CN110434875A - A kind of control system for loading and unloading robot - Google Patents
A kind of control system for loading and unloading robot Download PDFInfo
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- CN110434875A CN110434875A CN201910729539.3A CN201910729539A CN110434875A CN 110434875 A CN110434875 A CN 110434875A CN 201910729539 A CN201910729539 A CN 201910729539A CN 110434875 A CN110434875 A CN 110434875A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The present invention discloses a kind of control system for loading and unloading robot, is related to machine automatization control technology field, including the portable end of remote controler and the airborne end of remote controler, airborne automatically controlled end, actuating station and the sensor ends that are mounted in handling robot;The portable end of remote controler exports control instruction information according to user operation instruction;The airborne end of remote controler receives control instruction information and is transmitted to airborne automatically controlled end;Sensor ends acquire the running state information of handling robot in real time;Airborne automatically controlled end exports the drive control pulse width modulating signal of electronically controlled proportional valve according to control instruction information and running state information, and is transmitted to actuating station to realize the control to handling robot;The running state information for loading and unloading robot and external environment video information are also uploaded to the portable end of remote controler to load and unload the operating status and external environment of robot to user's real-time display by the airborne end of remote controler.Therefore, control system provided by the invention greatly promotes environmental suitability and the manipulation safety of handling robot.
Description
Technical Field
The invention relates to the technical field of mechanical automatic control, in particular to a control system of a loading and unloading robot.
Background
At present, large-sized cargo loading and unloading and carrying equipment in the logistics industry mainly adopts a traditional forklift. However, the traditional forklift has some problems in the design, and the traditional forklift is difficult to meet the practical requirements of the modern logistics industry on improvement of logistics efficiency, intelligent level improvement of warehousing management, level improvement of logistics service, reduction of labor cost and the like, so that people are prompted to seek a substitute with more complete functions besides forklift products. Meanwhile, the problem of difficulty in carrying larger goods in the logistics distribution link is always a problem which needs to be solved urgently in the logistics industry. Therefore, the demand of handling equipment capable of being transported with logistics vehicles is becoming more and more strong in modern logistics industry.
With the continuous introduction of modern high and new technologies, various high and new technologies are more closely combined with industrial equipment, and particularly, the rapid development of computer technology, automatic control technology and sensor technology greatly improves the performances of the industrial equipment on energy conservation, high efficiency, operation precision, man-machine engineering, equipment informatization and the like, foreign industrial equipment manufacturers release corresponding novel products, and continue to compete to invest a large amount of funds, manpower and material resources to research and develop the high and new technologies of the industrial equipment electric control system.
The control content of the electric control system to each working process is changed from the traditional mechanical means to the electronic control means, so that the control precision is improved, and the control content and the control means are expanded. In order to develop a new generation of logistics loading and unloading robot product which meets the market development requirements, the traditional loading and unloading forklift product is mutually permeated and fused with high and new technologies such as modern electronic technology, robot technology, computer technology, artificial intelligence technology, communication technology, multi-sensor fusion technology, network information technology and the like, and the technical content of equipment is continuously improved. The logistics loading and unloading robot electric control system is used as an important carrier for realizing automation, intellectualization, high efficiency and networking of equipment, becomes a main factor for determining the performance of the equipment, is an important research and development direction of the current logistics loading and unloading robot, and is the center of gravity of research and development work of current logistics equipment manufacturers.
Disclosure of Invention
The invention aims to provide a control system of a loading and unloading robot, which has the main control functions of the loading and unloading robot, such as internal combustion engine power system control, driving and walking speed adaptive control, gantry and fork hydraulic system control, operation safety protection, wireless remote control and communication and the like.
In order to achieve the purpose, the invention provides the following scheme:
a control system of a loading and unloading robot comprises a remote controller portable end, and a remote controller airborne end, an airborne electric control end, an execution end and a sensing end which are arranged on the loading and unloading robot;
the portable end of the remote controller is communicated with the onboard end of the remote controller in a wired or wireless mode; the onboard end and the onboard electric control end of the remote controller, the onboard end and the execution end of the remote controller, the onboard electric control end and the execution end of the remote controller, and the sensing end and the onboard electric control end are connected in a wiring harness mode;
wherein,
the portable end of the remote controller is used for outputting control instruction information of the loading and unloading robot according to the obtained user operation instruction and carrying out coding modulation;
the onboard end of the remote controller is used for receiving and analyzing the control instruction information and transmitting the control instruction information to the onboard electric control end through a corresponding wire harness;
the sensing end is used for acquiring running state information and external environment video information of the loading and unloading robot in real time;
the onboard electric control end is used for outputting a driving control pulse width modulation signal of an electric control proportional valve according to the control instruction information and the running state information of the loading and unloading robot, and transmitting the driving control pulse width modulation signal to the execution end through a corresponding wire harness to realize the control of the loading and unloading robot;
the onboard electric control end is also used for uploading the running state information of the loading and unloading robot and the external environment video information to the portable end of the remote controller so as to display the running state and the external environment of the loading and unloading robot to a user in real time;
the onboard end of the remote controller is also used for receiving and analyzing the control instruction information, generating a drive control pulse width modulation signal of the electric control proportional valve and transmitting the drive control pulse width modulation signal to the execution end through a corresponding wire harness so as to realize control over the loading and unloading robot.
Optionally, the portable end of the remote controller includes a first microcontroller, a first data acquisition module, a first 433MHz radio frequency module, a first 2.4GHz radio frequency module, a first RS485 interface module, a first display module, and a peripheral circuit; the first data acquisition module is connected with the first microcontroller through a universal input/output port, the first 433MHz radio frequency module is connected with the first microcontroller through a serial peripheral interface, the first 2.4GHz radio frequency module is connected with the first microcontroller through a serial peripheral interface, the first display module is connected with the first microcontroller through a universal input/output port, and the first RS485 interface module is connected with the first microcontroller through a serial port.
Optionally, the onboard end of the remote controller includes a second microcontroller, a second 433MHz radio frequency module, a second 2.4GHz radio frequency module, a driving module, a second RS485 interface module, and a peripheral circuit; the second 433MHz radio frequency module is connected with the second microcontroller through a serial peripheral interface, the second 2.4GHz radio frequency module is connected with the second microcontroller through a serial peripheral interface, the second RS485 interface module is connected with the second microcontroller through a serial port, and the second microcontroller is connected with the driving module through a universal input/output port; the driving module is also connected with the execution end.
Optionally, the onboard electric control end comprises a third microcontroller, a communication module, a second data acquisition module, a control output module and a second display module; the communication module is connected with the third microcontroller through a serial port, the second data acquisition module is connected with the third microcontroller through a general input/output port, the second display module is connected with the third microcontroller through a general input/output port, and the control output module is connected with the third microcontroller through a general input/output port.
Optionally, the sensing end includes a water temperature sensor, an engine oil pressure sensor, an air blocking sensor, a fuel level sensor and a video sensor, which are respectively connected to the second data acquisition module.
Optionally, the execution end includes an engine start relay, an electric control valve of the fuel pump, an electric control valve of the walking motor, an electric control valve of the fork, an electric control valve of the gantry control and an electric control valve of the chassis lifting, which are respectively connected with the control output module.
Optionally, the control program of the onboard electronic control end adopts a program framework in which a main program circularly scans and is parallel to the timed interrupt service program.
Optionally, the portable end of the remote controller wirelessly communicates with the radio frequency module of the onboard end of the remote controller in a main communication mode, and the secondary communication mode is cable communication.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
(1) the remote control mode improves the environmental adaptability and the safety of the loading and unloading robot
The remote control loading and unloading robot breaks through the inherent traditional design, is provided with an intelligent electronic control system, realizes the functions of all traditional forklifts in a remote control operation mode, combines the driving information fed back by a sensor and the external environment video information, realizes automatic alarming and monitoring, avoids risks in time, and greatly improves the environmental adaptability and the control safety of the loading and unloading robot.
(2) Intelligent electromagnetic valve proportional control technology for improving level controlled by robot
The onboard electric control end is provided with program control modules such as PWM control of an accelerator proportional electromagnetic valve, an automatic speed change control strategy and the like, and the onboard end of the remote controller also comprises a PWM drive control program. The electric control system provided by the invention can intelligently fuse and generate PWM (pulse-width modulation) driving control signals of the electric control proportional valves of the fuel pump, the hydraulic motor, the gantry, the fork, the chassis and the like according to an operator control instruction, the working state of the robot and external environment information, so that the accurate control of the power output of an engine, the advancing/retreating of the robot, the movement of the gantry, the lifting of the fork, the inclination of the fork, the lifting of the chassis and the like is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a block diagram of the overall structure of a control system of a loader robot according to an embodiment of the present invention;
FIG. 2 is a block diagram of an overall remote control according to an embodiment of the present invention;
fig. 3 is a block diagram of the general hardware structure of the onboard electronic control end according to the embodiment of the invention;
fig. 4 is a general framework diagram of a control program of the onboard electronic control end according to the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a block diagram of an overall structure of a control system of a loader robot according to an embodiment of the present invention, and as shown in fig. 1, the control system of the loader robot provided in this embodiment includes a portable end of a remote controller, and an onboard end, an onboard electric control end, an execution end, and a sensing end of the remote controller mounted on the loader robot.
The portable end of the remote controller is connected with the onboard end of the remote controller in a wired or wireless mode; the onboard end and the onboard electric control end of the remote controller, the onboard end and the execution end of the remote controller, the onboard electric control end and the execution end of the remote controller, and the sensing end and the onboard electric control end of the remote controller are connected in a wire harness mode.
The sensing end comprises a water temperature sensor, an engine oil pressure sensor, an air blocking sensor, a fuel oil level sensor and a video sensor which are respectively connected with a second data acquisition module of the airborne electronic control end.
The execution end comprises an engine starting relay, a fuel pump electric control valve, a walking motor electric control valve, a fork control electric control valve, a portal frame control electric control valve and a chassis lifting electric control valve which are respectively connected with a control output module of the airborne electric control end.
Wherein,
and the portable end of the remote controller is used for outputting control instruction information of the loading and unloading robot according to the acquired user operation instruction and carrying out coding modulation.
The onboard end of the remote controller is used for receiving and analyzing the control instruction information and transmitting the information to the onboard electric control end through a corresponding wire harness.
And the sensing end is used for acquiring the running state information of the loading and unloading robot in real time.
And the onboard electric control end is used for outputting an execution control signal according to the control instruction information and the operation state information of the loading and unloading robot and transmitting the execution control signal to the execution end through a corresponding wire harness so as to realize the control of the loading and unloading robot.
And the onboard electric control end is also used for uploading the running state information of the loading and unloading robot and the external environment video information to the portable end of the remote controller so as to display the running state and the external environment of the loading and unloading robot to a user in real time.
The onboard end of the remote controller is also used for receiving and analyzing the control instruction information, generating a drive control pulse width modulation signal of the electric control proportional valve and transmitting the drive control pulse width modulation signal to the execution end through a corresponding wire harness to realize the control of the loading and unloading robot.
Remote controller
The remote controller consists of a portable end and an airborne end, wireless communication is mainly carried out between the portable end and the airborne end through a radio frequency module, and cable communication is used as a standby mode.
The portable end of the remote controller is responsible for collecting operation instructions and state information of keys, rockers and the like, generating corresponding control instructions and sending the control instructions to the onboard end of the remote controller through the wireless radio frequency module/cable. The onboard end of the remote controller is responsible for receiving and analyzing control instruction information and transmitting the control instruction information to the onboard electric control end through a corresponding wire harness so as to control the robot.
The hardware circuit of the portable end of the remote controller is shown in fig. 2 and comprises a first Microcontroller (MCU), a first power module, a first data acquisition module, a first 433MHz radio frequency module, a first 2.4GHz radio frequency module, a first RS485 interface module, a first display module, other peripheral circuits and the like. First data acquisition module passes through general input/output port (GPIO) and is connected with first Microcontroller (MCU), first 433MHz radio frequency module passes through Serial Peripheral Interface (SPI) and is connected with first Microcontroller (MCU), first 2.4GHz radio frequency module passes through Serial Peripheral Interface (SPI) and is connected with first Microcontroller (MCU), first RS485 interface module passes through the serial ports and is connected with first Microcontroller (MCU), first display module passes through general input/output port (GPIO) and is connected with first Microcontroller (MCU), first power module is with power voltage regulation to various voltage levels and wire to other corresponding power consumption module's power input port.
The remote controller airborne end hardware circuit is shown in fig. 2 and comprises a second Microcontroller (MCU), a second power module, a second 433MHz radio frequency module, a second 2.4GHz radio frequency module, a driving module, a second RS485 interface module, other peripheral circuits and the like. Second 433MHz radio frequency module passes through Serial Peripheral Interface (SPI) and is connected with second Microcontroller (MCU), second 2.4GHz radio frequency module passes through Serial Peripheral Interface (SPI) and is connected with second Microcontroller (MCU), second RS485 interface module passes through the serial ports and is connected with second Microcontroller (MCU), second power module is with external power source (machine carries 12V battery) pressure regulating to various voltage levels and wire to other corresponding power consumption module's power input port, second Microcontroller (MCU) is connected with drive module through general input/output port (GPIO).
The remote controller control software mainly completes the following work:
(1) and (5) initializing the system. Including hardware configurations and software configurations.
(2) And (5) data acquisition program. The acquisition of the operating instruction and the loading and unloading robot state information is realized by acquiring switching value signals and analog quantity signals of keys, rockers and the like through an I/O circuit.
(3) A wireless communication procedure. Controlling the loading and unloading robot to act and acquiring the loading and unloading robot state information, the system running state and the external environment state information through a radio frequency communication transmission protocol;
(4) and (5) a serial port communication program. And the portable end of the remote controller and the onboard end of the remote controller are controlled in a cable mode.
(5) And driving the control program. The onboard end of the remote controller generates a drive control Pulse Width Modulation (PWM) signal output of an electric control proportional valve of the hydraulic motor, the portal frame, the fork and the chassis according to the control command.
The wireless communication process of the remote controller comprises the following steps: after a user operation instruction is collected by a first data acquisition module of a portable end of the remote controller, a user operation instruction signal is transmitted to a first Microcontroller (MCU) through a general purpose input/output port (GPIO), the first Microcontroller (MCU) processes the user operation instruction signal and transmits a control instruction signal to a first 433MHz radio frequency module through a Serial Peripheral Interface (SPI), and the first 433MHz radio frequency module encodes the control instruction signal and transmits the encoded control instruction signal to a remote controller machine-mounted end through a wireless channel after modulation. And a second 433MHz radio frequency module at the onboard end of the remote controller receives the control instruction signal, demodulates and decodes the control instruction signal, transmits the demodulated and decoded control instruction signal to a second Microcontroller (MCU) through a Serial Peripheral Interface (SPI), and then performs subsequent processing on the second Microcontroller (MCU).
The wired communication process of the remote controller: under the wire control mode is selected for use, after a first data acquisition module of a portable end of the remote controller acquires a user operation instruction, a user operation instruction signal is transmitted to a first Microcontroller (MCU) through a general purpose input/output port (GPIO), the first Microcontroller (MCU) processes the user operation instruction signal and then transmits a control instruction signal to a first RS485 interface module through a serial port, and the first RS485 interface module encodes the control instruction signal and then transmits the encoded control instruction signal to an onboard end of the remote controller through a cable. And a second RS485 interface module at the onboard end of the remote controller receives a control instruction signal from the portable end of the remote controller, decodes the control instruction signal and transmits the decoded control instruction signal to a second Microcontroller (MCU) through a serial port, and the second Microcontroller (MCU) performs subsequent processing.
Airborne electric control terminal
The hardware composition of the onboard electronic control end is shown in fig. 3, and mainly comprises a third microcontroller, a third power module, a communication module, a second data acquisition module, a control output module, a second display module and the like. The second display module is connected with the third microcontroller through a general purpose input/output port (GPIO), the communication module is connected with the third microcontroller through a serial port, the second data acquisition module is connected with the third microcontroller through the general purpose input/output port (GPIO), the control output module is connected with the third microcontroller through the general purpose input/output port (GPIO), the third power supply module regulates the power supply to various voltage levels and routes the power supply to the power supply input ports of other corresponding power utilization modules, and other external devices or signals (such as 12V power supplies, sensors, key switches, remote control/line control instructions, ignition switches, generators, starting motors and the like) are connected through wiring terminals on the onboard electronic control circuit board.
The third microcontroller is a core part of the airborne electric control end, and the third microcontroller adopts an ARM core chip and is responsible for signal acquisition and main control tasks of the system. And the third power supply module is responsible for converting the 12V power supply into corresponding voltage levels for the circuits of the modules to use. The communication module realizes the wired communication between the onboard electric control end and the onboard end of the remote controller. The second data acquisition module realizes acquisition of sensor data such as water temperature, engine oil pressure, fuel oil liquid level, environment video and the like of the internal combustion engine and receives control instruction information input from the onboard end of the remote controller. The control output module generates corresponding execution control signals according to the control instruction information and the working state information of the loading and unloading robot, wherein the execution control signals comprise an engine starting control signal, a generator control signal, a starting motor control signal, an accelerator proportional solenoid valve control signal, a lighting headlamp control signal, a warning lamp control signal, a loudspeaker control signal and the like. The second display module comprises a color liquid crystal display screen and a fault indicator lamp and has the indicating functions of displaying oil quantity, engine oil and water temperature, receiving wireless signals, outputting illumination control, outputting battery alarm parameters and the like.
The whole control program of the airborne electric control end adopts the main program to scan circularly, and the control of the loading and unloading robot is effectively realized by a program frame which is parallel to the timed interrupt service program, so that the requirements of system control and monitoring are met. The control program of the airborne electric control end adopts a modular design and mainly comprises a data acquisition program module, a wire control communication program module, a real-time control program module, a system management module, an interface display module and an alarm monitoring module. The overall control program framework is shown in fig. 4. The real-time control program module has more covering control functions and mainly comprises an engine starting program, a generator starting program, switching value output control programs of lighting headlights, warning lights, a loudspeaker and the like, PWM control of an accelerator proportional solenoid valve, an automatic speed change control strategy and the like.
After the operator is simply trained, the remote control loading and unloading robot can be safely controlled, so that all functions of loading, unloading, carrying and the like can be still realized under the condition that the loading and unloading robot exceeds the sight range of the operator. The loading and unloading robot can receive and accurately realize the following actions within the effective range of 400m by an operator through an instruction sent by a portable end of a remote controller: 1) the whole vehicle moves back and forth, and accelerates and decelerates; 2) the inner and outer door frames move up and down and back and forth along the guide rail; 3) the inner and outer door frames are turned and folded at 0-90 degrees; 4) the structure of the chassis part is lifted. The airborne electric control end can feed back running state information of a robot power system, a working device, an external environment and the like to an operator in time through the remote control communication module, so that the function of assisting control decision is achieved, and the operation safety of the robot is ensured.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A control system of a loading and unloading robot is characterized by comprising a portable end of a remote controller, and an onboard end, an onboard electric control end, an execution end and a sensing end of the remote controller, which are arranged on the loading and unloading robot;
the portable end of the remote controller is communicated with the onboard end of the remote controller in a wired or wireless mode; the onboard end and the onboard electric control end of the remote controller, the onboard end and the execution end of the remote controller, the onboard electric control end and the execution end of the remote controller, and the sensing end and the onboard electric control end are connected in a wiring harness mode;
wherein,
the portable end of the remote controller is used for outputting control instruction information of the loading and unloading robot according to the obtained user operation instruction and carrying out coding modulation;
the onboard end of the remote controller is used for receiving and analyzing the control instruction information and transmitting the control instruction information to the onboard electric control end through a corresponding wire harness;
the sensing end is used for acquiring running state information and external environment video information of the loading and unloading robot in real time;
the onboard electric control end is used for outputting a driving control pulse width modulation signal of an electric control proportional valve according to the control instruction information and the running state information of the loading and unloading robot, and transmitting the driving control pulse width modulation signal to the execution end through a corresponding wire harness to realize the control of the loading and unloading robot;
the onboard electric control end is also used for uploading the running state information of the loading and unloading robot and the external environment video information to the portable end of the remote controller so as to display the running state and the external environment of the loading and unloading robot to a user in real time;
the onboard end of the remote controller is also used for receiving and analyzing the control instruction information, generating a drive control pulse width modulation signal of the electric control proportional valve and transmitting the drive control pulse width modulation signal to the execution end through a corresponding wire harness so as to realize control over the loading and unloading robot.
2. The control system of claim 1, wherein the portable end of the remote controller comprises a first microcontroller, a first data acquisition module, a first 433MHz radio frequency module, a first 2.4GHz radio frequency module, a first RS485 interface module, a first display module, and peripheral circuitry; the first data acquisition module is connected with the first microcontroller through a universal input/output port, the first 433MHz radio frequency module is connected with the first microcontroller through a serial peripheral interface, the first 2.4GHz radio frequency module is connected with the first microcontroller through a serial peripheral interface, the first display module is connected with the first microcontroller through a universal input/output port, and the first RS485 interface module is connected with the first microcontroller through a serial port.
3. The control system of claim 1, wherein the onboard end of the remote controller comprises a second microcontroller, a second 433MHz radio frequency module, a second 2.4GHz radio frequency module, a driving module, a second RS485 interface module, and peripheral circuitry; the second 433MHz radio frequency module is connected with the second microcontroller through a serial peripheral interface, the second 2.4GHz radio frequency module is connected with the second microcontroller through a serial peripheral interface, the second RS485 interface module is connected with the second microcontroller through a serial port, and the second microcontroller is connected with the driving module through a universal input/output port; the driving module is also connected with the execution end.
4. The control system of claim 1, wherein the onboard electronic control terminal comprises a third microcontroller, a communication module, a second data acquisition module, a control output module and a second display module; the communication module is connected with the third microcontroller through a serial port, the second data acquisition module is connected with the third microcontroller through a general input/output port, the second display module is connected with the third microcontroller through a general input/output port, and the control output module is connected with the third microcontroller through a general input/output port.
5. The control system of claim 4, wherein the sensing end comprises a water temperature sensor, an oil pressure sensor, an air blockage sensor, a fuel level sensor and a video sensor respectively connected to the second data acquisition module.
6. The control system of claim 5, wherein the actuating end comprises an engine start relay, a fuel pump electric control valve, a traveling motor electric control valve, a fork control electric control valve, a gantry control electric control valve and a chassis lifting electric control valve which are respectively connected with the control output module.
7. The control system of claim 1, wherein the control program of the onboard electronic control end adopts a program frame of a main program loop scanning and a timed interrupt service program in parallel.
8. The control system of claim 1, wherein the portable end of the remote control unit is in wireless communication with the radio frequency module of the onboard end of the remote control unit in a primary communication mode, and the secondary communication mode is cable communication.
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