Forklift including an apparatus for controlling the forklift
The present disclosure relates to an apparatus and a method for controlling a forklift. The apparatus and the method for controlling the forklift according to the present disclosure adjusts a fork/mast inclination by referring to cargo load and forklift speed, and particularly, when a movement direction of a cargo when the cargo slides on a fork in a forward direction, thereby preventing the cargo from falling. Further, when a degree of danger is not decreased even when a fork/mast inclination is tilted backward to the largest extent, the apparatus and the method for controlling the forklift according to the present disclosure may decrease a travelling speed of a vehicle by decreasing an output of the forklift or operating a brake, thereby remarkably decreasing the danger of the cargo falling.
1. An apparatus for controlling a forklift, comprising:
a controller including
a setting component which sets a reference weight of a cargo load, wherein the reference weight of the cargo load is pre-set by a manufacturing company according to performance of the forklift, or set according to an intention of an operator;
an input component which receives a weight of an actual cargo load and a cargo movement direction, wherein the weight of the actual cargo load is detected by mounting a weight sensor to a fork or is estimated by pressure applied to a lift cylinder of a mast, and the cargo movement direction is recognized by a sensor which is attached to a vertical portion of the fork and measures a distance value to the actual cargo loaded on the fork;
a determining component which determines whether the cargo is overloaded by comparing the weight of the actual cargo load with the reference weight of the cargo load, and determines that the movement direction of the cargo is a direction away from a main body of the forklift;
a processing component which transmits a control command to a vehicle control unit (VCU) or a hydraulic system so that an inclination of the mast is adjusted when the determining component determines that the cargo is overloaded and determines that the movement direction of the cargo is a direction away from a main body of the forklift;
a brake and a brake control unit which is installed in a travelling system of the forklift and brakes the forklift; and
a power train and a power train control unit which is installed in a power train system of the forklift to transmit power to the traveling system,
wherein the setting component further sets a reference travelling speed,
a current travelling speed of the forklift is further input into the input component,
the determining component further determines whether the forklift is moving at a speed above the reference travelling speed by comparing the current travelling speed with the reference travelling speed, and
when the determining component determines that the forklift is moving at a speed above the reference travelling speed and the movement direction of the cargo is determined as the direction away from the main body of the forklift, the processing component transmits a control command so that the brake and the brake control component is controlled to decrease the travelling speed of the forklift or stop the forklift, or transmits a control command so that the power train and the power train control component is operated to control an output size of the power.
2. The apparatus of claim 1 , wherein the forklift is factory set with a maximum stable angle of a reference inclination of the mast,
a current inclination of the mast with respect to a horizontal line is further input into the input component, and
the processing component gives a control command to the VCU or the hydraulic system so that the current inclination of the mast is maintained within the allowable angle of the reference inclination angle of the mast.
3. The apparatus of claim 1 , wherein
when the distance value is increased, it is determined that the movement direction of the cargo is a direction away from the main body of the forklift.
4. The apparatus of claim 3 , wherein a pair of forks is substantially parallel,
a bracket is mounted on the portion of either fork and
the sensor is attached to the fork at the bracket.
5. A method of controlling a forklift, comprising:
setting a reference weight of a cargo load and a reference travelling speed, wherein the reference weight of the cargo load is pre-set by a manufacturing company according to performance of the forklift, or set according to an intention of an operator;
receiving a weight of an actual cargo load, a cargo movement direction, and a current travelling speed of the forklift, wherein the weight of the actual cargo load is detected by mounting a weight sensor to a fork or is estimated by pressure applied to a lift cylinder of a mast, and the cargo movement direction is recognized by a sensor which is attached to a vertical portion of the fork and measures a distance value to the actual cargo loaded on the fork;
determining that the cargo is overloaded according to whether the weight of the actual cargo load exceeds the reference weight of the cargo load;
determining whether the direction is a direction away from a main body of the forklift,
transmitting a control command to a vehicle control unit (VCU) or a hydraulic system so that an inclination of a mast is adjusted when the cargo is overloaded and the cargo movement direction, is a forward direction;
determining whether the forklift is moving at a speed above the reference travelling speed by comparing the current travelling speed with the reference travelling speed, and
transmitting a control command so that the brake and a brake control component is controlled to decrease the travelling speed of the forklift or stop the forklift, or a control command so that the power train and the power train control component is operated to control an output size of the power, when the forklift is moving at a speed and the movement direction of the cargo is determined as the direction away from the main body of the forklift.