CN112379663A - Omnidirectional intelligent mobile forklift control system - Google Patents
Omnidirectional intelligent mobile forklift control system Download PDFInfo
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- CN112379663A CN112379663A CN202011294202.3A CN202011294202A CN112379663A CN 112379663 A CN112379663 A CN 112379663A CN 202011294202 A CN202011294202 A CN 202011294202A CN 112379663 A CN112379663 A CN 112379663A
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- control module
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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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
- B66F9/075—Constructional features or details
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides an omnidirectional intelligent mobile forklift control system, and belongs to the field of forklift control. Output signals of the obstacle avoidance management unit and the attitude management unit are connected to a communication interface of a signal processing controller, and the signal processing controller is connected with a main control module through a bus; the oil pressure management unit is connected with the hydraulic system control module through a digital-to-analog conversion interface, and the switching signal is connected with the interface of the hydraulic system control module; the hydraulic system control module is connected with the main controller through a bus; the servo driver is connected to the ECU electronic controller through a bus; the ECU electronic control module is connected with the main controller through a bus. The omnidirectional moving platform has 3 degrees of freedom in a plane, can be translated longitudinally and transversely and autorotated in situ, can move to any direction under the condition that the posture of a machine body is kept unchanged, realizes the transfer and stacking of heavy-load goods, and is very suitable for places with narrow space and higher requirements on movement flexibility.
Description
Technical Field
The invention relates to an omnidirectional intelligent mobile forklift control system, and belongs to the field of forklift control.
Background
The control system of the omnidirectional intelligent mobile forklift is designed for solving the problems that the XX goods are suitable for trailer storage, large goods placement floor area, large length ultra-wide balance difficulty, poor stacking safety and the like, improving the space utilization rate of a storehouse, and ensuring convenient control, accurate positioning, stable operation, safety and reliability of the XX goods in the transportation, turnover and stacking processes.
The omnidirectional intelligent forklift based on Mecanum wheels consists of an omnidirectional moving platform, a special portal fork and a hydraulic control system thereof. The specially-made gantry fork and the hydraulic control system thereof can realize vertical lifting and horizontal movement of heavy-load cargoes. The omnidirectional moving platform has 3 degrees of freedom in a plane, can longitudinally and transversely translate and rotate in situ, and can move to any direction under the condition that the posture of the machine body is kept unchanged, so that the heavy-load goods can be transferred and stacked.
Therefore, the device is very suitable for places with narrow space and higher requirements on motion flexibility, and has wide application prospect.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and further provides an omnidirectional intelligent mobile forklift control system.
The purpose of the invention is realized by the following technical scheme:
the omnidirectional intelligent moving forklift control system comprises an obstacle avoidance management unit, an attitude management unit, a signal processing controller, a main control module, a hydraulic control unit, an oil pressure management unit, a servo driver, an ECU (electronic control unit), a remote control receiving module and a power supply management module
Output signals of the obstacle avoidance management unit and the attitude management unit are connected to a communication interface of the signal processing controller, and the signal processing controller is connected with the main control module through a bus; the hydraulic control unit is connected with the main control module through a bus, and the oil pressure management unit is connected with the hydraulic system control module through a digital-to-analog conversion interface; a signal output interface of the hydraulic system control module is connected with a hydraulic control unit; the hydraulic system control module is connected with the main controller through a bus; the servo driver is connected to the ECU electronic controller through a bus; the ECU electronic controller is connected with the main controller through a bus; the remote control receiving module is connected with the main controller through a communication interface, the power management module is connected with a CAN interface of the main control module, and the emergency stop switch signal is connected with the interface of the main control module; the communication interface of the main control module is connected with the image management module; the main control module is communicated with the ECU electronic controller, the signal processing controller and the hydraulic system control module through buses.
The invention relates to an omnidirectional intelligent mobile forklift control system, wherein a main control module adopts an STM32F407VE, and an ECU electronic controller, a hydraulic system control module, a signal processing module and a hydraulic system adopt an STM32F103 VE.
The invention relates to an omnidirectional intelligent mobile forklift control system, wherein a direct-current 24-volt power supply is adopted in a loop of the whole control system, and a DC/DC converter converts 80-volt voltage of a battery into 24 volts.
The invention relates to an omnidirectional intelligent mobile forklift control system, wherein a CAN bus is adopted for data exchange among a main controller, an ECU electronic controller, a signal processing module and a hydraulic system control module.
The invention relates to an omnidirectional intelligent mobile forklift control system, wherein an obstacle avoidance management unit comprises a safety touch edge and a laser radar, the scanning angle of the laser radar is 270 degrees, and the protection radius is 3 m; the safety touch edge is made of pressure-sensitive materials, is arranged at the lower end of the vehicle, can output signals after being deformed by extrusion, and the main control module controls the system to stop forcibly and give an alarm after receiving the signals.
According to the control system of the omnidirectional intelligent mobile forklift, the control system controls the omnidirectional mobile platform to have 3 degrees of freedom in a plane, can be longitudinally and transversely translated and automatically rotated in situ, and can move to any direction under the condition that the posture of a machine body is kept unchanged, so that heavy-load goods can be transferred and stacked.
Therefore, the device is very suitable for places with narrow space and higher requirements on motion flexibility, and has wide application prospect.
Drawings
Fig. 1 is a schematic diagram of a main control module of an omnidirectional intelligent mobile forklift control system according to the present invention.
Fig. 2 is a schematic diagram of a hydraulic system control module of the control system of the omnidirectional intelligent mobile forklift truck.
Fig. 3 is a schematic diagram of a signal processing module of the control system of the omnidirectional intelligent mobile forklift.
Fig. 4 is a schematic diagram of an ECU electronic control module of the omnidirectional intelligent mobile forklift control system of the invention.
Fig. 5 is a schematic diagram of a power management module of the omnidirectional intelligent mobile forklift control system according to the invention.
Fig. 6 is a layout diagram of a whole vehicle control system of the omnidirectional intelligent mobile forklift control system.
Fig. 7 is a schematic diagram of a control system hardware structure of the control system of the omnidirectional intelligent mobile forklift.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
The first embodiment is as follows: as shown in fig. 1 to 7, the omnidirectional intelligent mobile forklift control system according to the present embodiment includes
The system comprises an obstacle avoidance management unit, an attitude management unit, a signal processing controller, a main control module, a hydraulic control unit, an oil pressure management unit, a servo driver, an ECU (electronic control unit) electronic controller, a remote control receiving module and a power supply management module; the obstacle avoidance management unit comprises a safe touch edge and a laser radar, the attitude management unit comprises a gyroscope, and the hydraulic system control unit comprises an oil pump motor, a gear pump, a lifting oil cylinder and a telescopic oil cylinder; the oil pressure management unit comprises a pressure sensor and a displacement sensor;
output signals of the obstacle avoidance management unit and the attitude management unit are connected to a communication interface of the signal processing controller, and the signal processing controller is connected with the main control module through a bus;
the hydraulic control unit is connected with the main control module through a bus, and the oil pressure management unit is connected with the hydraulic system control module through a digital-to-analog conversion interface;
a signal output interface of the hydraulic system control module is connected with a hydraulic control unit;
the hydraulic system control module is connected with the main controller through a bus;
the servo driver is connected to the ECU electronic controller through a bus;
the ECU electronic controller is connected with the main controller through a bus;
the remote control receiving module is connected with the main controller through a communication interface, the power management module is connected with a CAN interface of the main control module, and the emergency stop switch signal is connected with the interface of the main control module;
the communication interface of the main control module is connected with the image management module;
the main control module is communicated with the ECU electronic controller, the signal processing controller and the hydraulic system control module through buses.
The main control unit is powered by 24 voltages, a 485 interface of the main control unit is connected with the remote control receiving module, a 485/USB interface of the main control unit is connected with a 10-inch LCD touch screen, an alarm speaker, an alarm indicator lamp and a work indicator lamp are connected with interfaces of the main control unit, a CAN interface of the main control unit is connected with a power management system, 4 emergency stop buttons are connected to the interfaces of the main control module through photoelectric isolation, and the main control unit is communicated with other modules through a CAN bus;
the switch signal is connected to an interface of a hydraulic system control module through photoelectric isolation, the hydraulic system control module adopts 24V voltage for power supply, and an output control signal of the hydraulic system control module controls an electro-hydraulic proportional servo valve; the output control signal of the hydraulic system control module controls the 2-position 2-way valve, the oil supply motor and the oil pump; the output control signal of the hydraulic system control module controls the telescopic oil cylinder and the lifting oil cylinder; the displacement sensor (a reference linear displacement sensor and a following linear sensor) and the pressure sensor are input to an input interface of the hydraulic system control module after A/D conversion; the hydraulic system control module is communicated with other modules through a CAN bus;
the signal processing module is powered by 24V voltage, 4 three-color indicator lamps are connected to an interface of the signal processing module through photoelectric isolation, a signal interface of the signal processing module is connected with a working indicator lamp and a fault indicator lamp, and a camera, a gyroscope and a laser radar are connected to the signal processing module through a 485/CAN interface; the signal processing module is communicated with other modules through a CAN bus;
the ECU electronic control module supplies power by adopting 24 volts, a manual emergency stop signal and a remote control emergency stop signal are connected to an input interface of the ECU electronic control module after being subjected to photoelectric isolation, the ECU electronic control module is connected with a left front wheel servo driver, a right front wheel servo driver, a left rear wheel servo driver and a right rear wheel servo driver through a CAN bus, and the left front wheel servo driver, the right front wheel servo driver, the left rear wheel servo driver and the right rear wheel servo driver supply power by adopting 80 volts; and the ECU electronic control module is communicated with other modules through a CAN bus.
Four emergency brake buttons are arranged at four corners of the forklift, and when the emergency brake buttons (emergency opening switch signals) are pressed, the forklift stops immediately and brakes emergently;
when the emergency brake button is touched, the alarm loudspeaker gives out a transient intermittent alarm sound, and the vehicle running indicator lamp gives out a red flashing alarm;
the scram button can select a rotary release type or a pull-out release type or a key release type according to requirements.
As shown in fig. 6 and 7, the remote control communication receiving unit and the image management unit are connected to the bus through the data and control interface 1. The power management unit and the alarm display unit of the forklift are connected with the bus through the data and control interface 2, and control signals of each power switch are given out by the bus through the data and control interface 2.
The obstacle avoidance management unit and the attitude management unit are connected with the bus through the data and control interface 3 after signal adjustment.
The hydraulic control unit and the oil pressure management unit are connected with the bus through a data and control interface 4.
The communication interfaces of the subsystems all accord with CAN bus standard, and I/O interfaces CAN also be used, so that the switching or updating CAN be more flexibly realized by depending on two modes.
Example two: the intelligence of qxcomm technology that this embodiment relates to removes fork truck control system, concretely relates to intelligence of qxcomm technology removes fork truck control system's exterior structure:
in order to ensure that the electric control elements of the vehicle can be normally used with the best performance under the condition of the ambient temperature of-10 ℃ to 45 ℃, control electric components of the whole vehicle are all arranged in special electric cabinets in the front and rear vehicle bodies of the vehicle, a special air conditioner for the cabinet is arranged outside the electric cabinets according to the requirement, and the temperature in the cabinets is adjusted during normal work so that the components work at the set proper constant temperature to exert the best performance of the components.
A special electric control lining plate is arranged in the electric cabinet, and all components are arranged on the lining plate. The external leads are integrally connected, and a special connector is adopted for connecting the leads.
Example three: the embodiment relates to an omnidirectional intelligent mobile forklift control system, which is a core component for controlling an omnidirectional forklift and comprises a forklift vehicle-mounted main control unit, a forklift vehicle-mounted data display and recording unit and a forklift remote control operation unit.
The moving forklift control system architecture needs to be combined with the trend of development of the forklift control system, and the design of the control system should follow the following principles:
(1) principle of structural openness: on the basis of not changing the system structure, the technology adopted by each unit can be updated at any time; the subsystems can be flexibly added or subtracted in the system; the system may be added as a subsystem to a higher level control structure.
(2) Module commonality principle: by mounting different extended function execution units, various functions are realized. Thus, portability and survivability of the main function modules such as motion control are very important.
(3) Principle of reaction rapidity: the environment in which the forklift is located is complicated and varied, and abnormal operation conditions such as the above may occur in the system, and the response of the forklift to an emergency event such as a sudden collision is required to be rapid.
Example four: the omni-directional intelligent mobile forklift control system related to the embodiment comprises an obstacle avoidance management unit, a safety touch edge and a laser radar,
the fork truck design has two kinds to keep away the barrier mode: non-contact induction type obstacle avoidance and contact type obstacle avoidance.
The non-contact obstacle avoidance mainly adopts a radar detector (namely a laser radar), and can realize the detection of long-distance obstacles in a certain range;
the contact type obstacle avoidance adopts a safe contact edge, and can realize the detection of the obstacle by generating a detection signal through deformation after physical collision; the two are combined to form a set of safety protection net, so that the safety of equipment and external personnel in the running process of the vehicle is ensured.
A radar detector: the scanning angle is 270 degrees, the protection radius of 3 meters can be realized at the farthest, based on the method, the front and the back of the forklift are respectively provided with a scanner, the forklift can be well protected in the running range of the forklift, meanwhile, an alarm area can be arranged, and when an obstacle appears in the range of 3 meters in front of the forklift, the forklift can slow down after the control system receives the information; the vehicle is forced to stop within a set closer range (e.g., 1 meter) and an alarm is given. The detection range can be adjusted according to actual use, a closing switch is further arranged on the vehicle body control, and under an extreme operation environment, if a detector needs to be closed to detect an operation vehicle, the operation can be carried out by authorized personnel.
Safe edge contact: the safety touch edge is made of pressure-sensitive material, is arranged at the lower end of the vehicle, can output signals after being deformed by extrusion, and controls the system to stop forcibly and give an alarm after the signals are obtained.
The safety touch edge mainly comprises an external flexible rubber protective layer and an internal pressure-sensitive conductive belt.
The external flexible rubber can effectively reduce the damage to the human body when the vehicle is accidentally contacted with a person.
The induction of the internal conductive belt is sensitive, and the signal transmission can be carried out within the range of 1-2mm generated by deformation, so that the vehicle can be effectively stopped in time.
The forklift is provided with an alarm loudspeaker, and can give out music prompt tones when the vehicle runs so as to warn workers to avoid the vehicle body; when the forklift meets an obstacle and cannot continue to operate in the operation process, an obstacle alarm sound is sent out.
The fork truck is also provided with a warning horn similar to an automobile horn.
When meeting the requirement that personnel need give the suggestion in addition to the operation music of vehicle self in the transportation, the accessible is triggered through the corresponding button on the controller.
The four corners of the vehicle are provided with warning lamps, and when the vehicle runs in different states, the warning lamps send out prompts in different states.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. An omnidirectional intelligent moving forklift control system is characterized by comprising an obstacle avoidance management unit, an attitude management unit, a signal processing controller, a main control module, a hydraulic control unit, an oil pressure management unit, a servo driver, an ECU electronic controller, a remote control receiving module and a power supply management module;
output signals of the obstacle avoidance management unit and the attitude management unit are connected to a communication interface of the signal processing controller, and the signal processing controller is connected with the main control module through a bus; the hydraulic control unit is connected with the main control module through a bus, and the oil pressure management unit is connected with the hydraulic system control module through a digital-to-analog conversion interface; a signal output interface of the hydraulic system control module is connected with a hydraulic control unit; the hydraulic system control module is connected with the main controller through a bus; the servo driver is connected to the ECU electronic controller through a bus; the ECU electronic controller is connected with the main controller through a bus; the remote control receiving module is connected with the main controller through a communication interface, the power management module is connected with a CAN interface of the main control module, and the emergency stop switch signal is connected with the interface of the main control module; the communication interface of the main control module is connected with the image management module; the main control module is communicated with the ECU electronic controller, the signal processing controller and the hydraulic system control module through buses.
2. The omnidirectional intelligent mobile forklift control system according to claim 1, wherein the main control module employs STM32F407VE, and the ECU electronic controller, the hydraulic system control module, the signal processing controller, and the hydraulic system employ STM32F103 VE.
3. The omni-directional intelligent mobile forklift control system according to claim 1, wherein the entire control system loop uses a DC 24 v power supply, and the battery 80 v is converted to 24 v by a DC/DC converter.
4. The omni-directional intelligent mobile forklift control system according to claim 1, wherein the data exchange among the main controller, the ECU electronic controller, the signal processing controller and the hydraulic system control module employs a CAN bus.
5. The omni-directional intelligent mobile forklift control system according to claim 1, wherein the obstacle avoidance management unit comprises a safety touch edge and a laser radar, the scanning angle of the laser radar is 270 °, and the protection radius is 3 m; the safety touch edge is made of pressure-sensitive materials, is arranged at the lower end of the vehicle, can output signals after being deformed by extrusion, and the main control module controls the system to stop forcibly and give an alarm after receiving the signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011294202.3A CN112379663A (en) | 2020-11-18 | 2020-11-18 | Omnidirectional intelligent mobile forklift control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011294202.3A CN112379663A (en) | 2020-11-18 | 2020-11-18 | Omnidirectional intelligent mobile forklift control system |
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| CN112379663A true CN112379663A (en) | 2021-02-19 |
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| CN202011294202.3A Pending CN112379663A (en) | 2020-11-18 | 2020-11-18 | Omnidirectional intelligent mobile forklift control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123973A (en) * | 2022-06-23 | 2022-09-30 | 重庆大江智防特种装备有限公司 | Telescopic arm forklift remote control system based on can bus |
-
2020
- 2020-11-18 CN CN202011294202.3A patent/CN112379663A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123973A (en) * | 2022-06-23 | 2022-09-30 | 重庆大江智防特种装备有限公司 | Telescopic arm forklift remote control system based on can bus |
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