CN112174035A - Intelligent automatic control system of laser forklift - Google Patents

Intelligent automatic control system of laser forklift Download PDF

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Publication number
CN112174035A
CN112174035A CN202011026425.1A CN202011026425A CN112174035A CN 112174035 A CN112174035 A CN 112174035A CN 202011026425 A CN202011026425 A CN 202011026425A CN 112174035 A CN112174035 A CN 112174035A
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China
Prior art keywords
power supply
control
circuit
signal
master controller
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CN202011026425.1A
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Chinese (zh)
Inventor
何建忠
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Shenzhen Okagv Robotics Corp ltd
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Shenzhen Okagv Robotics Corp ltd
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Priority to CN202011026425.1A priority Critical patent/CN112174035A/en
Publication of CN112174035A publication Critical patent/CN112174035A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Power Engineering (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention provides an intelligent automatic control system of a laser forklift, which comprises a laser forklift main body and a control system; a handle control module is arranged in the handle, wherein the handle control module is connected with a plurality of keys arranged on the handle; the control system comprises a power supply module, a direct-current power supply conversion module, a motor control module, a signal control module and a master controller; the master controller is configured to receive a key signal from the handle control module; the master controller generates a control signal according to the key signal and sends the control signal to the signal control module through the output pin so that the signal control module controls the on-off of the motor control module; and the transceiving pin of the master controller is configured to perform data interaction with other modules. The control system has the advantages of simplicity and convenience in operation, good flexibility, strong practicability and simple circuit structure.

Description

Intelligent automatic control system of laser forklift
Technical Field
The invention relates to the field of circuit control of laser forklifts, in particular to an intelligent automatic control system of a laser forklift.
Background
With the development of material conveying systems, flexible manufacturing systems, Automated stereoscopic warehouse systems and the like, AGVs (Automated Guided vehicles) are important components in the material conveying systems and the flexible manufacturing systems, can overcome the defects of the traditional logistics systems, and are widely applied in the manufacturing and conveying links. The principle is as follows: the position of the carrying robot is accurately positioned by using the accuracy and non-divergence of laser to guide the forklift to walk. The method comprises the steps that reflecting plates with certain intervals are arranged in advance in the working place of the forklift, the AGV in the process of advancing emits laser through a vehicle-mounted rotating laser head, after the laser scans for one circle, the laser irradiates the reflecting plates, the laser returns in the original path, the reflecting angles of a series of the reflecting plates can be obtained, and the coordinates of the laser rotating center can be obtained through calculation. In recent years, laser forklifts are more and more favored by various enterprises due to the characteristics of high intelligent degree and strong flexibility. Compared with the AGV with other navigation modes, the laser forklift breaks through the defect that the track of the fixed path navigation mode cannot be changed and a guide rail needs to be laid, only needs simple construction such as installation of a reflector and arrangement of a network, has the advantages of small turning radius and convenience in path change, and can be directly applied to the use scene of a manual driving forklift. In general, a laser forklift has functions of lifting, steering, towing, and the like, and a conventional laser forklift controls steering, lifting, and the like of the laser forklift by a physical mechanical structure such as a steering wheel, an operation lever, and the like. However, this physical control method requires an operator to control the steering wheel in the vicinity of the steering wheel; the laser forklift is generally huge in size, and sometimes when an operator uses an operating lever and a steering wheel, a visual blind area exists, so that the operation condition of the forklift cannot be well observed; the operator needs to be constantly near the operating lever, and cannot observe the peripheral situation. In addition, the design of the physical operation platform also increases the weight and the volume of the forklift, and is heavy in use.
Therefore, aiming at the technical problems in the prior art, it is urgently needed to provide a remote control technology for a handle of a laser forklift, which has a simple circuit structure and is easy and convenient to operate, and can control the laser forklift through the handle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent automatic control system of a laser forklift, which realizes the operations of lifting, traction, steering and the like by using a handle to replace a physical operating device (such as a steering wheel, an operating lever and the like); the electric control of the laser forklift by the handle is realized by designing an electric circuit structure; meanwhile, a master controller with the model of CVC600 is adopted to add multiple functions, so that the laser forklift is more intelligent; the control system has the advantages of simplicity and convenience in operation, good flexibility, strong practicability and simple circuit structure.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an intelligent automatic control system of a laser forklift comprises a laser forklift main body and a control system; the laser forklift main body comprises a handle, a lifting device, a traction device and a steering device; the lifting device is configured to be used for enabling the fork of the laser forklift to carry out lifting movement operation; the traction device is configured to draw the laser forklift body to move; the steering device is configured to control the laser forklift main body to perform steering operation;
the handle, the lifting device, the traction device and the steering device are all connected with the control system; the handle is configured to send a key signal to a control system, so that the control system controls the lifting device, the traction device or the steering device to operate according to the key signal; a handle control module is arranged in the handle, wherein the handle control module is connected with a plurality of keys arranged on the handle;
the control system comprises a power supply module, a direct-current power supply conversion module, a motor control module, a signal control module and a master controller; the master controller is configured to receive a key signal from the handle control module;
the power supply module comprises an automatic charging circuit, a battery and a power supply providing circuit; the battery comprises a power supply end and a charging end; the automatic charging circuit is connected with the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected with the power supply providing circuit and is configured to supply power to the power supply providing circuit;
the direct-current power supply conversion module is configured to receive voltage from the power supply module and provide a direct-current power supply for the system after conversion;
the motor control module comprises a traction control circuit, a steering control circuit and a direct-current hydraulic pump motor for driving the fork to lift; the traction control circuit comprises an alternating current servo motor driver and an alternating current servo motor, and the alternating current servo motor is connected with the traction device of the laser forklift body and used for providing power for the traction device; the steering control circuit comprises a direct current steering controller and a direct current servo motor, and the direct current servo motor is connected with the steering device of the laser forklift body and used for providing power for the steering device; the direct-current hydraulic pump motor is connected with the lifting device of the laser forklift main body and used for providing power for the lifting device; the alternating current servo motor driver is configured to receive the on-off signal of the signal control module and control the on-off of the alternating current servo motor; the direct current steering controller is configured to receive the on-off signal of the signal control module and control the on-off of the direct current servo motor;
the signal control module comprises an emergency stop interlocking circuit, a lifting control circuit, an automatic charging control circuit and a traction motor braking circuit; the emergency stop interlocking circuit, the lifting control circuit, the automatic charging control circuit and the traction motor braking circuit are all connected with an output pin of the master controller, and are configured to receive a control signal of the master controller so as to realize the on-off of the control circuit and transmit the on-off signal to the motor control module;
specifically, the on-off of the sudden stop interlocking circuit is used for controlling the power supply of the alternating current servo motor driver and the direct current steering controller, so that the alternating current servo motor and the direct current servo motor are controlled to be turned on or off, and the control of the laser forklift traction device and the steering device is further realized.
Specifically, the on-off of the lifting control circuit is used for controlling the on-off of a direct current hydraulic pump motor, so that the control of the laser forklift lifting device is realized. The automatic charging control circuit is used for controlling the on-off of the automatic charging circuit so as to realize the control of the charging of the battery; the charging of the battery is not controlled by a handle, whether the battery amount in the battery reaches a preset threshold value or not is judged through the master controller, and then the master controller outputs a signal to the automatic charging control circuit to enable the circuit to be communicated, so that the automatic charging of the battery is realized. The traction motor braking circuit realizes the braking of the alternating current servo motor by controlling the brake so as to complete the control of the traction device.
The master controller comprises an input pin, an output pin and a transceiving pin; the input pin of the master controller is configured to receive a key signal from the handle control module, the master controller generates a control signal according to the key signal and sends the control signal to the signal control module through the output pin so that the signal control module controls the on-off of the motor control module; and the transceiving pin of the master controller is configured to perform data interaction with other modules.
Specifically, the principle of the technical scheme is as follows: a user operates a key on a handle, after the key is triggered, a handle control module sends a corresponding signal to a master controller of a control system, the master controller generates a corresponding control signal and outputs the signal to a motor control module through an output pin of the master controller; for example, a user presses a traction button on a handle, and at the moment, a handle control module sends a signal that the traction button is triggered to a master controller; the master controller selects the traction control circuit and triggers the traction control circuit to be conducted according to the key signal, the power supply module conducts a circuit for supplying power to the traction control circuit at the moment, and the alternating current servo motor driver drives the alternating current servo motor to be started, so that the traction device is started. When a user presses the 'emergency stop' button, the handle control module sends a signal corresponding to the button to the master controller, the master controller selects the emergency stop interlocking circuit according to the button signal, the traction control circuit is disconnected at the moment, the alternating current servo motor driver is closed, the driving of the alternating current servo motor is stopped, and the traction device is suspended. The control principle of other modules is the same as the aforementioned principle, and is not described in detail herein.
The model of the master controller is CVC 600.
The automatic charging circuit comprises an automatic charging electrode and a third contactor, wherein two ends of the third contactor are respectively connected with the positive electrode of the automatic charging electrode and the positive electrode of the charging end of the battery, and the negative electrode of the charging end of the battery is connected with the negative electrode of the automatic charging electrode Cha; the power supply providing circuit at least comprises an emergency stop button, a key switch, a first contactor and a second contactor; one end of the emergency stop button is connected with the positive electrode of the power supply end of the battery, and the other end of the emergency stop button is respectively connected with the key switch, the first contactor and the second contactor; the negative electrode of the battery power supply end and the other end of the key switch are respectively connected with the negative electrode and the positive electrode of the direct-current power supply conversion module; the other end of the first contactor is connected with a direct current hydraulic pump motor; the other end of the second contactor is divided into two branches, one branch is connected with the direct current steering controller, and the other branch is connected with the alternating current servo motor driver;
specifically, a circuit where the first contactor is located is used for controlling a battery to supply power to a motor of a direct current hydraulic pump, and the contactor is switched on or off to control the motor; the circuit where the second contactor is located is divided into two branches, and the two branches respectively supply power to the direct current steering controller and the alternating current servo motor driver. And the circuit where the key switch is located is used for supplying power to the direct-current power conversion module.
As described above, the DC power conversion module includes a DC/DC conversion chip.
The model of the handle control module is MCD 8.
The alternating current servo motor driver at least comprises a power supply connecting pin, a three-phase motor connecting pin connected with the alternating current servo motor and a receiving and transmitting pin connected with the master controller; the positive end of a power supply connecting pin of the alternating current servo motor driver is connected with the second contactor, and the negative end of the power supply connecting pin is connected with a 0V/24V power supply; the direct current steering controller at least comprises a power supply connecting pin, a motor connecting pin connected with the direct current servo motor and a receiving and transmitting pin connected with the master controller; the positive end of a power supply connecting pin of the direct current steering controller is connected with the second contactor, and the negative end of the power supply connecting pin of the direct current steering controller is connected with a 0V/24V power supply; one end of the direct current hydraulic pump motor is connected with the first contactor, and the other end of the direct current hydraulic pump motor is connected with a 0V/24V power supply.
Preferably, the type of the alternating current servo motor driver is ACD 175; the model number of the direct current steering controller is DCD 50.
The emergency stop interlocking circuit comprises a first intermediate relay, one end of the first intermediate relay is connected with an output pin of the master controller, and the other end of the first intermediate relay is connected with the second contactor; the emergency stop interlocking circuit is used for controlling the on-off of an alternating current servo motor driver or a direct current steering controller;
the lifting control circuit comprises a fork lifting control circuit and a fork descending control circuit, the fork lifting control circuit comprises a second intermediate relay, one end of the second intermediate relay is connected with an output pin of the master controller, the other end of the second intermediate relay is connected with the first contactor, and the fork lifting control circuit is used for controlling the on-off of the direct-current hydraulic pump motor;
the automatic charging control circuit comprises a fourth intermediate relay, one end of the fourth intermediate relay is connected with an output pin of the master controller, and the other end of the fourth intermediate relay is connected with the third contactor; the automatic charging control circuit is used for controlling the on-off of the automatic charging circuit; the fork descending control circuit is used for controlling the fork to descend;
the traction motor braking circuit comprises a third intermediate relay and a brake, one end of the third intermediate relay is connected with an output pin of the master controller, and the other end of the third intermediate relay is connected with the brake; the other end of the brake is connected with an AC servo motor driver.
The direct current steering controller further comprises four output ports, wherein the four output ports are respectively used for outputting a front laser area switching signal, a left laser area switching signal, a right laser area switching signal and a rear laser area switching signal; the four output ports are respectively connected with four safety scanners; wherein, four safety scanning appearance are preceding laser scanner, left laser scanner, right laser scanner and back laser scanner respectively.
Specifically, the four safety scanners are respectively used for detecting the front, back, left and right obstacle conditions of the laser forklift, feeding back to the direct current steering controller, and switching the scanners in different directions through the direct current steering controller.
In the above, the control system further comprises a display module connected with the master controller; the model of the display module is OPT 100.
The invention has the beneficial effects that:
the invention provides an intelligent automatic control system of a laser forklift, which realizes the operations of lifting, traction, steering and the like by using a handle to replace a physical operating device (such as a steering wheel, an operating lever and the like); the electric control of the laser forklift by the handle is realized by designing an electric circuit structure; the laser forklift does not need to be provided with a physical device, so that the weight and the volume of the laser forklift can be correspondingly reduced, and the power supply of a control system can be effectively saved; meanwhile, a master controller with the model of CVC600 is adopted to add multiple functions, so that the laser forklift is more intelligent; the control system has the advantages of simplicity and convenience in operation, good flexibility, strong practicability and simple circuit structure.
Drawings
Fig. 1 is a schematic circuit diagram of an automatic control system according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the embodiment provides an intelligent automatic control system of a laser forklift, which comprises a laser forklift main body and a control system; the laser forklift main body comprises a handle, a lifting device, a traction device and a steering device; the lifting device is configured to be used for enabling the fork of the laser forklift to carry out lifting movement operation; the traction device is configured to draw the laser forklift body to move; the steering device is configured to control the laser forklift main body to perform steering operation;
the handle, the lifting device, the traction device and the steering device are all connected with the control system; the handle is configured to send a key signal to a control system, so that the control system controls the lifting device, the traction device or the steering device to operate according to the key signal; a handle control module is arranged in the handle, wherein the handle control module is connected with a plurality of keys arranged on the handle;
the control system comprises a power supply module, a direct-current power supply conversion module, a motor control module, a signal control module and a master controller; the master controller is configured to receive a key signal from the handle control module;
the power supply module comprises an automatic charging circuit, a battery and a power supply providing circuit; the battery comprises a power supply end and a charging end; the automatic charging circuit is connected with the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected with the power supply providing circuit and is configured to supply power to the power supply providing circuit;
the direct-current power supply conversion module is configured to receive voltage from the power supply module and provide a direct-current power supply for the system after conversion;
the motor control module comprises a traction control circuit, a steering control circuit and a direct-current hydraulic pump motor for driving the fork to lift; the traction control circuit comprises an alternating current servo motor driver and an alternating current servo motor, and the alternating current servo motor is connected with the traction device of the laser forklift body and used for providing power for the traction device; the steering control circuit comprises a direct current steering controller and a direct current servo motor, and the direct current servo motor is connected with the steering device of the laser forklift body and used for providing power for the steering device; the direct-current hydraulic pump motor is connected with the lifting device of the laser forklift main body and used for providing power for the lifting device; the alternating current servo motor driver is configured to receive the on-off signal of the signal control module and control the on-off of the alternating current servo motor; the direct current steering controller is configured to receive the on-off signal of the signal control module and control the on-off of the direct current servo motor; in this embodiment, the ac servo motor driver is of model ACD 175; the model number of the direct current steering controller is DCD 50.
The signal control module comprises an emergency stop interlocking circuit, a lifting control circuit, an automatic charging control circuit and a traction motor braking circuit; the emergency stop interlocking circuit, the lifting control circuit, the automatic charging control circuit and the traction motor braking circuit are all connected with an output pin of the master controller, and are configured to receive a control signal of the master controller so as to realize the on-off of the control circuit and transmit the on-off signal to the motor control module;
specifically, the on-off of the sudden stop interlocking circuit is used for controlling the power supply of the alternating current servo motor driver and the direct current steering controller, so that the alternating current servo motor and the direct current servo motor are controlled to be turned on or off, and the control of the laser forklift traction device and the steering device is further realized.
Specifically, the on-off of the lifting control circuit is used for controlling the on-off of a direct current hydraulic pump motor, so that the control of the laser forklift lifting device is realized. The automatic charging control circuit is used for controlling the on-off of the automatic charging circuit so as to realize the control of the charging of the battery; the charging of the battery is not controlled by a handle, whether the battery amount in the battery reaches a preset threshold value or not is judged through the master controller, and then the master controller outputs a signal to the automatic charging control circuit to enable the circuit to be communicated, so that the automatic charging of the battery is realized. The traction motor braking circuit realizes the braking of the alternating current servo motor by controlling the brake so as to complete the control of the traction device.
The master controller comprises an input pin, an output pin and a transceiving pin; the input pin of the master controller is configured to receive a key signal from the handle control module, the master controller generates a control signal according to the key signal and sends the control signal to the signal control module through the output pin so that the signal control module controls the on-off of the motor control module; and the transceiving pin of the master controller is configured to perform data interaction with other modules.
Specifically, the principle of the technical scheme is as follows: a user operates a key on a handle, after the key is triggered, a handle control module sends a corresponding signal to a master controller of a control system, the master controller generates a corresponding control signal and outputs the signal to a motor control module through an output pin of the master controller; for example, a user presses a traction button on a handle, and at the moment, a handle control module sends a signal that the traction button is triggered to a master controller; the master controller selects the traction control circuit and triggers the traction control circuit to be conducted according to the key signal, the power supply module conducts a circuit for supplying power to the traction control circuit at the moment, and the alternating current servo motor driver drives the alternating current servo motor to be started, so that the traction device is started. When a user presses the 'emergency stop' button, the handle control module sends a signal corresponding to the button to the master controller, the master controller selects the emergency stop interlocking circuit according to the button signal, the traction control circuit is disconnected at the moment, the alternating current servo motor driver is closed, the driving of the alternating current servo motor is stopped, and the traction device is suspended. The control principle of other modules is the same as the aforementioned principle, and is not described in detail herein.
In this embodiment, the model of the general controller is CVC 600.
In this embodiment, the automatic charging circuit includes an automatic charging electrode and a third contactor, two ends of the third contactor are respectively connected to an anode of the automatic charging electrode and an anode of a charging terminal of the battery, and a cathode of the charging terminal of the battery is connected to a cathode of the automatic charging electrode; the power supply providing circuit at least comprises an emergency stop button, a key switch, a first contactor and a second contactor; one end of the emergency stop button is connected with the positive electrode of the power supply end of the battery, and the other end of the emergency stop button is respectively connected with the key switch, the first contactor and the second contactor; the negative electrode of the battery power supply end and the other end of the key switch are respectively connected with the negative electrode and the positive electrode of the direct-current power supply conversion module; the other end of the first contactor is connected with a direct current hydraulic pump motor; the other end of the second contactor is divided into two branches, one branch is connected with the direct current steering controller, and the other branch is connected with the alternating current servo motor driver;
specifically, a circuit where the first contactor is located is used for controlling a battery to supply power to a motor of a direct current hydraulic pump, and the contactor is switched on or off to control the motor; the circuit where the second contactor is located is divided into two branches, and the two branches respectively supply power to the direct current steering controller and the alternating current servo motor driver. And the circuit where the key switch is located is used for supplying power to the direct-current power conversion module.
In this embodiment, the DC power conversion module includes a DC/DC conversion chip, and is configured to convert and output a voltage to supply power to the system chip.
In this embodiment, the handle control module is model MCD 8.
In this embodiment, the ac servo motor driver includes at least a power connection pin, a three-phase motor connection pin connected to the ac servo motor, and a transceiver pin connected to the general controller; the positive end of a power supply connecting pin of the alternating current servo motor driver is connected with the second contactor, and the negative end of the power supply connecting pin is connected with a 0V/24V power supply;
the direct current steering controller at least comprises a power supply connecting pin, a motor connecting pin connected with the direct current servo motor and a receiving and transmitting pin connected with the master controller; the positive end of a power supply connecting pin of the direct current steering controller is connected with the second contactor, and the negative end of the power supply connecting pin of the direct current steering controller is connected with a 0V/24V power supply;
one end of the direct current hydraulic pump motor is connected with the first contactor, and the other end of the direct current hydraulic pump motor is connected with a 0V/24V power supply.
In this embodiment, the emergency stop interlocking circuit includes a first intermediate relay, one end of the first intermediate relay is connected with an output pin of the master controller, and the other end of the first intermediate relay is connected with a second contactor; the emergency stop interlocking circuit is used for controlling the on-off of an alternating current servo motor driver or a direct current steering controller;
the lifting control circuit comprises a fork lifting control circuit and a fork descending control circuit, the fork lifting control circuit comprises a second intermediate relay, one end of the second intermediate relay is connected with an output pin of the master controller, the other end of the second intermediate relay is connected with the first contactor, and the fork lifting control circuit is used for controlling the on-off of the direct-current hydraulic pump motor; the fork descending control circuit is used for controlling the fork to descend;
the automatic charging control circuit comprises a fourth intermediate relay, one end of the fourth intermediate relay is connected with an output pin of the master controller, and the other end of the fourth intermediate relay is connected with the third contactor; the automatic charging control circuit is used for controlling the on-off of the automatic charging circuit;
the traction motor braking circuit comprises a third intermediate relay and a brake, one end of the third intermediate relay is connected with an output pin of the master controller, and the other end of the third intermediate relay is connected with the brake; the other end of the brake is connected with an AC servo motor driver.
In this embodiment, the dc steering controller further includes four output ports, which are respectively used for outputting a front-side laser area switching signal, a left-side laser area switching signal, a right-side laser area switching signal, and a rear-side laser area switching signal; the four output ports are respectively connected with four safety scanners; wherein, four safety scanning appearance are preceding laser scanner, left laser scanner, right laser scanner and back laser scanner respectively. The four safety scanners are respectively used for detecting the front, back, left and right obstacle conditions of the laser forklift and feeding back to the direct current steering controller, and switching of the scanners in different directions is achieved through the direct current steering controller.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (10)

1. An intelligent automatic control system of a laser forklift comprises a laser forklift main body and a control system; the laser forklift is characterized in that the laser forklift body comprises a handle, a lifting device, a traction device and a steering device; the lifting device is configured to be used for enabling the fork of the laser forklift to carry out lifting movement operation; the traction device is configured to draw the laser forklift body to move; the steering device is configured to control the laser forklift main body to perform steering operation;
the handle, the lifting device, the traction device and the steering device are all connected with the control system; the handle is configured to send a key signal to a control system, so that the control system controls the lifting device, the traction device or the steering device to operate according to the key signal; a handle control module is arranged in the handle, wherein the handle control module is connected with a plurality of keys arranged on the handle;
the control system comprises a power supply module, a direct-current power supply conversion module, a motor control module, a signal control module and a master controller; the master controller is configured to receive a key signal from the handle control module;
the power supply module comprises an automatic charging circuit, a battery and a power supply providing circuit; the battery comprises a power supply end and a charging end; the automatic charging circuit is connected with the charging end of the battery and is configured to charge the charging end of the battery; the power supply end of the battery is connected with the power supply providing circuit and is configured to supply power to the power supply providing circuit;
the direct-current power supply conversion module is configured to receive voltage from the power supply module and provide direct-current power supply for the system after conversion;
the motor control module comprises a traction control circuit, a steering control circuit and a direct-current hydraulic pump motor for driving the fork to lift; the traction control circuit comprises an alternating current servo motor driver and an alternating current servo motor, and the alternating current servo motor is connected with the traction device of the laser forklift body and used for providing power for the traction device; the steering control circuit comprises a direct current steering controller and a direct current servo motor, and the direct current servo motor is connected with the steering device of the laser forklift body and used for providing power for the steering device; the direct-current hydraulic pump motor is connected with the lifting device of the laser forklift main body and used for providing power for the lifting device; the alternating current servo motor driver is configured to receive the on-off signal of the signal control module and control the on-off of the alternating current servo motor; the direct current steering controller is configured to receive the on-off signal of the signal control module and control the on-off of the direct current servo motor;
the signal control module comprises an emergency stop interlocking circuit, a lifting control circuit, an automatic charging control circuit and a traction motor braking circuit; the emergency stop interlocking circuit, the lifting control circuit, the automatic charging control circuit and the traction motor braking circuit are all connected with an output pin of the master controller, and are configured to receive a control signal of the master controller so as to realize the on-off of the control circuit and transmit the on-off signal to the motor control module;
the master controller comprises an input pin, an output pin and a transceiving pin; the input pin of the master controller is configured to receive a key signal from the handle control module, the master controller generates a control signal according to the key signal and sends the control signal to the signal control module through the output pin so that the signal control module controls the on-off of the motor control module; and the transceiving pin of the master controller is configured to perform data interaction with other modules.
2. The automatic control system of claim 1, wherein the general controller is a CVC600 model.
3. The automatic control system of claim 2, wherein the automatic charging circuit comprises an automatic charging electrode and a contactor, the two ends of the contactor are respectively connected with the positive electrode of the automatic charging electrode and the positive electrode of the battery charging terminal, and the negative electrode of the battery charging terminal is connected with the negative electrode of the automatic charging electrode.
4. The automatic control system of claim 2, wherein the power supply circuit includes at least an emergency stop button, a key switch, a first contactor, a second contactor; one end of the emergency stop button is connected with the positive electrode of the power supply end of the battery, and the other end of the emergency stop button is respectively connected with the key switch, the first contactor and the second contactor; the negative electrode of the battery power supply end and the other end of the key switch are respectively connected with the negative electrode and the positive electrode of the direct-current power supply conversion module; the other end of the first contactor is connected with a direct current hydraulic pump motor; the other end of the second contactor is divided into two branches, one branch is connected with the direct current steering controller, and the other branch is connected with the alternating current servo motor driver.
5. The automatic control system of claim 4, wherein the AC servo motor driver comprises at least a power connection pin, a three-phase motor connection pin connected with the AC servo motor, and a transceiver pin connected with the master controller; the positive end of a power supply connecting pin of the alternating current servo motor driver is connected with the second contactor, and the negative end of the power supply connecting pin is connected with a 0V/24V power supply;
the direct current steering controller at least comprises a power supply connecting pin, a motor connecting pin connected with the direct current servo motor and a receiving and transmitting pin connected with the master controller; the positive end of a power supply connecting pin of the direct current steering controller is connected with the second contactor, and the negative end of the power supply connecting pin of the direct current steering controller is connected with a 0V/24V power supply;
one end of the direct current hydraulic pump motor is connected with the first contactor, and the other end of the direct current hydraulic pump motor is connected with a 0V/24V power supply.
6. The automatic control system of claim 5, wherein said ac servo motor drive is of the type ACD 175; the model number of the direct current steering controller is DCD 50.
7. The automatic control system of claim 5, wherein the scram interlock circuit comprises a first intermediate relay, one end of the first intermediate relay is connected with an output pin of the master controller, and the other end of the first intermediate relay is connected with a second contactor; the emergency stop interlocking circuit is used for controlling the on-off of an alternating current servo motor driver or a direct current steering controller;
the lifting control circuit comprises a fork lifting control circuit and a fork descending control circuit, the fork lifting control circuit comprises a second intermediate relay, one end of the second intermediate relay is connected with an output pin of the master controller, the other end of the second intermediate relay is connected with the first contactor, and the fork lifting control circuit is used for controlling the on-off of the direct-current hydraulic pump motor; the fork descending control circuit is used for controlling the fork to descend;
the traction motor braking circuit comprises a third intermediate relay and a brake, one end of the third intermediate relay is connected with an output pin of the master controller, and the other end of the third intermediate relay is connected with the brake; the other end of the brake is connected with an AC servo motor driver.
8. The automatic control system of claim 5, wherein the automatic charging control circuit comprises a fourth intermediate relay, one end of the fourth intermediate relay is connected with an output pin of the master controller, and the other end of the fourth intermediate relay is connected with the third contactor; the automatic charging control circuit is used for controlling the on-off of the automatic charging circuit.
9. The automatic control system of claim 2, wherein the DC power conversion module includes a DC/DC conversion chip.
10. The automated control system of claim 9, wherein the handle control module is model MCD 8.
CN202011026425.1A 2020-09-25 2020-09-25 Intelligent automatic control system of laser forklift Pending CN112174035A (en)

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JPH10218596A (en) * 1997-02-12 1998-08-18 Nippon Yusoki Co Ltd Control unit of forklift truck
JP2009126643A (en) * 2007-11-22 2009-06-11 Toyota Industries Corp Stacker crane driving device
CN103407937A (en) * 2013-08-22 2013-11-27 上海市闵行第二中学 Movable loading and unloading vehicle capable of being controlled in remote mode
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CN107215829A (en) * 2017-06-28 2017-09-29 安徽合力股份有限公司 A kind of electri forklift operation control system
CN211110917U (en) * 2019-12-11 2020-07-28 无锡职业技术学院 Fork truck AGV control system based on laser navigation
CN211102239U (en) * 2019-10-12 2020-07-28 东莞市力星激光科技有限公司 Laser cutting machine control system with large-breadth lifting table
CN211169734U (en) * 2019-12-26 2020-08-04 湖南思控智能科技有限公司 Compatible assembly PCB circuit board of fork truck AGV and module frame
CN212475998U (en) * 2020-09-25 2021-02-05 深圳市欧铠智能机器人股份有限公司 Intelligent automatic control system of laser forklift

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10218596A (en) * 1997-02-12 1998-08-18 Nippon Yusoki Co Ltd Control unit of forklift truck
JP2009126643A (en) * 2007-11-22 2009-06-11 Toyota Industries Corp Stacker crane driving device
CN103407937A (en) * 2013-08-22 2013-11-27 上海市闵行第二中学 Movable loading and unloading vehicle capable of being controlled in remote mode
CN105790340A (en) * 2014-12-25 2016-07-20 惠州比亚迪电池有限公司 Vehicle charging system and vehicle
CN107215829A (en) * 2017-06-28 2017-09-29 安徽合力股份有限公司 A kind of electri forklift operation control system
CN211102239U (en) * 2019-10-12 2020-07-28 东莞市力星激光科技有限公司 Laser cutting machine control system with large-breadth lifting table
CN211110917U (en) * 2019-12-11 2020-07-28 无锡职业技术学院 Fork truck AGV control system based on laser navigation
CN211169734U (en) * 2019-12-26 2020-08-04 湖南思控智能科技有限公司 Compatible assembly PCB circuit board of fork truck AGV and module frame
CN212475998U (en) * 2020-09-25 2021-02-05 深圳市欧铠智能机器人股份有限公司 Intelligent automatic control system of laser forklift

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