for a reach truck. Background Technology

[0002] Currently, reach trucks (such as stand-on reach trucks) are all rear-wheel drive, and the mast can extend or retract. When climbing hills under heavy load, improper operation by the driver can lead to some safety problems. For example, during a heavy-load climb, the driver may move the mast forward. Moving the mast forward reduces the load on the rear axle, resulting in insufficient driving force and braking force for the entire machine. The vehicle may then accelerate and roll down the slope, posing a significant safety hazard.

[0003] In existing technologies, the risks can only be mitigated through driver training by using external signage to remind drivers or adding instructions to the operating manual such as "the mast must not move forward during climbing." However, this does not completely solve the safety problem. Therefore, how to completely solve the safety issues of heavy-load climbing vehicles and improve driving safety through automated control of reach trucks is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a control method, device, and system for a reach truck, so as to completely solve the safety problem when the vehicle is heavily loaded and climbing a slope through the automated control of the reach truck, and improve driving safety.

[0005] To solve the above-mentioned technical problems, the present invention provides a control method for a reach truck, comprising: Acquire the travel control signal of the reach truck; wherein the travel control signal includes a forward signal and / or a reverse signal; Based on the driving control signal, the driving status of the reach truck is determined using the detection data collected by the preset detection equipment; wherein, the preset detection equipment includes a mast extension detection device, a forklift load detection device, and a climbing detection device, and the driving status includes dangerous driving conditions, including a heavy-load climbing condition with the mast retracted. If the driving situation is a target dangerous driving state, the reach truck is controlled according to the target safety strategy; wherein, the target dangerous driving state is any of the dangerous driving states, the target safety strategy is a preset safety strategy corresponding to the target dangerous driving state, and the preset safety strategy includes a strategy to prohibit mast forward movement corresponding to the heavy-load climbing state of mast retraction.

[0006] On the other hand, if the driving situation is a target dangerous driving state, then controlling the reach truck according to the target safety strategy includes: If the driving condition is a heavy-load uphill state with the gantry retracted, then when a gantry forward movement signal is detected, the gantry forward movement is prohibited, and a first alarm is triggered through an alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer, and / or a speaker.

[0007] On the other hand, the dangerous driving state also includes a heavy-load climbing state with the mast extended, and the preset safety strategy also includes a parking alarm strategy corresponding to the heavy-load climbing state with the mast extended; if the driving situation is a target dangerous driving state, then controlling the reach truck according to the target safety strategy includes: If the driving situation is a heavy-load climbing state with the mast extended, the reach truck is controlled to decelerate to 0 and a second alarm is triggered through the alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer and / or a speaker.

[0008] On the other hand, the dangerous driving state also includes a heavily loaded, non-climbing state with the mast extended, and the preset safety strategy also includes a speed reduction driving strategy corresponding to the heavily loaded, non-climbing state with the mast extended; if the driving situation is a target dangerous driving state, then controlling the reach truck according to the target safety strategy includes: If the driving condition is a heavy-load, non-climbing state with the mast extended, the travel speed of the reach truck is controlled to be less than or equal to a preset speed limit, and a third alarm is triggered through an alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer and / or a speaker, and the preset speed limit is less than the rated maximum speed of the reach truck.

[0009] On the other hand, determining the driving status of the reach truck based on the driving control signal and the detection data collected by the preset detection equipment includes: Based on the load detection signal collected by the forklift load detection device, it is determined whether the reach truck is under heavy load. If it is in the heavy load state, then based on the mast detection signal collected by the mast extension detection device, it is determined whether the mast of the reach truck is in the retracted state. If it is in the retracted state, the reach truck is controlled to drive normally according to the driving control signal; During the travel of the reach truck, the climb detection signal collected by the climb detection device is used to determine whether the reach truck is in a climbing state. If the forklift is in the climbing state, then the travel status of the reach truck is determined to be the heavy-load climbing state with the mast retracted.

[0010] On the other hand, the dangerous driving conditions also include the heavy-load climbing state with the mast extended and the heavy-load non-climbing state with the mast extended. After determining whether the reach truck's mast is in a retracted state based on the mast detection signal collected by the mast extension detection device, the following further steps are included: If the mast is in the extended state, the climb detection signal collected by the climb detection device is used to determine whether the reach truck is in a climbing state. If the forklift is in the climbing state, the travel status of the reach truck is determined to be the heavy-load climbing state with the mast extended. If the forklift is not climbing, its travel status is determined to be a heavy-load, non-climbing state with the mast extended.

[0011] On the other hand, the ramp detection device is specifically a drive motor current detection device. The step of determining whether the reach truck is in a ramping state based on the ramp detection signal collected by the ramp detection device includes: When the current of the drive motor collected by the drive motor current detection device is greater than the preset current value, it is determined that the reach truck is in the climbing state. When the current of the drive motor is less than or equal to the preset current value, the reach truck is determined to be in the non-climbing state.

[0012] The present invention also provides a control device for a reach truck, comprising: An acquisition module is used to acquire the travel control signals of the reach truck; wherein the travel control signals include forward signals and / or reverse signals; The determination module is used to determine the driving status of the reach truck based on the driving control signal and the detection data collected by the preset detection equipment; wherein, the preset detection equipment includes a mast extension detection device, a forklift load detection device and a climbing detection device, and the driving status includes a dangerous driving state, which includes a heavy-load climbing state with the mast retracted. The control module is configured to control the reach truck according to a target safety strategy if the driving situation is a target dangerous driving state; wherein the target dangerous driving state is any of the dangerous driving states, the target safety strategy is a preset safety strategy corresponding to the target dangerous driving state, and the preset safety strategy includes a strategy to prohibit mast forward movement corresponding to the heavy-load climbing state of mast retraction.

[0013] In addition, the present invention also provides a control system for a reach truck, comprising: a control device for the reach truck and a mast extension detection device, a forklift load detection device, and a slope detection device that are communicatively connected to the control device; The control device includes: a memory for storing computer programs; and a processor for executing the computer programs to implement the steps of the control method for the reach truck as described above.

[0014] On the other hand, the system also includes an alarm device that is communicatively connected to the control device; wherein the alarm device includes indicator lights, a display screen, a buzzer and / or a speaker.

[0015] The present invention provides a control method for a reach truck, comprising: acquiring a travel control signal of the reach truck; wherein the travel control signal includes a forward signal and / or a reverse signal; determining the travel status of the reach truck based on the travel control signal and detection data collected by a preset detection device; wherein the preset detection device includes a mast extension detection device, a forklift load detection device, and a ramp detection device, and the travel status includes a dangerous travel state, which includes a heavy-load ramp state with the mast retracted; if the travel status is a target dangerous travel state, then controlling the reach truck according to a target safety strategy; wherein the target dangerous travel state is any dangerous travel state, and the target safety strategy is a preset safety strategy corresponding to the target dangerous travel state, including a strategy to prohibit mast forward movement corresponding to the heavy-load ramp state with the mast retracted.

[0016] As can be seen, this invention determines the driving status of a reach truck by using detection data collected from preset detection equipment based on driving control signals. It can utilize mast extension detection equipment, forklift load detection equipment, and hill-climbing detection equipment to detect and identify dangerous driving situations, thereby automatically controlling the reach truck according to corresponding preset safety strategies. This completely solves the safety problem of vehicles climbing hills under heavy loads, improving driving safety. Furthermore, this invention also provides a control device and system for a reach truck, which also has the above-mentioned beneficial effects. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 A flowchart illustrating a control method for a reach truck provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the framework of a control method for a reach truck provided in an embodiment of the present invention; Figure 3This is a structural block diagram of a control device for a reach truck provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the control device for a reach truck provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please refer to Figure 1 , Figure 1 A flowchart illustrating a control method for a reach truck provided in an embodiment of the present invention. The method may include: Step 101: Obtain the travel control signal of the reach truck.

[0021] The driving control signals include forward signals and / or reverse signals.

[0022] It should be noted that this embodiment does not limit the specific type of reach truck; it can be a stand-on reach truck or a seated reach truck. The travel control signal in this step can be a control signal that controls the movement of the reach truck, such as... Figure 2 The accelerator signal output by the intermediate accelerator.

[0023] Correspondingly, the specific type of the aforementioned driving control signal can be set by the designer according to the practical scenario and user needs. For example, the driving control signal may include a forward signal, that is, the method provided in this embodiment can realize the automated control (i.e., active control) of the reach truck when it is moving forward; the driving control signal may also include a reverse signal or a forward signal and a reverse signal. This embodiment does not impose any restrictions on this.

[0024] Step 102: Based on the driving control signal, determine the driving status of the reach truck using the detection data collected by the preset detection equipment.

[0025] The preset testing equipment includes mast extension detection equipment, forklift load detection equipment, and hill climbing detection equipment. The driving conditions include dangerous driving conditions, including heavy-load hill climbing conditions with the mast retracted.

[0026] Understandably, in this step, in response to the driving control signal, the driving status of the reach truck can be determined using the detection data collected by the preset detection equipment, thereby realizing the automatic detection and identification of dangerous driving conditions. In this way, the reach truck can be controlled according to the preset safety strategy corresponding to each dangerous driving condition to ensure the driving safety of the reach truck.

[0027] Correspondingly, the preset detection device in this embodiment can be a device for detecting the travel status of the reach truck, such as a sensor and / or a detection switch. The specific type of the preset detection device in this embodiment can be set by the designer according to the practical scenario and user needs. For example, the preset detection device may include a mast extension detection device, a forklift load detection device, and a ramp detection device; wherein, the mast extension detection device can be a device for detecting the extension state of the reach truck's mast (such as the retracted state when it is retracted to a preset safe position and the extended state when it is extended beyond the preset safe position), such as... Figure 2 The mast detection switch or mast position detection sensor in the middle; the forklift load detection equipment can be a device used to detect whether a reach forklift is heavily loaded (or fully loaded), such as Figure 2 The pressure sensor or pressure switch in the middle; the ramp detection device can be a device used to detect whether the reach truck is climbing an incline, such as... Figure 2 The device used to detect the current of the drive motor (e.g., a current detection circuit or Hall sensor) or a tilt sensor. This embodiment does not impose any limitations on this.

[0028] Accordingly, the specific number and type of driving conditions in this step can be set by the designer. For example, driving conditions can include dangerous driving states and normal driving states. Dangerous driving states can include a heavy-load climbing state with the mast retracted, indicating a driving state where the reach truck's mast retracts during heavy-load climbing, posing a safety risk. Because when climbing, if the mast is not retracted after loading goods, the rear axle load is light, leading to insufficient wheel load on the drive wheels, causing the truck to fail to climb the slope and resulting in wheel slippage. Wheel slippage can cause the vehicle to skid, posing a safety hazard. Dangerous driving states can also include a heavy-load climbing state with the mast extended, indicating a driving state where the reach truck's mast extends during heavy-load climbing, posing a safety risk. A dangerous driving state can also include a heavy-load, non-climbing state with the mast extended, indicating a driving state where the reach truck's mast extends during heavy-load, non-climbing, posing a safety risk. This embodiment does not impose any limitations on this.

[0029] In this step, the specific method for determining the travel status of the reach truck based on the travel control signal and the detection data collected by the preset detection equipment can be set by the designer according to the usage scenario and user needs. For example, when the mast extension detection equipment detects that the mast is in a retracted state, the forklift load detection equipment detects that the reach truck is in a heavy load state, and the ramp detection equipment detects that the reach truck is in a ramp state, the travel status of the reach truck is determined to be a heavy load ramp state with the mast retracted; when the mast extension detection equipment detects that the mast is in an extended state, the travel status of the reach truck is determined to be a heavy load ramp state with the mast retracted. When the forklift load detection device detects that the reach truck is under heavy load and the ramp detection device detects that the reach truck is not climbing, the reach truck's driving status is determined to be a heavy-load, non-climbing state with the mast extended. When the mast extension detection device detects that the mast is extended, the forklift load detection device detects that the reach truck is under heavy load, and the ramp detection device detects that the reach truck is climbing, the reach truck's driving status is determined to be a heavy-load, climbing state with the mast extended. In other cases, the reach truck's driving status is determined to be a normal driving state.

[0030] For example, in this step, the load detection signal collected by the forklift load detection equipment can be used to determine whether the reach truck is under heavy load. If it is under heavy load, the mast detection signal collected by the mast extension detection equipment can be used to determine whether the mast of the reach truck is in a retracted state. If it is in a retracted state, the ramp detection signal collected by the ramp detection equipment can be used to determine whether the reach truck is in a ramping state. If it is in a ramping state, the travel status of the reach truck is determined to be a heavy load ramping state with the mast retracted.

[0031] Correspondingly, when the reach truck is heavily loaded and the mast is retracted, the process of determining whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection device can also be achieved by first controlling the reach truck to drive normally according to the travel control signal; during the travel of the reach truck, the process of determining whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection device; if it is in a climbing state, the travel status of the reach truck is determined to be a heavy-load climbing state with the mast retracted; if it is not in a climbing state, the travel status of the reach truck is determined to be a heavy-load non-climbing state with the mast retracted (i.e., normal travel state), and it can continue to travel normally according to the travel control signal.

[0032] Correspondingly, dangerous driving conditions also include the situations where the mast is extended and under heavy load while climbing, and the mast is extended but not climbing. After determining whether the reach truck's mast is in a retracted state based on the mast detection signal collected by the mast extension detection device, the following steps are also included: if the mast is in an extended state, then determining whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection device; if it is in a climbing state, the driving condition of the reach truck is determined to be the mast extended and under heavy load while climbing; if it is not in a climbing state, the driving condition of the reach truck is determined to be the mast extended and under heavy load while not climbing.

[0033] Specifically, when the reach truck is heavily loaded and its mast is extended, the process of determining whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection device can also first control the vehicle to reduce its speed (e.g., to less than or equal to a preset speed limit). During the travel of the reach truck, the process of determining whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection device can be modified. If it is in a climbing state, the travel status of the reach truck is determined to be a heavy-load climbing state with the mast extended; if it is not in a climbing state, the travel status of the reach truck is determined to be a heavy-load, non-climbing state with the mast extended.

[0034] Specifically, the specific method for performing corresponding status detection using the detection data collected by the preset detection equipment can be set by the designer. For example, it can be set according to the specific type of each preset detection equipment. For instance, if the ramp detection equipment is a drive motor current detection equipment, the process of determining whether the reach truck is in a ramp state based on the ramp detection signal collected by the ramp detection equipment can include: determining that the reach truck is in a ramp state when the current of the drive motor collected by the drive motor current detection equipment is greater than the preset current value; and determining that the reach truck is in a non-ramp state when the current of the drive motor is less than or equal to the preset current value.

[0035] When the forklift load detection device is specifically a pressure sensor, the process of determining whether the reach truck is under heavy load based on the load detection signal collected by the forklift load detection device may include: determining that the reach truck is under heavy load when the pressure signal of the pressure sensor is greater than a preset pressure value; and determining that the reach truck is under light load or no load when the current of the drive motor is less than or equal to a preset pressure value.

[0036] When the mast extension detection device is specifically a mast detection switch, the process of determining whether the mast of the reach truck is in the retracted state based on the mast detection signal collected by the mast extension detection device may include: when the mast detection switch outputs a no-trigger signal (i.e., the mast has not retracted to the preset safe position), it is determined that the mast is in the extended state; when the mast detection switch outputs a trigger signal (i.e., the mast has retracted to the preset safe position), it is determined that the mast is in the retracted state.

[0037] Step 103: If the driving situation is a target dangerous driving state, then control the reach truck according to the target safety strategy.

[0038] The target dangerous driving state is any dangerous driving state, and the target safety strategy is the preset safety strategy corresponding to the target dangerous driving state. The preset safety strategy includes the strategy of prohibiting the gantry from moving forward corresponding to the heavy-load climbing state of the gantry retraction.

[0039] It is understandable that in this step, the processor (such as...) Figure 2 The controller in the system can control the reach truck according to the preset safety strategy (i.e., the target safety strategy) corresponding to a certain dangerous driving state (i.e., the target dangerous driving state) when the reach truck is in a dangerous driving state (i.e., the target dangerous driving state), so as to avoid dangerous driving of the reach truck.

[0040] Correspondingly, the specific number and content of the aforementioned preset safety strategies can be set by the designers according to practical scenarios and user needs. For example, they can be set to correspond to the aforementioned dangerous driving states. Preset safety strategies may include a strategy to prohibit gantry forward movement corresponding to the heavy-load climbing state with the gantry retracted, to prevent the gantry from extending during heavy-load climbing; preset safety strategies may also include a parking alarm strategy corresponding to the heavy-load climbing state with the gantry extended, to prevent heavy-load climbing when the gantry is extended; preset safety strategies may also include a speed reduction driving strategy corresponding to the heavy-load non-climbing state with the gantry extended, to limit the heavy-load driving speed when the gantry is extended and avoid safety hazards. This embodiment does not impose any limitations in this regard.

[0041] Accordingly, the specific method for controlling the reach truck according to the target safety strategy in this step can be set by the designer. For example, if the target dangerous driving state is a heavy-load uphill state with the mast retracted, and the target safety strategy is a mast forward movement prohibition strategy, then when a mast forward movement signal is detected, the mast forward movement can be prohibited, and the first alarm can be triggered through the alarm device to prompt the driver to stop operating the mast forward movement; wherein, the alarm device includes indicator lights (such as... Figure 2The instrument panel includes alarm indicator lights, a display screen, a buzzer, and / or a speaker. When the target hazardous driving state is a heavily loaded, uphill state with the mast extended, and the target safety policy is a stop alarm policy, the reach truck can be controlled to decelerate to 0 and a second alarm can be triggered via the alarm device to prompt the driver to retract the mast. When the target hazardous driving state is a heavily loaded, non-uphill state with the mast extended, and the target safety policy is a speed reduction driving policy, the reach truck's speed can be controlled to be less than or equal to a preset speed limit, and a third alarm can be triggered via the alarm device to prompt the driver to retract the mast; wherein the preset speed limit is less than the reach truck's rated maximum speed.

[0042] In the case of normal driving in this embodiment, the reach truck can be controlled to drive normally according to the driving control signal.

[0043] For example, such as Figure 2 As shown, when the driver operates the vehicle (i.e., the reach truck) to move (forward or backward), the controller receives an accelerator signal (controlling forward or backward movement) and detects the pressure signal P from the pressure sensor. When P ≤ the preset pressure value, it indicates that the vehicle is unloaded or lightly loaded, and no additional action is taken; the vehicle continues to operate normally. When P > the preset pressure value, it indicates that the vehicle is heavily loaded. In this case, the mast detection switch is detected. When the mast detection switch is triggered (i.e., in the retracted state), the vehicle continues to operate normally. When the mast switch is not triggered, the vehicle slows down and an alarm sounds to remind the driver that the mast needs to be retracted. If the current A of the drive motor is detected to be greater than the preset current value during operation, the vehicle decelerates to 0 and an alarm sounds to remind the driver that the mast needs to be retracted. When P > the preset pressure value and the mast detection switch is triggered, the vehicle operates normally. If the current A of the drive motor is detected to be greater than the preset current value during operation, it indicates that the vehicle is climbing a hill. When the driver is detected moving the mast forward, forward movement of the mast is prohibited, and an alarm sounds.

[0044] In this embodiment, the present invention determines the driving status of the reach truck by using detection data collected by preset detection equipment based on the driving control signal. It can use mast extension detection equipment, forklift load detection equipment and hill climbing detection equipment to detect and identify dangerous driving situations, thereby automatically controlling the reach truck according to the corresponding preset safety strategy, so as to completely solve the safety problem when the vehicle is heavily loaded and climbing hills, and improve driving safety.

[0045] Corresponding to the above method embodiments, this invention also provides a control device for a reach truck. The control device for a reach truck described below and the control method for a reach truck described above can be referred to in correspondence.

[0046] Please refer to Figure 3 , Figure 3This is a structural block diagram of a control device for a reach truck provided in an embodiment of the present invention. The device may include: The acquisition module 10 is used to acquire the travel control signals of the reach truck; wherein the travel control signals include forward signals and / or reverse signals; The determination module 20 is used to determine the driving status of the reach truck based on the driving control signal and the detection data collected by the preset detection equipment. The preset detection equipment includes a mast extension detection device, a forklift load detection device, and a climbing detection device. The driving status includes dangerous driving conditions, including a heavy-load climbing condition with the mast retracted. The control module 30 is used to control the reach truck according to the target safety strategy if the driving situation is a target dangerous driving state; wherein, the target dangerous driving state is any dangerous driving state, and the target safety strategy is the preset safety strategy corresponding to the target dangerous driving state, including the mast forward movement prohibition strategy corresponding to the heavy load climbing state with mast retraction.

[0047] In some embodiments, the control module 30 may include: The first control submodule is used to prevent the gantry from moving forward when a gantry forward movement signal is detected if the driving condition is a heavy-load climbing state with the gantry retracted, and to trigger a first alarm through an alarm device; wherein the alarm device includes an indicator light, a display screen, a buzzer and / or a speaker.

[0048] In some embodiments, the dangerous driving state further includes a heavy-load climbing state with the gantry extended, and the preset safety strategy further includes a parking alarm strategy corresponding to the heavy-load climbing state with the gantry extended; the control module 30 may include: The second control submodule is used to control the reach truck to decelerate to 0 and trigger a second alarm through an alarm device if the driving condition is a heavy-duty climbing state with the mast extended. The alarm device includes an indicator light, a display screen, a buzzer and / or a speaker.

[0049] In some embodiments, the dangerous driving state further includes a heavily loaded, non-climbing state with the gantry extended, and the preset safety strategy also includes a deceleration driving strategy control module 30 corresponding to the heavily loaded, non-climbing state with the gantry extended, which may include: The third control submodule is used to control the travel speed of the reach truck to be less than or equal to a preset speed limit if the travel condition is a heavy-load, non-climbing state with the mast extended, and to trigger a third alarm through an alarm device. The alarm device includes an indicator light, a display screen, a buzzer, and / or a speaker, and the preset speed limit is less than the rated maximum speed of the reach truck.

[0050] In some embodiments, the determining module 20 may include: The overload judgment submodule is used to determine whether the reach truck is under heavy load based on the load detection signal collected by the forklift load detection equipment. The mast judgment submodule is used to determine whether the mast of the reach truck is in the retracted state based on the mast detection signal collected by the mast extension detection device if it is under heavy load. The driving control submodule is used to control the reach truck to drive normally according to the driving control signal if it is in the retracted state. The first climbing determination submodule is used to determine whether the reach truck is in a climbing state based on the climbing detection signal collected by the climbing detection equipment during the driving process of the reach truck; if it is in a climbing state, the driving condition of the reach truck is determined to be a heavy-load climbing state with the mast retracted.

[0051] In some embodiments, when the dangerous driving state further includes a heavily loaded climbing state with the gantry extended and a heavily loaded non-climbing state with the gantry extended, the determining module 20 may further include: The second ramp determination submodule is used to determine whether the reach truck is in a ramp state based on the ramp detection signal collected by the ramp detection device when the mast determination submodule determines that the mast is in the extended state. If it is in a ramp state, the travel status of the reach truck is determined to be a heavy-load ramp state with the mast extended. If it is not in a ramp state, the travel status of the reach truck is determined to be a heavy-load non-ramp state with the mast extended.

[0052] In some embodiments, the ramp detection device is specifically a drive motor current detection device. The first ramp judgment submodule can be specifically used to determine that the reach truck is in a ramp state when the current of the drive motor collected by the drive motor current detection device is greater than a preset current value; and to determine that the reach truck is in a non-ramp state when the current of the drive motor is less than or equal to the preset current value.

[0053] In this embodiment, the present invention determines the driving status of the reach truck by using the driving control signal and the detection data collected by the preset detection equipment through the determining module 20. It can use the mast extension detection equipment, forklift load detection equipment and climbing detection equipment to detect and identify dangerous driving situations, and then automatically control the reach truck according to the corresponding preset safety strategy to completely solve the safety problem when the vehicle is heavily loaded and climbing, thereby improving driving safety.

[0054] Corresponding to the above method embodiments, this invention also provides a control system for a reach truck. The control system for a reach truck described below and the control method for a reach truck described above can be referred to in correspondence.

[0055] A control system for a reach truck includes: a control device for the reach truck and a mast extension detection device, a forklift load detection device, and a slope detection device that are communicatively connected to the control device.

[0056] In some embodiments, the control device may be as follows: Figure 4 As shown, it includes: Memory D1 is used to store computer programs (or instructions). The processor D2 is used to execute computer programs (or instructions) to implement the steps of the control method for the reach truck provided in the above method embodiments.

[0057] In some embodiments, the control device may be a hardware logic control circuit to implement the steps of the reach truck control method provided in the above method embodiments.

[0058] In some embodiments, the system may further include an alarm device that is communicatively connected to the control device; wherein the alarm device includes an indicator light, a display screen, a buzzer, and / or a speaker.

[0059] In some embodiments, the system may further include an accelerator and a drive motor of a reach truck that are in communication with a control device.

[0060] Corresponding to the above method embodiments, this invention also provides a computer program product. The computer program product described below and the control method for a reach truck described above can be referred to in correspondence.

[0061] A computer program product includes a computer program / instructions that, when executed by a processor, implement the steps of the reach truck control method provided in the above-described method embodiments.

[0062] Corresponding to the above method embodiments, this invention also provides a computer-readable storage medium. The computer-readable storage medium described below can be referred to in conjunction with the control method for a reach truck described above.

[0063] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for a reach truck as provided in the above-described method embodiments.

[0064] The computer-readable storage medium can specifically be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other readable storage medium capable of storing program code.

[0065] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Regarding the apparatuses, systems, computer-readable storage media, and computer program products disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant details can be found in the method section.

[0066] The control method, device, and system for a reach truck provided by this invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A control method for a reach truck, characterized in that, include: Acquire the travel control signal of the reach truck; wherein the travel control signal includes a forward signal and / or a reverse signal; Based on the driving control signal, the driving status of the reach truck is determined using the detection data collected by the preset detection equipment; wherein, the preset detection equipment includes a mast extension detection device, a forklift load detection device, and a climbing detection device, and the driving status includes dangerous driving conditions, including a heavy-load climbing condition with the mast retracted. If the driving situation is a target dangerous driving state, the reach truck is controlled according to the target safety strategy; wherein, the target dangerous driving state is any of the dangerous driving states, the target safety strategy is a preset safety strategy corresponding to the target dangerous driving state, and the preset safety strategy includes a strategy to prohibit mast forward movement corresponding to the heavy-load climbing state of mast retraction.

2. The control method for a reach truck according to claim 1, characterized in that, If the driving situation is a target dangerous driving state, then the reach truck is controlled according to the target safety strategy, including: If the driving condition is a heavy-load uphill state with the gantry retracted, then when a gantry forward movement signal is detected, the gantry forward movement is prohibited, and a first alarm is triggered through an alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer, and / or a speaker.

3. The control method for a reach truck according to claim 1, characterized in that, The dangerous driving state also includes a heavy-load climbing state with the mast extended, and the preset safety strategy also includes a parking alarm strategy corresponding to the heavy-load climbing state with the mast extended; if the driving situation is a target dangerous driving state, then the reach truck is controlled according to the target safety strategy, including: If the driving situation is a heavy-load climbing state with the mast extended, the reach truck is controlled to decelerate to 0 and a second alarm is triggered through the alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer and / or a speaker.

4. The control method for a reach truck according to claim 1, characterized in that, The dangerous driving state also includes a heavily loaded, non-climbing state with the mast extended; the preset safety strategy also includes a speed reduction strategy corresponding to the heavily loaded, non-climbing state with the mast extended; if the driving situation is a target dangerous driving state, then the reach truck is controlled according to the target safety strategy, including: If the driving condition is a heavily loaded, non-climbing state with the mast extended, the travel speed of the reach truck is controlled to be less than or equal to a preset speed limit, and a third alarm is triggered through an alarm device; wherein, the alarm device includes an indicator light, a display screen, a buzzer and / or a speaker, and the preset speed limit is less than the rated maximum speed of the reach truck.

5. The control method for a reach truck according to any one of claims 1 to 4, characterized in that, The step of determining the driving status of the reach truck based on the driving control signal and the detection data collected by the preset detection equipment includes: Based on the load detection signal collected by the forklift load detection device, it is determined whether the reach truck is under heavy load. If it is in the heavy load state, then based on the mast detection signal collected by the mast extension detection device, it is determined whether the mast of the reach truck is in the retracted state. If it is in the retracted state, the reach truck is controlled to drive normally according to the driving control signal; During the travel of the reach truck, the climb detection signal collected by the climb detection device is used to determine whether the reach truck is in a climbing state. If the forklift is in the climbing state, then the travel status of the reach truck is determined to be the heavy-load climbing state with the mast retracted.

6. The control method for a reach truck according to claim 5, characterized in that, The dangerous driving conditions also include the heavy-load climbing state with the mast extended and the heavy-load non-climbing state with the mast extended. After determining whether the mast of the reach truck is in the retracted state based on the mast detection signal collected by the mast extension detection device, the following steps are also included: If the mast is in the extended state, the climb detection signal collected by the climb detection device is used to determine whether the reach truck is in a climbing state. If the forklift is in the climbing state, the travel status of the reach truck is determined to be the heavy-load climbing state with the mast extended. If the forklift is not climbing, its travel status is determined to be a heavy-load, non-climbing state with the mast extended.

7. The control method for a reach truck according to claim 5, characterized in that, The ramp detection device is specifically a drive motor current detection device. The step of determining whether the reach truck is in a ramp-climbing state based on the ramp detection signal collected by the ramp detection device includes: When the current of the drive motor collected by the drive motor current detection device is greater than the preset current value, it is determined that the reach truck is in the climbing state. When the current of the drive motor is less than or equal to the preset current value, the reach truck is determined to be in the non-climbing state.

8. A control device for a reach truck, characterized in that, include: An acquisition module is used to acquire the travel control signals of the reach truck; wherein the travel control signals include forward signals and / or reverse signals; The determination module is used to determine the driving status of the reach truck based on the driving control signal and the detection data collected by the preset detection equipment; wherein, the preset detection equipment includes a mast extension detection device, a forklift load detection device and a climbing detection device, and the driving status includes a dangerous driving state, which includes a heavy-load climbing state with the mast retracted. The control module is configured to control the reach truck according to a target safety strategy if the driving situation is a target dangerous driving state; wherein the target dangerous driving state is any of the dangerous driving states, the target safety strategy is a preset safety strategy corresponding to the target dangerous driving state, and the preset safety strategy includes a strategy to prohibit mast forward movement corresponding to the heavy-load climbing state of mast retraction.

9. A control system for a reach truck, characterized in that, include: The control equipment for the reach truck and the mast extension detection equipment, forklift load detection equipment, and slope detection equipment that are communicatively connected to the control equipment; The control device includes: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the control method for the reach truck as described in any one of claims 1 to 7.

10. The control system of the reach truck according to claim 9, characterized in that, Also includes: An alarm device that is communicatively connected to a control device; wherein the alarm device includes indicator lights, a display screen, a buzzer, and / or a speaker.

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