EP3088350B1 - Verfahren zur bestimmung des status einer vorrichtung in einem gabelstapler - Google Patents

Verfahren zur bestimmung des status einer vorrichtung in einem gabelstapler Download PDF

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Publication number
EP3088350B1
EP3088350B1 EP15165883.8A EP15165883A EP3088350B1 EP 3088350 B1 EP3088350 B1 EP 3088350B1 EP 15165883 A EP15165883 A EP 15165883A EP 3088350 B1 EP3088350 B1 EP 3088350B1
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Prior art keywords
value
difference
determining
state
motor
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EP15165883.8A
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English (en)
French (fr)
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EP3088350A1 (de
Inventor
Michael Strand
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Toyota Material Handling Manufacturing Sweden AB
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Toyota Material Handling Manufacturing Sweden AB
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Priority to EP15165883.8A priority Critical patent/EP3088350B1/de
Priority to CN201610154147.5A priority patent/CN106082024B/zh
Publication of EP3088350A1 publication Critical patent/EP3088350A1/de
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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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • 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
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the present disclosure relates to a method of determining the state of a device in a fork lift truck.
  • the disclosure also relates to a method in a server and a forklift truck of determining the state of the device in the fork lift truck.
  • a fork lift truck there are several devices that are subject to wear.
  • For instance are electrical motors, e.g. for moving the fork lift truck, for power steering or for providing hydraulic pressure to the lifting system subject to different types of wear.
  • Another method is to replace devices in the fork lift truck after predetermined hours of operation.
  • these methods do not provide information about the state of different devices in the fork lift truck between service intervals.
  • Document EP 2088177 A1 discloses a method in a fork lift truck of determining the state of a device based on comparing a sensed parameter with a threshold.
  • Document EP 1764854 A1 is concerned with determining the state of a fork lift.
  • the disclosure relates to a method performed in a forklift truck of determining the state of a device in the fork lift truck.
  • the method comprises a first step of determining a first value of at least one parameter related to an operating condition of the device based on a computational model of the at least one parameter.
  • a second value is determined of the at least one parameter from a sensor in the fork lift truck sensing the parameter directly or indirectly.
  • a difference is determined between the first value and the second value.
  • the state of the device is determined based on the difference.
  • an object of the disclosure to determining the state of the device in the fork lift truck is obtained by analyzing the difference between the first value and the second value instead of determining the state based on only the second value.
  • the present disclosure also relates to a method in a server for determining the state of the device in the fork lift truck.
  • the method comprises the steps of, receiving the difference between the first value of the parameter and the second value of the parameter, wherein the first value being the value of the parameter related to the operating condition of the device based on the computational model of the parameter, and the second value being the value of the parameter from the sensor in the fork lift truck sensing the parameter.
  • determining the state of the device based on the difference In a next step determining the state of the device based on the difference.
  • the present disclosure also presents a forklift truck arranged to be able to perform the method according to any of the below described exemplary embodiments.
  • the present disclosure relates to the area of forklift trucks 1, such as disclosed in Figure 1
  • the illustrated forklift truck 1 includes a load carrier 2.
  • the load carrier 2 comprises two forks.
  • the load carrier 2 is attached to a lifting mechanism such that the load carrier 2 can move vertically.
  • the load carrier 2 is also provided with hydraulics such that it can move in the lateral direction of the forklift truck 1.
  • the forklift truck 1 is in general provided with a mast 11. However the present disclosure is not limited to forklift trucks having a mast 11.
  • the forklift truck 1 comprises a forklift truck body 10.
  • the forklift truck body 10 is defined as remaining part of the forklift truck 1 when the load carrier 2 and an optional mast 11 are removed.
  • the forklift truck 1 in general also comprises a drive motor (not shown) that is used for driving a drive wheel and thus moving the forklift truck 1 in a desired direction.
  • the forklift truck 1 further comprises a motor (not shown) for driving a hydraulic pump; hereinafter we call this motor the pump motor.
  • the hydraulic pump pressurizes a hydraulic system of the forklift truck 1.
  • the hydraulic system of the forklift truck 1 is used for the hydraulic functions of the truck in a manner known to a person skilled in the art. Examples of functions that are handled by the hydraulic system are lifting of the load carrier 2, side shift of the load carrier 2, and longitudinal movement of the mast 11 if the forklift truck 1 is a reach truck, and tilting of the load carrier 2 in the longitudinal direction.
  • side shift of the load carrier 2 and/or tilting of the load carrier 2 are performed by electrical motors.
  • the drive motor and the pump motor are for the discussed type of forklift trucks electrically powered by an energy source.
  • the energy source is in general a suitable rechargeable battery.
  • the present disclosure can be used with any type of forklift truck.
  • a load carrier 2 control unit 5 controls the hydraulics system of the forklift truck 1.
  • the load carrier control unit 5 is also arranged to be able to control a drive motor for a movement of the load carrier 2 in particular in a longitudinal direction of the forklift truck 1.
  • the load carrier control unit 5 also controls other functions for altering position of the load carrier 2, such as controlling a reach function of a forklift truck 1 that comprises such a function, the lift function, the side shift function etc.
  • the load carrier control unit 5 can be fully integrated into a main control unit 6 of the forklift truck 1. This provides for a simple solution and provides for less hardware needed on the forklift truck 1.
  • the load carrier control 5 unit can also be an independent control unit 5. This will make service of the load carrier control unit 5 simpler and will make upgrades of it easier to perform.
  • One object of the present disclosure is to provide a method of determining when the forklift truck needs service.
  • Today service is performed when the forklift truck 1 malfunction or according to a predetermined service schedule, such as e.g. after every 500 hours of operation.
  • One desire is to avoid that the forklift truck 1 malfunction, but also to increase the service intervals to e.g. 700 hours of operation.
  • Devices in forklift truck 1 that it is advantageous to determine when they need service are among others the drive motor, the hydraulic pump motor, the steer servo motor, the power steering motor or an electro-mechanical brake. Faults or maintenance needs, which it is desirable to detect, are for example, problems with the bearings.
  • a first value of at least one parameter is determined, the at least one parameter being related to an operating condition of the device.
  • the first value is determined based on a computational model of the at least one parameter.
  • the at least one parameter can for instance be a temperature value of the drive motor, the hydraulic pump motor or the steer servo motor.
  • the temperature of the drive motor, the hydraulic pump motor or the steer servo motor is dependent of the operating condition of the forklift truck. If for instance the forklift truck is driven for a long period of time or with heavy load the temperature of the drive motor, the hydraulic pump motor or the steer servo motor is likely to be high.
  • the computational model of the at least on parameter typically calculates the at least one parameter based on other parameters.
  • the temperature of the drive motor, the hydraulic pump motor or the steer servo motor is a function of ambient temperature, thermal inertia, current flow into the drive motor, the hydraulic pump motor or the steer servo motor etc.
  • typical parameters that may be included in the computational model of the at least on parameter are temperature, current, voltage, load weight, total weight, velocity, acceleration and time.
  • a second value of the at least one parameter is determined from a sensor in the fork lift truck sensing the parameter directly or indirectly.
  • the at least one parameter is the temperature value of the drive motor, the hydraulic pump motor or the steer servo motor.
  • the second value is determined by a sensor sensing the temperature value directly or indirectly of the drive motor, the hydraulic pump motor or the steer servo motor.
  • step S3 a difference between the first value and the second value is determined. Thereafter in step S4 the state of the device is determined based on the difference. Thus by analyzing the difference, in step S4, between the first value and the second value the state of the device can be determined.
  • values of the difference between the first value and the second value at the beginning of the life cycle of the forklift truck 1 considered to be a normal difference between the first value and the second value.
  • the present disclosure is a small difference between the first value and the second value an indication that the device is working properly. If the difference between the first value and the second value is large the device or components related to the device is considered to malfunction in step S4.
  • An advantage by determining the state of the device by analyzing the difference between the first value and the second value instead of determining the state based on only the second value is that there is not necessary to determine which absolute second values that indicate that the device is malfunctioning.
  • a process of determining which second value that indicates that the device is malfunctioning is complicated since the forklift truck is used in many difference ways.
  • a high second value does not necessary mean that the device is malfunction.
  • a high second value can be a result of that the forklift truck has been driven hard or with a heavy load.
  • Another advantage by determining the state of the device by analyzing the difference between the first value and the second value is that it is not important that the computational model of the at least one parameter is exact. As long as the computational model of the at least one parameter give the same result every time. Nor does it matter if the sensor that sense the second value of the at least one parameter is exact. As long as the sensor give the same result every time. This since it is the difference between the first value and the second value that is of importance when determining the state of the device in step S4. Not the absolute values of the first value and the second value.
  • the method comprises a further step S3b (not shown), prior to the step S4.
  • a normal difference is determined based on a number of determined differences in step S3.
  • the normal difference is a value representing a difference between the first value and the second value when the state of the device is considered to be normal.
  • the normal difference between the first value and the second value is determined during the forklift trucks 1 first number of operating hours. The normal difference can be determined this way since the device in the forklift truck 1 is considered to function normally during the first number of operating hours.
  • the normal difference is used in step S4 when determining the state of the device. After a certain number of operating hours the normal difference has been determined. Thereafter the forklift truck 1 continuously determines the differences between the first value and the second value in step S3. These new differences represent the current state of the device. In step S4 the forklift truck then determine the state of the device by comparing the normal difference with a new difference between the first value and the second value representing the current state of the device.
  • the difference can be represented in the forklift truck 1 in different ways.
  • the difference is represented as a histogram.
  • the X-axis represent the value of the difference and the Y-axis represent the number of occasions where a certain difference has occurred.
  • the histogram thus represents a type of difference profile for the forklift truck 1.
  • this difference profile can be used in step S4 when determining the state of the device. After a certain number of operating hours the difference profile has been determined. Thereafter the forklift truck 1 continuously represents differences in a new histogram. This new histogram represents the current state of the device. In step S4 the forklift truck then determine the state of the device by comparing the difference profile with the new histogram that represents the current state of the device.
  • the first value is a current supply value to the drive motor, the hydraulic pump motor or the steer servo motor determined based on a computational model of the current supply.
  • the computational model of the current supply value to the drive motor, the hydraulic pump motor or the steer servo motor can designed in different ways.
  • the computational model of the current supply value to the drive motor, the hydraulic pump motor or the steer servo motor calculates the current supply based on other parameters.
  • the current supply to the drive motor, the hydraulic pump motor or the steer servo motor is a function of the weight of the load and the speed of the forklift truck 1.
  • the second value is a current supply value from a current sensor sensing the current supply to one of the drive motor, the hydraulic pump motor or the steer servo motor directly or indirectly.
  • the first value is a voltage value to the drive motor, the hydraulic pump motor or the steer servo motor determined based on a computational model of the voltage value.
  • the computational model of the voltage value supplied to the drive motor, the hydraulic pump motor or the steer servo motor can be designed in different ways.
  • the computational model of the voltage value value to the drive motor, the hydraulic pump motor or the steer servo motor calculates the voltage value based on other parameters.
  • the voltage value to the drive motor, the hydraulic pump motor or the steer servo motor is a function of the weight of the load and the speed of the forklift truck 1.
  • the second value is a voltage value from a voltage sensor sensing the voltage supply to one of the drive motor, the hydraulic pump motor or the steer servo motor directly or indirectly.
  • the forklift truck can for these cases set the first value to the current motor temperature when then the forklift truck starts to work again.
  • the method further comprises issuing an indication, such as an alarm or a visual notification to the driver if the difference between the first value and the second value exceeds a threshold.
  • the method further comprises transmitting the difference between first value and the second value to a server for further analysis of the difference.
  • the difference between first value and the second value is transmitted continuously to the server with a suitable interval.
  • the difference between first value and the second value is transmitted to the server at predetermined times or at predetermined locations.
  • Yet another advantage by only transmitting the difference with a suitable interval or at predetermined locations is the smaller amount of data that needs to be transmitted compared to if the difference values were sent continuously.
  • FIG 3 schematically illustrates an embodiment of a method performed in a server for determining the state of a device in the forklift truck 1.
  • a first step S10 the difference between the first value and the second value is received.
  • a next step S20 the state of the device is determined based on the difference between the first value and the second value.
  • the server considers, in step S20, values of the difference between the first value and the second value at the beginning of the life cycle of the forklift truck 1 to be a normal difference between the first value and the second value.
  • the server determines a change in the state of the device in step S20.
  • a small difference between the first value and the second value is an indication that the device is working properly. If the difference between the first value and the second value is large the device or components related to the device is considered to malfunctioning in step S20.
  • an advantage by determining the state of the device, in step S20, by analyzing the difference between the first value and the second value is that it is not important that the computational model of the at least one parameter is exact. As long as the computational model of the at least one parameter give the same result every time. Nor does it matter if the sensor that sense the second value of the at least one parameter is exact. As long as the sensor gives the same result every time. This since it is the difference between the first value and the second value that is of importance when determining the state of the device, in step S20. Not the absolute values of the first value and the second value.
  • the method comprises a further step SlOb, prior to the step S20.
  • a normal difference is determined based on a number of received differences in step SlOb.
  • the normal difference is a value representing a difference between the first value and the second value when the state of the device is considered to be normal.
  • the normal difference between the first value and the second value is determined by the server during the forklift trucks 1 first number of operating hours. The normal difference can be determined this way since the device in the forklift truck 1 is considered to function normally during the first number of operating hours.
  • the normal difference is used in step S20 when determining the state of the device. After a certain number of operating hours the normal difference has been determined. Thereafter the server continuously receives differences between the first value and the second value in step S10. These new differences represent the current state of the device. In step S20 the server then determine the state of the device by comparing the normal difference with a new difference value representing the current state of the device.
  • the difference can be represented in the server in different way as a histogram.
  • the X-axis represent the value of the difference and the Y-axis represent the number of occasions where a certain difference has occurred.
  • the histogram thus represents a type of difference profile for the forklift truck 1.
  • this normal difference profile can be used in step S20 when determining the state of the device. After a certain number of operating hours the difference profile has been determined. Thereafter the server continuously receives differences and represents these differences in a new histogram. This new histogram represents the current state of the device. In step S20 the server then can determine the state of the device by comparing the difference profile with the new histogram representing the current state of the device.
  • the server determines in step S20 that the device is malfunctioning.
  • the limit for a deviation when the server, in step S20, determines that the device is malfunctioning can be adjusted. This is particularly advantageous in case there are many false alarms. Then it is enough to change the limit for a deviation in the server, instead of changing the limit for the deviation on every single forklift truck 1.
  • a normal difference profile from another identical forklift truck 1 can be used when determining the state of the device.
  • the continuously received differences are represented in a histogram.
  • the server then can determine the state of the device by comparing the normal difference profile from another identical forklift truck 1 or many identical forklift trucks 1 with the histogram of the received differences.
  • the first value can be a current supply value to the drive motor, the hydraulic pump motor or the steer servo motor determined based on a computational model of the current supply.
  • the second value is a current supply value from a current sensor sensing the current supply to one of the drive motor, the hydraulic pump motor or the steer servo motor directly or indirectly.
  • the first value can be a voltage value to the drive motor, the hydraulic pump motor or the steer servo motor determined based on a computational model of the voltage value.
  • the second value is a voltage value from a voltage sensor sensing the voltage supply to one of the drive motor, the hydraulic pump motor or the steer servo motor directly or indirectly.
  • the method in the server further comprises issuing an indication, such as an alarm or a visual notification if the difference between the first value and the second value exceeds a threshold.
  • the method in the server further comprises deciding of an action to be performed if the difference between the first value and the second value exceeds a threshold.
  • This action can for instance be booking service, ordering spare parts or limiting driving parameters for the forklift truck 1.

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

Claims (17)

  1. Verfahren in einem Gabelstapler (1) zur Bestimmung des Status einer Vorrichtung in dem Gabelstapler (1), umfassend die folgenden Schritte:
    - Bestimmen (S1) eines ersten Wertes mindestens eines Parameters betreffend einen Betriebszustand der Vorrichtung auf Grundlage eines Rechenmodells des mindestens einen Parameters;
    - Bestimmen (S2) eines zweiten Wertes des mindestens einen Parameters von einem Sensor in dem Gabelstapler, welcher den Parameter direkt oder indirekt erfasst;
    - Bestimmen (S3) einer Differenz zwischen dem ersten Wert und dem zweiten Wert;
    - Bestimmen (S4) des Status der Vorrichtung auf Grundlage der Differenz; und
    - vor dem Schritt des Bestimmens (S4) des Status, Bestimmen einer Normaldifferenz auf Grundlage einer Anzahl von bestimmten Differenzen, wobei die Normaldifferenz ein Wert ist, welcher eine Differenz zwischen dem ersten Wert und dem zweiten Wert für die Vorrichtung darstellt, wenn der Status als normal angesehen wird.
  2. Verfahren nach Anspruch 1, wobei der Schritt des Bestimmens (S4) des Status ferner das Bestimmen des Status auf Grundlage eines Vergleichs zwischen der Normaldifferenz und der Differenz umfasst.
  3. Verfahren nach einem der Ansprüche 1 bis 2, wobei die Vorrichtung ein Antriebsmotor, ein Hydraulikpumpenmotor oder ein Lenkservomotor ist.
  4. Verfahren nach Anspruch 3, wobei der erste Wert ein Temperaturwert des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors ist, welcher auf Grundlage eines Rechenmodells der Temperatur bestimmt wird, und der zweite Wert ein Temperaturwert von einem Temperatursensor ist, der die Temperatur des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors direkt oder indirekt erfasst.
  5. Verfahren nach Anspruch 3, wobei der erste Wert ein Stromzufuhrwert für den Antriebsmotor, den Hydraulikpumpenmotor oder den Lenkservomotor ist, welcher auf Grundlage eines Rechenmodells der Stromzufuhr bestimmt wird, und der zweite Wert ein Stromzufuhrwert von einem Stromsensor ist, der die Stromzufuhr zu einem des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors direkt oder indirekt erfasst.
  6. Verfahren nach Anspruch 3, wobei der erste Wert ein Spannungswert für den Antriebsmotor, den Hydraulikpumpenmotor oder den Lenkservomotor ist, welcher auf Grundlage eines Rechenmodells der Spannung bestimmt wird, und der zweite Wert ein Spannungswert von einem Spannungssensor ist, der die Spannung zu einem des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors direkt oder indirekt erfasst.
  7. Verfahren nach einem der Ansprüche 1 bis 6, wobei das Verfahren ferner das Ausgeben einer Anzeige, wie beispielsweise eines Alarms oder einer visuellen Benachrichtigung an den Fahrer umfasst, falls die Differenz einen Schwellenwert überschreitet.
  8. Verfahren nach einem der Ansprüche 1 bis 7, ferner umfassend:
    - Übertragen der Differenz an einen Server zur weiteren Analyse der Differenz.
  9. Verfahren in einem Server zur Bestimmung des Status einer Vorrichtung in einem Gabelstapler (1), umfassend die folgenden Schritte:
    - Empfangen (S10) einer Differenz zwischen einem ersten Wert eines Parameters und einem zweiten Wert eines Parameters, wobei der erste Wert ein Wert des Parameters betreffend einen Betriebszustand der Vorrichtung auf Grundlage eines Rechenmodells des Parameters ist, und der zweite Wert ein Wert des Parameters von einem Sensor in dem Gabelstapler ist, der den Parameter erfasst;
    - Bestimmen (S20) des Status der Vorrichtung auf Grundlage der Differenz; und
    - vor dem Schritt des Bestimmens (S20) des Status, Bestimmen einer Normaldifferenz auf Grundlage einer Anzahl von empfangenen Differenzen, wobei die Normaldifferenz ein Wert ist, welcher eine Differenz zwischen dem ersten Wert und dem zweiten Wert für die Vorrichtung darstellt, wenn der Status als normal angesehen wird.
  10. Verfahren nach Anspruch 9, wobei der Schritt des Bestimmens des Status ferner das Bestimmen des Zustands auf Grundlage eines Vergleichs zwischen der Normaldifferenz und der Differenz umfasst.
  11. Verfahren nach Anspruch 9, wobei der Schritt des Bestimmens des Status ferner das Bestimmen des Zustands auf Grundlage eines Vergleichs zwischen der Differenz und einer Normaldifferenz für einen zweiten Gabelstapler (1) umfasst.
  12. Verfahren nach einem der Ansprüche 9 bis 11, wobei die Vorrichtung ein Antriebsmotor, ein Hydraulikpumpenmotor oder ein Lenkservomotor ist.
  13. Verfahren nach Anspruch 12, wobei der erste Wert ein Temperaturwert des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors ist, welcher auf Grundlage eines Rechenmodells der Temperatur bestimmt wird, und der zweite Wert ein Temperaturwert von einem Temperatursensor ist, der die Temperatur des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors erfasst.
  14. Verfahren nach Anspruch 12, wobei der erste Wert ein Stromzufuhrwert für den Antriebsmotor, den Hydraulikpumpenmotor oder den Lenkservomotor ist, welcher auf Grundlage eines Rechenmodells der Stromzufuhr bestimmt wird, und der zweite Wert ein Stromzufuhrwert von einem Stromsensor ist, der die Stromzufuhr des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors erfasst.
  15. Verfahren nach Anspruch 12, wobei der erste Wert ein Spannungswert für den Antriebsmotor, den Hydraulikpumpenmotor oder den Lenkservomotor ist, welcher auf Grundlage eines Rechenmodells der Spannung bestimmt wird, und der zweite Wert ein Spannungswert von einem Spannungssensor ist, der die Spannung des Antriebsmotors, des Hydraulikpumpenmotors oder des Lenkservomotors erfasst.
  16. Verfahren nach einem der Ansprüche 11 bis 14, wobei das Verfahren ferner eine Anzeige, wie beispielsweise einen Alarm oder eine visuelle Benachrichtigung umfasst, falls die Differenz einen Schwellenwert überschreitet.
  17. Gabelstapler, der ausgelegt ist, um das Verfahren nach einem der Ansprüche 1 bis 8 durchführen zu können
EP15165883.8A 2015-04-30 2015-04-30 Verfahren zur bestimmung des status einer vorrichtung in einem gabelstapler Active EP3088350B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15165883.8A EP3088350B1 (de) 2015-04-30 2015-04-30 Verfahren zur bestimmung des status einer vorrichtung in einem gabelstapler
CN201610154147.5A CN106082024B (zh) 2015-04-30 2016-03-17 一种确定叉车中的装置的状态的方法和叉车

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15165883.8A EP3088350B1 (de) 2015-04-30 2015-04-30 Verfahren zur bestimmung des status einer vorrichtung in einem gabelstapler

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EP3088350A1 EP3088350A1 (de) 2016-11-02
EP3088350B1 true EP3088350B1 (de) 2019-03-27

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DE602005019047D1 (de) * 2005-09-20 2010-03-11 Atlet Ab Verbessertes Kontrollsystem für ein Flurförderfahrzeug
DE102007043472A1 (de) * 2007-09-04 2009-03-05 Jungheinrich Aktiengesellschaft Flurförderzeug und Fernwartungssystem sowie Verfahren zur Fernwartung eines Flurförderzeugs
KR101371968B1 (ko) * 2007-12-27 2014-03-25 주식회사 두산 전동지게차의 모터 제어방법 및 제어장치
EP2088117A1 (de) * 2008-02-11 2009-08-12 Haldex Hydraulics AB Hochleistungsschaltervorrichtung und ein Netzteil mit einer Hochleistungsschaltervorrichtung .
CN101407307B (zh) * 2008-11-24 2011-02-09 三一集团有限公司 升降链条防松方法、装置及使用该装置的堆高机
US8548671B2 (en) * 2011-06-06 2013-10-01 Crown Equipment Limited Method and apparatus for automatically calibrating vehicle parameters

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CN106082024A (zh) 2016-11-09
CN106082024B (zh) 2019-05-07

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