SE542909C2 - Electronic pallet and method for selectively blocking fork openings of an electronic pallet - Google Patents

Abstract

The present disclosure relates to techniques in the context of vehicles, and to an electronic pallet comprising a blocking mechanism arranged to selectively block and unblock its fork openings. According to a first aspect, the disclosure relates to an electronic pallet (90), arranged to be loadable onto a vehicle (1). The electronic pallet (90) comprises fork openings (94), arranged to receive lifting forks (31). The electronic pallet (90) also comprises a blocking mechanism (91) arranged to selectively block and unblock the fork openings (94) and a control device (96) configured to control the blocking mechanism (91) to selectively block and unblock the fork openings (94) based on one or more predetermined criteria. Thereby, the fork openings (94) may be blocked during transport and storage, whereby theft is prevented. The disclosure also relates to a corresponding method, computer program and to a computer program product for performing the proposed method.

Description

Electronic pallet and method for selectively blocking fork openings of an electronicpallet Technical field The present disclosure relates to techniques in the context of vehicles, and to anelectronic pallet comprising a blocking mechanism arranged to selectively blockand unblock its fork openings. The disclosure also relates to a correspondingmethod, computer program and to a computer program product for performing theproposed method.

Backgroundln vehicle transportation, pallets are commonly used to move goods from place to place (e.g., Warehouse to retail store). When a desired amount of goods has beenloaded or stacked on the pallet, a fork lift, hand jack, or other device is typicallyslid under and/or through the pallet such that the pallet can be lifted vertically offthe ground. When hoisted up, the pallet and the products stacked thereon may betransported to a storage area in a Warehouse, loaded onto a truck used todistribute the goods, or taken to some other location as desired. Using pallets,numerous products may be conveniently moved and stored in groups to increase shipping and transportation delivery.

However, loss of goods due to theft during transportation on vehicles is arecognized problem, as pallets may relatively easily be unloaded using a fork liftor similar. One way of preventing theft is to equip the pallets with electronic tags,that enables tracking the pallets. For example, United States Patent ApplicationUS2008/103944 (A1) describes an intelligent pallet having an active RFID tagembedded therein. The pallet is used within a leasing system and/or an inventorymanagement system. However, with the increasing use of autonomous vehicleswhere no driver is present that can prevent the theft, further measures to alsoactually prevent the theft beforehand are also desirable.

Summary 2 lt is an object of the disclosure to alleviate at least some of the drawbacks with theprior art. Thus, it is an object to provide a solution that prevents a pallet frombeing stolen.

According to a first aspect, the disclosure relates to an electronic pallet, arrangedto be loadable onto a vehicle. The electronic pallet comprises fork openings,arranged to receive lifting forks. The electronic pallet also comprises a blockingmechanism arranged to selectively block and unblock the fork openings and acontrol device configured to control the blocking mechanism to selectively blockand unblock the fork openings based on one or more predetermined criteria.Thereby, the fork openings may be blocked during transport and storage, wherebytheft is prevented. ln some embodiments, the electronic pallet comprises a wireless communicationinterface and the control device is configured to receive authentication data usingthe wireless communication interface and to cause the blocking mechanism tocontrol the fork openings based on the authentication data. Thereby, a user suchas a driver may easily unblock the fork openings (e.g. for loading and unloadingthe electronic pallet) by being authorized using a wireless user device. ln some embodiments, the wireless communication interface is configured toreceive the authentication from a fork lift, from a mobile terminal or from an off-board system. Thereby, the mere presence of an authorized vehicle or user maycause the fork openings to open. Alternatively, an authorized user may unblockthe fork openings using an application installed in a user device (e.g. a mobilephone) ln some embodiments, the control device is configured to control the blockingmechanism to automatically block the fork openings upon detecting that a liftingfork is removed from the fork openings or upon expiry of a predefined time periodsince unblocking of the fork openings. Thereby security is enhanced, as noexplicit action is required to block the fork openings. 3 ln some embodiments, the blocking mechanism comprises pivotable and/orsliding covers arranged to be moved between a closed position, where the forkopenings are blocked, and an open position where the fork openings areunblocked. The covers may be arranged to partly or entirely block the forkopenings in the closed position. ln some embodiments, the electronic pallet comprises an actuator arranged tomove the covers between the first position and the second position. Thus, thelocking and unlocking may be electrically controlled. ln some embodiments, the blocking mechanism comprises a locking mechanismarranged to lock the covers in the closed position and/or in the open position.Thereby, the position of the covers cannot be changed without unlocking thelocking mechanism. For example, only authorized users that have access to anelectronic key may unblock the fork openings.

According to a second aspect, the disclosure relates to a method, performed by acontrol device in an electronic pallet arranged to be loadable onto a vehicle. Theelectronic pallet comprises fork openings arranged to receive lifting forks and ablocking mechanism configured to selectively block and unblock the forkopenings. The method comprises controlling the blocking mechanism toselectively block and unblock the fork lift entries based on one or more predetermined criteria. ln some embodiments, the method comprises receiving authentication data andthe controlling of the blocking mechanism is based on the received authenticationdata. ln some embodiments, the method comprises receiving the authentication from afork lift, from a mobile terminal or from an off-board system. ln some embodiments, the controlling comprises automatically blocking the forkopenings upon detecting that a lifting fork is removed or upon expiry of apredefined time period since unblocking of the fork openings. 4 According to a third aspect, the disclosure relates to a computer programcomprising instructions which, when the program is executed by a computer,cause the computer to carry out the method according to the second aspect.

According to a fourth aspect, the disclosure relates to a computer-readablemedium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

Brief description of the drawinqs Fig. 1 i||ustrates a vehicle carrying an electronic pallet.

Fig. 2 i||ustrates an electronic pallet.

Fig. 3 i||ustrates an electronic pallet with four-sided accessibility seen from above.Figs. 4a and 4b illustrate an example implementation of a blocking mechanismaccording to some embodiments.

Figs. 5a and 5b illustrate an example implementation of a blocking mechanismaccording to some embodiments.

Fig. 6 i||ustrates a flow chart of a method performed by a control device in anelectronic pallet.

Fig. 7 is a control device configured to implement the proposed method in more detail.

Detailed descriptionThe term electronic pallet herein refers to a pallet that cannot only carry goods but that also can carry information e.g. about the goods on the pallet using e.g. anelectronic tag that is matched with a logistics information system. An electronicpailet typicaity cornprises an integrated energy storage such as a battery. Thebattery generally powers electronic circtiitry such that the electronic pallet can send and receive signals using a transmitter and a receiver.

This disclosure proposes an eiectronic paiiet with physical then-protection. ivtorespecifically, this disclosure proposes an electronic paliet comprising torkepenings, arranged to receive iiftiitg ton-as, and a blocking mechanism arranged to seiectivelyf biock and unbtock the tork openings. ln order to tinbtock the tork iift openings, a vehicle (e.g. a fork lift truck) that is about to move the electronicpallet, or an operator, must communicate with the electronic pallet to shake thebiocking mechanism unblock the tork openings. Thereby, the electronic pallet canonly be moved by an authoršsed operator and/or vehicle.

Fig. 1 illustrates a vehicle 1, here a Iorry, having an electronic pallet 90 carryinggoods 70 Ioaded thereon. A vehicle will normally transport a plurality of pallets,but for simplicity only one pallet is described in this example. The vehicle 1 isherein embodied as a Iorry, but it must be appreciated that the electronic pallet 90may be Ioaded on any manned or unmanned vehicle. The vehicle 1 may beautonomously or remotely operated. ln other words, it may be driverless. Anautonomous vehicle is for example controlled by an off-board system thatinstructs the vehicle to perform missions. A mission is e.g. to drive a routebetween a first position and a second position.

The vehicle 1 comprises a plurality of electrical systems and subsystems.However, for simplicity only some parts of the vehicle 1 that are associated withthe proposed technique are shown in Fig. 1. Thus, the vehicle 1 of Fig. 1comprises an electrical engine 21, an energy storage device 22 and a control unit20.

The electrical engine 21 is configured to propel, a possibly also to brake, the vehicle1. The energy storage device 22 is configured to supply power to the electrical engine 21.

The control unit 20 (or Electrical Control Unit, ECU) is basically a digital computerthat controls one or more electrical systems of the vehicle 1 based on e.g.information read from sensors and meters placed at various parts and in differentcomponents of the vehicle 1. ECU is a generic term for a control unit that is used inautomotive electronics for any embedded system that controls one or morefunctions of the electrical system or sub systems in a transport vehicle.

The control unit 20 illustrated in Fig. 1 is a control unit configured to control the load of the vehicle 1. 6 The control unit 20 typically comprises one or more communication interfaces.Typically, the control unit 20 comprises one interface, e.g. a Controller AreaNetwork, CAN, used to handle communication between the various control units inthe vehicle 1. The CAN uses a message-based protocol. Often, several connectedCAN networks are arranged in the vehicle 1. ln some embodiments, the control unit 20 also comprises an interface configuredto communicate with the electronic pallet 90. For example, the electronic paiietperiorms seme kind ef hantfistieke with the control unit 20 of the vehicle l tlponleading. Then energyf may be exchenged between the vehicle t and the electronic paliet 90 e.g. vie ert inctuctive interface (net shown).

Fig. 2 illustrates an electronic pallet 90 with physical theft protection in further detail.The electronic pallet 90 is e.g. a standard European pallet (or EURO-pallet) asspecified by the European Pallet Association. The electronic pallet 90 is designedto be loaded at a vehicle 1. The electronic pallet 90 comprises a structuralfoundation 99, which allows handling and storage of goods. The structuralfoundation 99 is commonly wooden, but can also be made of plastic, metal, paper,and/or other materials. The structural foundation 99 comprises an upper side 92, alower side (not shown) and four side walls 97. Wooden pallets typically consist ofthree or four stringers that support several deck boards, on top of which goods areplaced. However, other designs are also possible, and the proposed technique mayin general be implemented on any type of electronic pallet 90. Therefore, in theillustration of the electronic pallet 90 of Fig. 2, the structural foundation 99 is onlyschematically illustrated.

The electronic pallet 90 further comprises a blocking mechanism 91, fork openings94, an energy storage device 95 and a control device 96.

The fork openings 94 are openings in the side walls 97 that are arranged to receivelifting forks of for example a forklift, i.e. a powered industrial truck used to lift andmove materials over short distances. ln other words, the fork openings 94 are e.g. 7 arranged to allow lifting forks 31 (Fig. 3) to access the pallet in order to lift it. The electronic pallet 90 may have fork openings 94 on one or more of its side walls 97.

Fig. 3 illustrates an electronic pallet 90, more specifically an EURO-pallet, withfour-sided accessibility seen from above. ln this example, all four sides of thestructural foundation 99 comprise fork openings 94. ln other embodiments, theelectronic pallet 90 may have fork openings 94 only on its short sides, or only onone side. Fork lift slots 98 extend from the fork openings 94 into the pallet. Thefork lift slots 98 are tracks arranged to guide lifting forks 31 of a vehicle 1, whileIifting the electronic pallet 90. ln other words, in some embodiments the forkopenings 94 defines openings of fork lift slots 98.

The blocking mechanism 91 will now be described in more detail, with referenceto Fig. 2, Fig. 4a-4b and Fig. 5a-5b. The blocking mechanism 91 is a mechanismarranged to selectively block and unblock the fork openings 94. ln someembodiments the blocking mechanism 91 comprises pivotable and/or slidingcovers 911 arranged to be moved between a closed position, where the forkopenings 94 are blocked, and an open position where the fork openings 94 areunblocked. ln the following embodiments a pivotable cover is denoted 911a and asliding cover 91 1 b. The covers 911 may completely cover the fork openings 94, orthey may partly cover the fork openings. ln the closed position a fork is preventedfrom entering the fork openings 94 and consequently also from lifting and/ormoving the electronic pallet 90. ln the open position a fork may enter the forkopenings 94 to lift and/or move the electronic pallet 90. The blocking mechanism91 may alternatively use other means to selectively block and unblock the forkopenings 94, such as rods or other blocking devices.

Fig. 4a and 4b illustrates an example implementation of a blocking mechanism 91arranged at a fork opening 94. ln this embodiment, the blocking mechanism 91comprises a pivotable cover 911a that is arranged to be moved between a closedposition, where the fork opening 94 is blocked, and an open position where thefork opening 94 is unblocked. ln this embodiment, the pivotable cover 911a ispivotably attached to the electronic pallet 90 using hinges 912. ln Fig. 4a and 4b 8 the hinges arranged on the upper side of the pivotable cover 911a. lt must beappreciated that the hinges 912 may alternatively be positioned for example at theside of the pivotable cover 911a. ln Fig. 4a the pivotable cover 911a is in a closed position, whereby the pivotablecover 911a covers the fork opening 94. The blocking mechanism 91 comprises aIocking mechanism 913 arranged to lock the pivotable cover 911a in the closedposition. The Iocking mechanism 913 may e.g. comprise a latch. When thepivotable cover 911a is locked in a closed position, a fork 31 is prevented fromentering the fork opening 94, as the Iocking mechanism 913 stops the pivotable cover 911a from pivoting. ln Fig. 4b the pivotable cover 911a is in an open position, where the pivotablecover 911a is pivoted inwards into the electronic pallet 90. Thereby, a fork 31 mayenter the fork openings 94 in order to lift and/or move the electronic pallet 90. ln the embodiment of Fig. 4a and 4b, an actuator 914 (here illustrated as a steelspring), is arranged to push the pivotable cover 911a towards the closed position.ln other words, the actuator 914 is arranged to move the pivotable cover 911afrom the open position to the closed position. More generally, in someembodiments the blocking mechanism 91 comprises an actuator 914 arranged tomove the covers between the first position and the second position. The actuator914 may be implemented using e.g. suspension device, solenoid and/or anelectrical engine arranged to move the covers between the first position and the second position. ln some embodiments, a Iocking mechanism 913 is arranged to selectively lockand unlock the pivotable cover 911a in the closed position, based on control dataprovided by the control device 96, as will be further explained below. lf thepivotable cover 911a is unlocked, then a fork 31 may push the pivotable covers911a inwards and enter the fork lift slot 98 in order to lift the electronic pallet 90. lnother words, the pivotable cover 911a may be opened by an object (e.g. a fork 31)pushing the pivotable cover 911a inwards. lf the pivotable cover 911 is locked, 9 then a fork 31 is prevented from opening the pivotable cover 911a andconsequently from entering the fork lift slot 98. The Iocking mechanism may alsobe arranged to lock the pivotable covers 11a in the open position. More generally,in some embodiments the blocking mechanism 91 comprises a Iockingmechanism 913 arranged to lock the covers 911 in the closed position and/or inthe open position. The Iocking mechanism 913 may be implemented using e.g. asolenoid and/or a latch.

Figs. 5a and 5b illustrate another example implementation of the blockingmechanism 91. ln this embodiment, the blocking mechanism 91 comprises asliding cover 911b arranged to be vertically slid between a closed position, wherethe fork opening 94 is blocked, and an open position where the fork opening 94 isunblocked. ln this embodiment, the sliding cover 911b is attached to the electronicpallet 90 using rails (not shown). lt must be appreciated that the sliding cover 911b may alternatively be arranged to be horizontally slid. ln Fig. 5a the sliding cover 911b is in a closed position, where it prevents a fork 31from entering the fork opening 94. ln Fig. 5b the pivotable cover 911b is in anopen position, where the sliding cover 911b is slid upwards such that it does notcover the fork opening 94. Thus, in the open position a fork 31 may enter the forkopening 94 in order to lift and/or move the electronic pallet 90. ln Fig. 5a and 5b,an actuator 914, e.g. an electromagnet or a motor, is arranged to move the slidingcover 911b between the closed position and the open position, based on controldata provided by the control device 96. The actuator 914 may also serve as aIocking mechanism that holds the sliding cover 911b in the closed position.

Turning back to Fig. 2, the other components of the electronic pallet 90 will bedescribed in more detail.

The energy storage device 95 is configured to power the various components ofthe electronic pallet 90 e.g. to power the components of the blocking mechanism91. lO The control device 96 is configured to control the operation of the electronic pallet90 and the components of the electronic pallet 90. Typically, the electronic pallet90 is arranged to receive data from, and to send control data to, the blockingmechanism 91and the energy storage device 95. ln particular, the control device96 is configured to control the blocking mechanism 91 to selectively block andunblock the fork openings 94 based on one or more predetermined criteria, as willnow be described in further detail with reference to Fig. 6 and Fig. 7.

The proposed technique will now be described in further detail with reference tothe flow chart of Fig. 6 and the electronic pallet described in Fig. 2 to 5. Fig. 6illustrates a flow chart of a method performed by a control device 96 in anelectronic pallet 90 arranged to be loadable onto a vehicle 1, such as the vehicle 1of Fig. 1. The method is for example performed when the electronic pallet 90 iscarrying goods 70 for example while transported by (i.e. loaded on) the vehicle 1 or when stored in a warehouse.

The method is typically implemented as a computer program comprisinginstructions which, when the program is executed by a computer, cause thecomputer to carry out the method. According to some embodiments the computerprogram is stored in a computer-readable medium that comprises instructionswhich, when executed by a computer, cause the computer to carry out themethod.

As the purpose of blocking the fork openings is typically to prevent anunauthorized user from moving or lifting the electronic pallet, authentication istypically required to cause the blocking mechanism 91 to block and/or unblock thefork openings. Therefore, in some embodiments, the method comprises receivingS0 authentication data from an external device. The authentication data may beauthentication data in any form, e.g. credentials or a cryptographic key that thecontrol device 96 can authorize.

The proposed method comprises controlling S1 the blocking mechanism 91 toselectively block and unblock the fork lift entries based on one or more ll predetermined criteria. For example, control data that controls the actuator 914 tomove the cover 911 to an open position is sent to the actuator 914. Thepredetermined criteria may take parameters or data received from an externaldevice, such as a forklift, a remote-control system or a user device (e.g. a mobilephone), as input. The predetermined criteria may alternatively take sensor dataprovided by sensors in the electronic pallet as input. ln some embodiments, thepredetermined criteria take time as input. For example, the fork openings 94 areunblocked at a certain point in time, when loading of the electronic pallet 90 is planned. lf authentication data has been received S0, then, the controlling S1 of theblocking mechanism 91 is based on the received authentication data. ln otherwords, only an authorized external device is allowed to control the blockingmechanism. The authentication data may be received for example from a fork lift, a vehicle 1, from a mobile terminal or from an off-board system. ln one example scenario a fork lift approaching the electronic pallet broadcastsauthentication data. The control device 96 receives the broadcasted signal andidentifies the fork lift as being an authorized device and consequently theblocking mechanism 91 is controlled to unblock its fork openings. The electronicpallet 90 may then be moved by the fork lift. After 10 minutes the blockingmechanism 91 is automatically controlled to block its fork openings 94.Alternatively, the fork openings 94 are automatically blocked upon detecting thatthe lifting forks have been removed from the fork openings 94. For example,sensor data indicating that no fork is present in the fork lift slots 98 is receivedfrom a sensing mechanism (not shown) that is arranged to detect presence of afork in the fork lift slots 98. ln other words, in some embodiments, the controllingS1 comprises automatically blocking the fork openings 94 upon detecting that alifting fork is removed or upon expiry of a predefined time period since unblockingof the fork openings 94.

Now to Fig. 7 which illustrates a control device 96 configured to implement the proposed method in more detail. ln some embodiments, the control device 96 is a 12 "unit" in a functional sense. Hence, in some embodiments the control device 96 isa control arrangement comprising several physical control units that operate incorporation. The control device 96 comprises hardware and software. Thehardware basically comprises various electronic components on a Printed CircuitBoard, PCB. The most important of those components is typically a processor 961e.g. a microprocessor, along with a memory 962 e.g. EPROM or a Flash memorychip. The software is typically lower-level software code that runs in the microcontroller.

The control device 96, or more specifically the processor 961 of the control device96, is configured to cause the control device 96 to perform all aspects of themethod described above and below. This is typically done by running computerprogram code stored in the memory 962 in the processor 961 of the control device96.

More particularly, the control device 96 is configured control the blockingmechanism 91 to selectively block and unblock the fork openings 94 based onone or more predetermined criteria, as described in connection to Fig. 6. ln some embodiments, the control device 96 is configured to control the blockingmechanism 91 to automatically block the fork openings 94 upon detecting that alifting fork is removed from the fork openings or upon expiry of a predefined timeperiod since unblocking of the fork openings 94. ln some embodiments, the control device 96 comprises a wireless communicationinterface a wireless communication interface 963 and the control device 96 isconfigured to receive authentication data using the wireless communicationinterface 963 and to cause the blocking mechanism 91 to control the forkopenings 94 based on the authentication data. ln some embodiments, thewireless communication interface 963 is configured to receive the authentication from a fork lift, from a mobile terminal or from an off-board system. ln some embodiments the wireless communication interface 963 comprises a first communication interface configured to enable communication with a vehicle 1 at 13 which the electronic pallet 90 is loaded. The first communication interface is e.g.implemented using Near-Field-Communication, NFC, Bluetooth, Wi-Fi. ln Someembodiments, the control device 96 is configured to send a deactivation signal tothe vehicle using the first communication interface 963a, based on the determined displacement. ln some embodiments the wireless communication interface 963 comprises asecond communication interface 963b configured to enable communication withan external device, such as an off-board system or a user device e.g. a mobilephone. The first communication interface is e.g. implemented using 2G, 3G, 4G, 5Gand the control device 96 is configured to send an alert to an external deviceusing the second communication interface 963b, based on the determineddisplacement. ln some embodiments, the second communication interface isintegrated with, or same as, first communication interface. ln some embodiments, this disclosure relates to a vehicle 1 comprising electronic pallet 90 according to any one of these embodiments.

The terminology used in the description of the embodiments as illustrated in theaccompanying drawings is not intended to be limiting of the described method;control arrangement or computer program. Various changes, substitutions and/oralterations may be made, without departing from invention embodiments as defined by the appended claims.

The term "or" as used herein, is to be interpreted as a mathematical OR, i.e., asan inclusive disjunction; not as a mathematical exclusive OR, unless expresslystated otherwise. ln addition, the singular forms "a", "an" and "the" are to beinterpreted as "at least one", thus also possibly comprising a plurality of entities ofthe same kind, unless expressly stated othen/vise. lt will be further understood thatthe terms "includes", "comprises", "including" and/ or "comprising", specifies thepresence of stated features, actions, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, actions, integers, steps, operations, elements, components, and/ or 14 groups thereof. A single unit such as e.g. a processor may fulfil the functions of several items recited in the ciaims.

Claims (3)

1. 1. Claims _ An electronic pallet (90), arranged to be loadable onto a vehicle (1), the electronic pallet (90) comprising: - fork openings (94), arranged to receive lifting forks (31), - a blocking mechanism (91) arranged to selectively block andunblock the fork openings (94), and - a control device (96) configured to control the blocking mechanism(91) to selectively block and unblock the fork openings (94) based on one or more predetermined criteria.

2. The electronic pallet (90) according to claim 1, wherein the electronic pallet (90) comprises: - a wireless communication interface (963) andwherein the control device (96) is configured to receive authentication datausing the wireless communication interface (963) and to cause the blockingmechanism (91) to control the fork openings (94) based on the authentication data. _ The electronic pallet (90) according to claim 2, wherein the wireless communication interface (963) is configured to receive the authenticationfrom a fork lift, from a mobile terminal or from an off-board system. _ The electronic pallet (90) according to any of the preceding claims, wherein the control device (96) is configured to control the blocking mechanism (91)to automatically block the fork openings (94) upon detecting that a liftingfork (31) is removed from the fork openings (94) or upon expiry of apredefined time period since unblocking of the fork openings (94). _ The electronic pallet (90) according to any of the preceding claims, wherein the blocking mechanism (91) comprises pivotable and/or sliding covers(911) arranged to be moved between a closed position, where the fork 16 openings (94) are blocked, and an open position where the fork openings(94) are unblocked. _ The electronic pallet (90) according to claim 5, wherein the blocking mechanism (91) comprises an actuator (914) arranged to move the covers (911) between the open position and the closed position. _ The electronic pallet (90) according to claim 5 or 6, wherein the blocking mechanism (91) comprises a locking mechanism (913) arranged to lock the covers (911) in the closed position and/or in the open position. _ A method, performed by a control device (96) in an electronic pallet (90) arranged to be loadable onto a vehicle (1) comprising fork openings (94),arranged to receive lifting forks (31) and a blocking mechanism (91)configured to selectively block and unblock the fork openings (94), themethod comprising:- controlling (S1) the blocking mechanism (91) to selectively block andunblock the fork lift entries based on one or more predetermined criteria. _ The method according to claim 8 comprising: - receiving (S0) authentication data andwherein the controlling (S1) of the blocking mechanism (91) is based on the received authentication data. 10_The method according to claim 9 comprising receiving the authentication data from a fork lift, from a mobile terminal or from an off-board system. 11_The method according to any one of claims 8 to 10, wherein the controlling (S1) comprises automatically blocking the fork openings (94) upondetecting that a lifting fork (31) is removed or upon expiry of a predefinedtime period since unblocking of the fork openings (94). 17 12.A computer program comprising instructions which, when the program isexecuted by a computer, cause the computer to carry out the method ofany one of the claims 8 to 11. 13.A computer-readable storage medium comprising instructions which, whenexecuted by a computer, cause the computer to carry out the method ofany one of the claims 8 to 11.