Operation indication system of unmanned forklift and unmanned forklift

Abstract

The utility model provides an operation indication system of an unmanned forklift and the unmanned forklift. An industrial control module and a safety control module which are in communication connection with each other are arranged; the industrial control module is connected with a driving module, an obstacle avoidance module and a power supply module. The safety control module is connected with an operating element module, a forklift moving structure and a limiting structure through a digital input interface; the safety control module is connected with the indication module through a digital output interface. The indicating module can effectively obtain the current working condition of the operation element module from the safety control module in the operation process of the unmanned forklift, and the current working condition is indicated. Furthermore, the industrial control module and the safety control module which are in communication connection with each other are respectively connected with different functional modules, so that the operation condition of the unmanned forklift is indicated from multiple aspects, and the safety coefficient and the working efficiency of the unmanned forklift in the operation process can be effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of driverless forklifts, and specifically to an operation indication system and a driverless forklift for a driverless forklift. Background Art

[0002] A driverless forklift is a forklift that uses automation technology and driverless technology for operation and navigation, and is usually used in industrial and warehousing logistics environments. Most of the existing forklifts are relatively complex in operation control, and do not have obstacle avoidance related equipment. They cannot give timely feedback when encountering abnormal situations, nor can they give timely prompts to the surrounding environment and personnel. Workers cannot well understand the current operating status of the driverless forklift, resulting in low work efficiency during the handling process of the driverless forklift, being easily damaged during transportation, and being difficult to form an effective working cooperation with the external environment. Summary of the Utility Model

[0003] In view of the above deficiencies in the prior art, this application provides an operation indication system and a driverless forklift for a driverless forklift to solve at least one of the above technical problems.

[0004] In a first aspect, an operation indication system for a driverless forklift is proposed, including: an industrial control module and a safety control module that are communicatively connected to each other. Among them, the industrial control module is connected to a drive module, an obstacle avoidance module, and a power module. The safety control module is connected to an operation element module, a forklift moving structure, and a limit structure through a digital input interface; the safety control module is connected to an indication module through a digital output interface; the indication module is used to obtain the current working condition of the operation element module from the safety control module and indicate the current working condition.

[0005] In practical applications, the industrial control module and the safety control module can be integrated.

[0006] In some specific embodiments, the operation element module includes a switch control element, and / or an operation mode operation element, and / or an operation status operation element. The operation mode operation element includes an automatic mode key and a manual mode key; the operation status operation element includes a reset key, a pause key, and a continue key.

[0007] In some specific embodiments, the indication module includes a contour light, and / or an operation mode indicator light, and / or an operation status indicator light; the operation mode indicator light includes an automatic mode light and a manual mode light corresponding to the automatic mode key and the manual mode key respectively. This operation mode indicator light is used to obtain the current operation mode of the operation mode operation element through the safety control module and adjust the light output of the corresponding indicator light according to the current operation mode.

[0008] The operating status indicator lights include a reset indicator light, a pause indicator light, and a resume indicator light corresponding to the reset key, the pause key, and the resume key respectively. This operating status indicator light is used to obtain the current operating status of the driverless forklift through the safety control module and light the corresponding reset indicator light, and / or pause indicator light, and / or resume indicator light according to the current operating status.

[0009] In some specific embodiments, a sensing component is further included. The forklift moving structure includes a fork tip structure and a fork root structure; a sensing component is connected to the fork tip structure and / or the fork root structure, and the sensing component is connected to the safety control module. The sensing component is used to obtain the moving distance and / or load-bearing value of the fork tip structure and / or the fork root structure and send them to the safety control module.

[0010] In some specific embodiments, the fork tip structure includes a left fork tip and a right fork tip; the fork root structure includes a left fork root and a right fork root. In practical applications, the left fork tip, the right fork tip, the left fork root, and the right fork root can all be connected with sensing components. The safety control module can obtain the movement situation or load-bearing situation of each fork root or fork tip through the sensing components, further enabling the safety control module to monitor the fork root structure and the fork tip structure, and prompt the staff through the indication module when the fork tip structure or the fork root structure runs abnormally.

[0011] In practical applications, both the fork root structure and the fork tip structure are located on the forks of the driverless forklift. The forks include a left fork and a right fork. The left fork tip and the left fork root are located on the left fork, and the right fork tip and the right fork root are located on the right fork. The fork root structure and the fork tip structure can also be driven by receiving drive from the drive module connected to the industrial control module through the safety control module to drive the forks to move in the height direction.

[0012] In some specific embodiments, the safety control module is also connected with an emergency stop button through a data input interface and an emergency stop output module through a data output interface. When the safety control module receives a signal of abnormal operation of the fork root structure or the fork tip structure from the inside, the emergency stop output module can be enabled to implement the emergency stop function of the driverless forklift. In practical applications, through the design of this mechanism, all actions of the forklift can be quickly stopped when an abnormality occurs, avoiding further damage or danger.

[0013] In some specific embodiments, a limiting structure is further included. The limiting structure includes an upper limiting structure and a lower limiting structure, and an activity space is formed between the upper limiting structure and the lower limiting structure; the forklift moving structure is used to move between the upper limiting structure and the lower limiting structure. The safety control module is used to drive the upper limiting structure and the lower limiting structure to move to adjust the size of the activity space. By setting the limiting structure, the fork tip structure and the fork root structure of the driverless forklift can only move in the activity space formed by the limiting structure, which can effectively improve the operating safety of the driverless forklift.

[0014] In some specific embodiments, the obstacle avoidance module includes a sound player, and / or a camera component, and / or a light strip component; the sound player is connected to the industrial control module through an audio interface. In some specific embodiments, the light strip component communicates with the industrial control module through an interface that supports the DMX512 protocol (Digital Multiplex 512, a digital dimming protocol); the light strip component includes multiple color display modes for indicating the obstacle avoidance situation of the driverless forklift.

[0015] In some specific embodiments, the power supply module includes a charging communication module, a battery, and a battery management module. The battery management module is connected to the battery, and the charging communication module and the charging communication module respectively communicate with the industrial control module through interfaces that support the CANopen protocol (Controller Area Network Open Protocol, a controller area network open application layer protocol mainly used for communication and data exchange between devices in industrial automation and control systems).

[0016] In some specific embodiments, the obstacle avoidance module further includes a radar component, which is connected to the industrial control module in a wired or wireless manner; the radar component includes a navigation radar, a left obstacle avoidance radar, and / or a right obstacle avoidance radar, and / or a rear obstacle avoidance radar. In practical applications, the radar component can be wirelessly connected to the industrial control module through a wireless network, or can be wired to the industrial control module through an Ethernet cable.

[0017] In some specific embodiments, a wire rope encoder is further included, which is connected to the industrial control module. The wire rope encoder is used to connect to an external rope and measure the telescopic length, and / or the lifting height, and / or the tilting angle of the forklift moving structure through the external rope.

[0018] In a second aspect, a driverless forklift is proposed, including the operation indication system of any one of the aforementioned technical solutions for the driverless forklift.

[0019] Beneficial effects: The present application provides an operation indication system and a driverless forklift for a driverless forklift. By setting an industrial control module and a safety control module that communicate with each other; the industrial control module is connected to a drive module, an obstacle avoidance module, and a power supply module. The safety control module is connected to an operation element module, a forklift moving structure, and a limit structure through digital input interfaces; the safety control module is connected to an indication module through digital output interfaces. It can effectively enable the indication module to obtain the current working condition of the operation element module from the safety control module during the operation of the driverless forklift and indicate the current working condition, which can make the safety factor of the driverless forklift higher during operation, effectively avoid obstacles, and can also achieve better cooperation with the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a general schematic diagram of the module connection structure of the present application;

[0022] Figure 2 It is a detailed schematic diagram of the module connection structure in the present application;

[0023] Figure 3 It is a schematic diagram of the connection relationship between the industrial control module and each module in the present application;

[0024] Figure 4 It is a schematic diagram of the connection relationship between the safety control module and each module in the present application.

[0025] The reference numerals are as follows: 1 - industrial control module; 11 - drive module; 12 - obstacle avoidance module; 121 - sound player; 122 - camera assembly; 123 - light strip assembly; 124 - radar assembly; 13 - power module; 131 - charging communication module; 132 - battery; 133 - battery management module; 14 - wire rope encoder; 15 - industrial control touch screen; 2 - safety control module; 21 - operation element module; 211 - switch control part; 212 - operation element for operation mode; 213 - operation element for operation status; 22 - forklift moving structure; 221 - fork tip structure; 222 - fork root structure; 23 - limit structure; 231 - upper limit structure; 232 - lower limit structure; 233 - sensing assembly; 24 - indication module; 241 - outline lamp; 242 - operation mode indicator lamp; 243 - operation status indicator lamp; 25 - emergency stop output module; 26 - emergency stop button; 27 - charging docking module; 28 - safety edge module. Specific Embodiments

[0026] The following will clearly and completely describe the concept, specific structure and technical effects generated of the present application in combination with the embodiments and the drawings, so as to fully understand the purpose, features and effects of the present application.

[0027] In the following text, various embodiments of the present application will be more comprehensively described. The present application can have various embodiments, and adjustments and changes can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternative solutions falling within the spirit and scope of the various embodiments of the present application.

[0028] As used hereinafter, the term "comprising" or "may comprise" which may be used in various embodiments of the present application indicates the presence of disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. Further, as used in various embodiments of the present application, the terms "comprising", "having" and their cognates are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as precluding the existence or addition of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items first.

[0029] In various embodiments of the present application, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the recited words. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0030] Expressions (such as "first", "second", etc.) used in various embodiments of the present application may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only for the purpose of distinguishing one element from other elements. For example, the first staff device and the second staff device indicate different staff devices, although both are staff devices. For example, without departing from the scope of the various embodiments of the present application, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0031] It should be noted that: in the present application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium; it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0032] In the present application, those of ordinary skill in the art need to understand that the terms indicating orientation or positional relationship in the text are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0033] The terms used in various embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present application. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in a commonly used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present application.

[0034] Embodiment 1

[0035] This embodiment provides an operation indication system for an unmanned forklift, and its specific solution is as follows:

[0036] An operation indication system for an unmanned forklift, as Figure 1 shown, includes: an industrial control module 1 and a safety control module 2 that are communicatively connected to each other. Among them, the industrial control module 1 is connected to a drive module 11, an obstacle avoidance module 12, and a power module 13. The safety control module 2 is connected to an operation element module 21, a forklift moving structure 22, and a limit structure 23 through a digital input interface; the safety control module 2 is connected to an indication module 24 through a digital output interface; the indication module 24 is used to obtain the current working condition of the operation element module 21 from the safety control module 2 and indicate the current working condition.

[0037] In practical applications, the industrial control module 1 and the safety control module 2 can be integrally arranged.

[0038] In some specific embodiments, the operation element module 21 includes a switch control member 211, and / or an operation mode operation element 212, and / or an operation status operation element 213. The operation mode operation element 212 includes an automatic mode key and a manual mode key; the operation status operation element 213 includes a reset key, a pause key, and a continue key.

[0039] In some specific embodiments, as Figure 1 , Figure 2 and Figure 3 shown, the indication module 24 includes a contour light 241, and / or an operation mode indicator light 242, and / or an operation status indicator light 243; the operation mode indicator light 242 includes an automatic mode light and a manual mode light corresponding to the automatic mode key and the manual mode key respectively. This operation mode indicator light 242 is used to obtain the current operation mode of the operation mode operation element 212 through the safety control module 2 and adjust the light output of the corresponding indicator light according to the current operation mode.

[0040] The operation status indicator light 243 includes a reset indicator light, a pause indicator light, and a resume indicator light corresponding to the reset key, the pause key, and the resume key respectively. This operation status indicator light 243 is used to obtain the current operation status of the driverless forklift through the safety control module 2, and light the corresponding reset indicator light, and / or pause indicator light, and / or resume indicator light according to the current operation status. Through the setting of a variety of indicator lights corresponding to the operating elements, it is possible for the staff to distinguish the current operation mode and operation status of the driverless forklift from a long distance during work, which can effectively improve work efficiency and reduce workload.

[0041] In some specific embodiments, such as Figure 3 As shown, it further includes a sensing component 233. The forklift moving structure 22 includes a fork tip structure 221 and a fork root structure 222; a sensing component 233 is connected to the fork tip structure 221 and / or the fork root structure 222. The sensing component 233 is used to obtain the moving distance and / or load-bearing value of the fork tip structure 221 and / or the fork root structure 222 and send it to the safety control module 2.

[0042] In some specific embodiments, the fork tip structure 221 includes a left fork tip and a right fork tip; the fork root structure 222 includes a left fork root and a right fork root. In practical applications, the left fork tip, the right fork tip, the left fork root, and the right fork root can all be connected with a sensing component 233. The safety control module 2 can obtain the movement or load-bearing situation of each fork root or fork tip through the sensing component 233, and further enable the safety control module 2 to monitor the fork root structure 222 and the fork tip structure 221, and prompt the staff through the indication module 24 when the fork tip structure 221 or the fork root structure 222 runs abnormally.

[0043] In practical applications, both the fork root structure 222 and the fork tip structure 221 are located on the forklift forks of the driverless forklift. The forklift forks include a left forklift fork and a right forklift fork. The left fork tip and the left fork root are located on the left forklift fork, and the right fork tip and the right fork root are located on the right forklift fork. The fork root structure 222 and the fork tip structure 221 can also be driven by the safety control module 2 to receive the drive from the drive module 11 connected to the industrial control module 1 to realize the movement of the forklift forks in the height direction.

[0044] In some specific embodiments, the safety control module 2 is also connected with an emergency stop button 26 through a data input interface and an emergency stop output module 25 through a data output interface. When the safety control module 2 receives a signal of abnormal operation of the fork root structure 222 or the fork tip structure 221 from the sensing component 233, the emergency stop output module 25 can be enabled to realize the emergency stop function of the driverless forklift. In practical applications, through the design of this mechanism, all actions of the forklift can be quickly stopped during abnormal operation, avoiding further damage or danger.

[0045] In practical applications, such asFigure 3 As shown, the safety control module 2 is also connected with standby interfaces through a digital output interface and a digital input interface respectively, enabling users to externally connect other functional modules in this system according to actual situations to meet diverse application requirements. In a specific embodiment, the safety control module 2 is also connected with a safety edge module 28 through the digital input interface. This safety edge module 28 includes an edge sensor. When the edge sensor identifies that the forklift has a risk of touching the edge, the safety edge module 28 will further transmit the risk signal to the safety control module 2.

[0046] In some specific embodiments, a limiting structure 23 is further included. The limiting structure 23 includes an upper limiting structure 231 and a lower limiting structure 232. An activity space is formed between the upper limiting structure 231 and the lower limiting structure 232. The forklift moving structure 22 is used to move between the upper limiting structure 231 and the lower limiting structure 232. The safety control module 2 is used to drive the upper limiting structure 231 and the lower limiting structure 232 to move to adjust the size of the activity space.

[0047] In some specific embodiments, the obstacle avoidance module 12 includes a sound player 121, and / or a camera assembly 122, and / or a light strip assembly 123. The sound player 121 is connected to the industrial control module 1 through an audio interface. In actual applications, the sound player 121 can issue an alarm or reminder when the unmanned forklift encounters an obstacle during movement. The camera assembly 122 can be a 3D camera, which can identify the environment around the unmanned forklift from multiple angles and directions, effectively improving the safety of the unmanned forklift during operation.

[0048] In some specific embodiments, the light strip assembly 123 is communicatively connected to the industrial control module 1 through an interface supporting the DMX512 protocol. The light strip assembly 123 includes multiple color display modes for indicating the obstacle avoidance situation of the unmanned forklift.

[0049] In some specific embodiments, such as Figure 4 As shown, the power supply module 13 includes a charging communication module 131, a battery 132, and a battery management module 133. The battery management module 133 is connected to the battery 132. The charging communication module 131 and the charging communication module 131 are respectively communicatively connected to the industrial control module 1 through interfaces supporting the CANopen protocol. In actual applications, the power supply module 13 is also connected with a power supply interface for connecting to an external power supply.

[0050] In a specific embodiment, the camera assembly 122 further includes a charging docking camera near the power source of the driverless forklift. The safety control module 2 is also connected to a charging docking module 27, where the charging docking module 27 includes a docking sensor, and this docking sensor can cooperate with the charging docking camera to assist the driverless forklift in successfully docking the power interface with the charging position of the external power source visually and sensorially.

[0051] In some specific embodiments, the obstacle avoidance module 12 further includes a radar assembly 124, and the radar assembly 124 is connected to the industrial control module 1 in a wired or wireless manner; the radar assembly 124 includes a navigation radar, a left obstacle avoidance radar, and / or a right obstacle avoidance radar, and / or a rear obstacle avoidance radar. In practical applications, the radar assembly 124 can be wirelessly connected to the industrial control module 1 through a wireless network, or can be wired to the industrial control module 1 through an Ethernet cable.

[0052] In a specific embodiment, it further includes an industrial control touch screen 15 connected to the industrial control module 1, and the industrial control touch screen 15 can be connected to the industrial control module 1 through an HDMI interface. Staff can send corresponding signals to the industrial control module 1 by operating on the industrial control touch screen 15, and a relatively complex industrial automation processing process can be realized. In practical applications, the light strip assembly 123 is connected to the industrial control module 1 through an interface that supports the DMX512 protocol. Staff can also automatically adjust the color mode of the light strip assembly 123 through the industrial control touch screen 15 or the industrial control module 1 by virtue of pre-set signals. Through different color signals of the light strips in the driverless forklift, different operating conditions of the driverless forklift can be identified. For example, green is used to indicate that the driverless forklift is in normal operation, and red is used to indicate that the driverless forklift has an abnormal situation, etc.

[0053] In some specific embodiments, it further includes a wire rope encoder 14, and the wire rope encoder 14 is connected to the industrial control module 1. The wire rope encoder 14 is used to connect to an external rope and measure the telescopic length, and / or the lifting height, and / or the tilting angle of the forklift moving structure 22 through the external rope.

[0054] This embodiment provides an operation indication system for a driverless forklift. By setting an industrial control module and a safety control module that communicate with each other; the industrial control module is connected to a drive module, an obstacle avoidance module, and a power module. The safety control module is connected to an operation element module, a forklift moving structure, and a limit structure through digital input interfaces; the safety control module is connected to an indication module through digital output interfaces. It can effectively enable the indication module to obtain the current working condition of the operation element module from the safety control module during the operation of the driverless forklift and indicate the current working condition. It can effectively improve the safety factor and working efficiency of the driverless forklift during operation.

[0055] Embodiment 2

[0056] This embodiment provides an automated forklift, including the operation indication system of any one of the automated forklifts in the technical solutions of the foregoing embodiments. In practical applications, the industrial control module 1 and the safety control module 2 in the operation indication system can obtain data of the external environment from the outside world, and can drive the corresponding modules according to the obtained data to react to the external environment in a timely manner, realizing functions such as obstacle avoidance or abnormal prompt. Among them, the indication module 24 includes a contour light 241, an operation mode indicator light 242, and an operation status indicator light 243, which can indicate the operation status of the automated forklift, and can effectively improve the work cooperation degree between the staff and the automated forklift. Further, the industrial control module 1 and the safety control module 2 connected to each other through communication are respectively connected to different functional modules, and the modules cooperate with each other and are arranged compactly, which can effectively reduce the actual occupied volume of the operation indication system in the automated forklift, further reduce the weight of the automated forklift, and increase the carrying space of the automated forklift.

[0057] In practical applications, the industrial control module 1 and the safety control module 2 can be integrally provided and integrally integrated in this automated forklift.

[0058] This embodiment provides an automated forklift. By operating the operation indication system of the automated forklift in the foregoing technical solution, during the movement and work process, it can react to external obstacles, realize avoidance of obstacles and prompt for obstacles or abnormal operations, making its operation process more intuitive, and can effectively improve the safety factor and work efficiency during its operation.

[0059] The above is a specific description of the preferred embodiments of the present application, but the present application invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. An operation indication system for an unmanned forklift, characterized in that: include: Industrial control modules and safety control modules that communicate with each other; The industrial control module is connected to a drive module, an obstacle avoidance module and a power supply module; The safety control module is connected to the operating element module, the forklift moving structure and the limiting structure through a digital input interface; The safety control module is connected to the indication module via a digital output interface; The indication module is used to obtain the current working status of the operating element module from the safety control module and indicate the current working status.

2. The operation indication system of an unmanned forklift according to claim 1, characterized in that: The operating element module includes a switch control element, and / or an operating mode operating element, and / or an operating state operating element; The operation mode operating element includes an automatic mode key and a manual mode key; The operating state operating elements include a reset button, a pause button and a continue button.

3. The operation indication system of an unmanned forklift according to claim 2, characterized in that: The indication module includes a clearance lamp, and / or an operating mode indicator lamp, and / or an operating status indicator lamp; The operating mode indicator light comprises an automatic mode light and a manual mode light corresponding to the automatic mode key and the manual mode key respectively; The operating status indicator light includes a reset indicator light, a pause indicator light and a continue indicator light corresponding to the reset key, the pause key and the continue key respectively.

4. The operation indication system of an unmanned forklift according to claim 1, characterized in that: Also included is a sensing assembly, wherein the forklift moving structure includes a fork tip structure and a fork root structure; The sensor component is connected to the fork tip structure and / or the fork root structure, and the sensor component is connected to the safety control module. The sensor component is used to obtain the moving distance and / or load-bearing value of the fork tip structure and / or the fork root structure and send it to the safety control module.

5. The operation indication system of an unmanned forklift according to claim 4, characterized in that: It also includes a limit structure, the limit structure includes an upper limit structure and a lower limit structure, and a movable space is formed between the upper limit structure and the lower limit structure; The forklift moving structure is used to move between the upper limit structure and the lower limit structure; The safety control module is used to drive the upper limit structure and the lower limit structure to move so as to adjust the size of the activity space.

6. The operation indication system of an unmanned forklift according to claim 1, characterized in that: The obstacle avoidance module includes a sound player, and / or a camera component, and / or a light strip component; The sound player is connected to the industrial control module via an audio interface; The light strip assembly is communicatively connected to the industrial control module via an interface supporting the DMX512 protocol; the light strip assembly includes a plurality of color display modes for indicating the obstacle avoidance status of the unmanned forklift.

7. The operation indication system of an unmanned forklift according to claim 1, characterized in that: The power module includes a charging communication module, a battery and a battery management module; The battery management module is connected to the battery, and the charging communication module and the charging communication module are respectively connected to the industrial control module for communication via an interface supporting the CANopen protocol.

8. The operation indication system of an unmanned forklift according to claim 6, characterized in that: The obstacle avoidance module also includes a radar component, which is connected to the industrial control module by wire or wirelessly; the radar component includes a navigation radar, a left obstacle avoidance radar, and / or a right obstacle avoidance radar, and / or a rear obstacle avoidance radar.

9. The operation indication system of an unmanned forklift according to claim 1, characterized in that: Also includes a draw-wire encoder, the draw-wire encoder is connected to the industrial control module; The wire encoder is used to connect to an external rope, and measures the telescopic length, lifting height, and / or tilt angle of the forklift moving structure through the external rope.

10. An unmanned forklift, characterized in that: An operation indication system comprising any one of the unmanned forklifts as described in claims 1-9.

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