CN106082024A - The method of the state of a kind of device determined in fork truck and fork truck - Google Patents
The method of the state of a kind of device determined in fork truck and fork truck Download PDFInfo
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- CN106082024A CN106082024A CN201610154147.5A CN201610154147A CN106082024A CN 106082024 A CN106082024 A CN 106082024A CN 201610154147 A CN201610154147 A CN 201610154147A CN 106082024 A CN106082024 A CN 106082024A
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- Prior art keywords
- value
- motor
- difference
- fork truck
- state
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Classifications
-
- 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
- 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
- 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
Abstract
The method that the present invention relates to the state of a kind of device performed in fork truck in fixed fork car really.The method includes: first step, and computation model based at least one parameter relevant with the operating conditions of device determines the first value of this at least the first parameter.In the next step, the sensor sensing this parameter directly or indirectly in fork truck the second value is determined.It is next determined that the difference between the first value and the second value.Then, in a subsequent step, the state of device is determined based on this difference.
Description
Technical field
It relates to one determines the shape of the device in fork truck (forklift truck, fork lift truck)
The method of state.The disclosure further relates to one and determines in fork truck in server (server) and fork truck
The method of the state of device.
Background technology
In fork truck, there is the device of a lot of frayed impact.Such as electric notor, as movement forklift,
For electronic-controlled power steering or for providing hydraulic pressure to hoisting system, affected by dissimilar abrasion.
Due to abrasion, in fork truck, the state of these devices is degenerated, and then may cause the event of these devices
Barrier, it is thus possible to cause the fault of whole fork truck.The device made mistakes in fork truck causes this device irregular
Stop work or change.This is disadvantageous, because these costs stopped work are expensive.
It is known in the art that the state of device in monitoring fork truck.A kind of method of monitoring device state
It it is the state of manual examination (check) device during conventional time-based maintenance.If device damages or display mill continuously
The sign damaged, then change this device.
Another kind of method is, after the predetermined operating time, changes the device in fork truck.But,
Although these methods are proved to be useful, but these methods are in maintenance shop interim, do not carry
For about the information of the state of different device in fork truck.
Accordingly, there exist the demand of the improvement project of the state of the device determined in fork truck, program solution
At least one problem determined or at least alleviate in the problems referred to above.
Summary of the invention
One purpose of the disclosure is to provide the reality solving to determine the problem of the state of the device in fork truck
Execute mode.
The disclosure provides the method for the state of a kind of device performed in fork truck in fixed fork car really.Should
Method includes: first step, calculating based at least one parameter relevant with the operating conditions of device
Model, determines the first value of this parameter.In the next step, by the sense directly or indirectly in fork truck
The sensor surveying this parameter determines the second value.It is next determined that the difference between the first value and the second value.
Then, in a subsequent step, the state of device is determined based on this difference.
Therefore, a purpose of the disclosure is, by analyzing the difference realization between the first value and the second value
Determine the state of the device in fork truck rather than be based only on the second value and determine this state.By analyzing the
Difference between one value and the second value determines that the advantage of the state of device is, it is not necessary to determine expression device
The second value broken down.Determine and represent that the process of the second value that device breaks down is complicated, this
It is because fork truck to use in a multitude of different ways.The second high value does not necessarily means that device occurs event
Barrier.The second high value is probably fork truck and is fiercely driven or heavy duty result.
The disclosure further relates in server for the method determining the state of the device in fork truck.The method
Including step: receive the difference between the first value of this parameter and the second value of this parameter, wherein, first
At least one parameter computation model based on this parameter that value is relevant with the operating conditions of described device
Value, and described second value is the value of the sensor of sensor parameter in fork truck.In the next step,
The state of device is determined based on this difference.
The disclosure also provides for a kind of fork truck, and this fork truck is arranged to perform according to arbitrary following exemplary reality
Execute the method in mode.
Accompanying drawing explanation
The further purpose of the disclosure, feature and beneficial effect will disclose in following detailed description, its
Middle will be described in greater detail with reference to the attached drawings some aspects of the disclosure, in the accompanying drawings:
Fig. 1 schematically shows the fork truck according to the disclosure one embodiment.
Fig. 2 shows the flow chart performing method of disclosure in fork truck.
Fig. 3 shows the flow chart performing method of disclosure in the server.
Detailed description of the invention
Main purpose or the intention of disclosure embodiment are, solve above-mentioned and following existing skill
At least one shortcoming or some shortcomings present in art scheme.The following plurality of step associated with accompanying drawing should
This is mainly interpreted as logical.
Term used herein is only used to describe the purpose of disclosed particular aspects, it is not intended that
The disclosure is limited to any specific embodiment.As it is used in the present context, singulative " " (a),
" one " (an), " being somebody's turn to do " (the) are also intended to include plural form, unless context is clear and definite on the contrary
Instruction.
As disclosed in accompanying drawing 1, it relates to the field of fork truck 1.The fork truck 1 of diagram includes load
Frame 2.In the example of fig. 1, this load frame 2 includes two forks.This load frame 2 is attached to lifting
Device, so that this load frame 2 can be vertically movable.Load frame 2 is also equipped with hydraulic means, with
Just this load frame can move on the horizontal direction of fork truck 1.Fork truck 1 is generally of post 11.But this
Disclosure is not intended to fork truck and has post 11.Fork truck 1 includes fork truck body 10.Fork truck body 10 is defined as negative
Carrier 2 and selectable post 11 remove the remainder of rear fork truck 1.Fork truck 1 generally also includes driving
Dynamic motor (not shown), this driving motor is used for driving driving wheel and the most in a desired direction
Movement forklift 1.Fork truck 1 farther includes motor (not shown), and this motor is used for driving hydraulic pump；
Hereinafter our this motor is called pump motor.Hydraulic pump makes the hydraulic system of fork truck 1 pressurize.Fork truck
The hydraulic system of 1 in the way of those skilled in the art know for the hydraulic function of fork truck.By hydraulic pressure
If the example of this function of system operation be the lifting of load frame 2, the sidesway of load frame 2 and
Fork truck 1 be extension type fork truck (reach truck, arrive in formula fork truck) then post 11 lengthwise movement, with
And load frame 2 tilts in a longitudinal direction.In another embodiment, the sidesway of load frame 2 and/or load
The electric notor that is tilted through of frame 2 performs.For the type of described fork truck, motor and pump motor is driven to lead to
Cross energy source (energy source) and produce power.Energy source is typically to be suitable to rechargeable battery.
It should be understood, however, that the disclosure can be used for any kind of fork truck.If the disclosure is used for it
He includes the industrial vehicle of fork-shaped formula load frame 2, according to environmental change and each of which lifting device
Difference in design, fork truck may need change.But, include fork-shaped at other described in the disclosure
The purposes of the industrial vehicle of formula load frame 2 is also a part of this disclosure.
Load frame 2 control unit 5 controls the hydraulic system of fork truck 1.This load frame control unit 5
It is further arranged to the movement that can control to drive motor for load frame 2, particularly in the longitudinal direction of fork truck 1
Side moves up.This load frame control unit 5 also controls other functions position with change load frame 2,
Such as controlling the arrival function (reach function) of fork truck 1, this function includes such as lifting function,
Sideward sliding function etc..Load frame control unit 5 can be with the fully unitary formation of main control unit 6 of fork truck 1.
This provides simple solution, and provides less hardware on fork truck 1.Load frame controls single
Unit 5 can also be independent control unit.This is by simpler for the maintenance making carrier control unit 5,
And its upgrading is more easily accomplished.
Such as above-mentioned prior art, it is used for determining that the method for the unit state in fork truck 1 has defect.Cause
This existence is modified to determine the demand of the unit state scheme in fork truck 1.
One purpose of the disclosure is to provide a kind of for determining the method when fork truck needs maintenance.
Now, when fork truck 1 breaks down or according to predetermined service time table (such as, every 500 operation little
Time after) and maintain.
One is contemplated to be and avoids fork truck 1 to break down, and also expectation by maintenance shop every increasing to such as
700 hours runs.
Determine the driving motor in fork truck 1, hydraulic pump motor, control servo motor, electronic-controlled power steering horse
Reach or device among electro-mechanical fork truck needs maintenance to be favourable.It is worth fault or the dimension of detection
The problem protecting e.g. bearing.
Turning now to Fig. 2, that schematically shows and perform in fork truck 1 for determining in fork truck 1
The embodiment of the method for the state of device.In first step S1, determine the operating conditions with device
First value of at least one relevant parameter.First be worth computation model based at least one parameter and true
Fixed.As will be described below, at least one parameter can e.g. drive motor, hydraulic pump motor
Or control the temperature value of servo motor.Drive motor, hydraulic pump motor or control the temperature of servo motor
It is worth and is determined by the operating conditions of fork truck.Such as, if fork truck drives for a long time or has the load of weight, drive
The temperature value of dynamic motor, hydraulic pump motor or control servo motor is just likely to height.
The computation model of at least one parameter will be typically based on other parameters and calculates this at least one parameter.
Such as, the temperature driving motor, hydraulic pump motor or control servo motor is environment temperature, thermal inertia
(thermal inertia), entrance drive motor, hydraulic pump motor or control the electric current etc. of servo motor
Function.Many aspects according to the disclosure, it may include in the computation model of at least one parameter
Typical parameter be temperature, electric current, voltage, load weight, gross weight, speed, acceleration and time
Between.
In second step S2, the second value of at least one parameter is determined by the sensor in fork truck,
This sensor senses this parameter directly or indirectly.In the above example, at least one parameter is to drive
Motor, hydraulic pump motor or the temperature of control servo motor.Second value is by sensing directly or indirectly
The sensor of the temperature of motor, hydraulic pump motor or control servo motor is driven to determine.
In next step S3, determine the difference between the first value and the second value.Then in step S4
In, the state of device is determined based on this difference.Therefore, in step s 4, by analyzing in the first value
And second the difference between value may determine that the state of device.
There is the multiple different method of the difference determined between the first value and the second value, this difference represents
Certain state of device.
According to the one side of the disclosure, when the beginning of the life cycle of fork truck 1, the first value and second
Between value, the value of difference is considered as the standard deviation (normal difference) between the first value and the second value.
When first value with second value between difference start by any way and different from the value of these standard deviations time,
Determine the change of unit state in step s 4.
According to another aspect of the present disclosure, difference little between the first value and the second value represents the normal work of device
Make.If the difference between the first value with the second value is very big, device or have with device the most in step s 4
The parts closed are considered to break down.
Determine that the state of device is rather than only on by analyzing the difference between the first value and the second value
Second value determines that the advantage of this state is, it is not necessary to determine represent that device breaks down absolute the
Two-value.Determine and represent that the process of the second value that device breaks down is complicated, this is because fork truck with
Different modes uses.The second high value does not necessarily means that device breaks down.The second high value may
It is that fork truck is fiercely driven or heavy duty result.
Another advantage is that of unit state is determined by analyzing the difference between the first value and the second value,
The computation model of at least one parameter is to recede into the background accurately.If the calculating mould of at least one parameter
Type provides identical result every time.Whether the sensor of the second value sensing at least one parameter is accurate
Also have no relations.As long as sensor provides identical result every time.This is because in step s 4, really
It is important that difference between the first value and the second value when determining the state of device.Rather than the first value and the second value
Absolute value.
As briefly described above, according to another aspect of the present disclosure, the method is before step S 4
Including another step S3b (not shown).In this step S3b, based on determine in step s3
Multiple differences determine standard deviation.Standard deviation is to represent the first value when unit state is considered as normal
And the value of difference that second between value.As said one illustrative embodiments is mentioned, at fork truck 1
The standard deviation between the first value and the second value is determined during the hours run of one quantity.Standard deviation can be so
Determine that it is considered as normally functioning for being because fork truck 1 during the hours run of the first quantity.
According to another aspect of the present disclosure, use standard deviation in step s 4 when determining unit state.
Standard deviation is determined after the hours run of quantification.Then, fork truck 1 is the most continuous
Ground determines the difference between the first value and the second value.These new differences represent the current state of device.Then
In step s 4, fork truck is by first value and the of standard of comparison difference with the current state representing device
The poorest to determine unit state between two-value.
In the another aspect of the disclosure, in fork truck, this difference can represent by different way.According to a side
Face, this difference is expressed as rectangular histogram (histogram, bar diagram).In the example representing this difference, X
Axle represents poor value, and Y-axis represents the quantity that certain difference occurs.Therefore, rectangular histogram represents fork truck 1
The type of poor figure.
According to the another aspect of the disclosure, when determining the state of device, this difference figure can be in step
S4 uses.After certain hours run, difference figure is determined.Then, fork truck 1 is continuous
It is poor that ground is described in new rectangular histogram.The current state of this new histogram table showing device.Then exist
In step S4, fork truck is by poor figure and represents that the new rectangular histogram of device current state determines
The state of device.
But, in the another exemplary embodiment of the disclosure, the first value is meter based on electric current supply
Calculate driving motor, hydraulic pump motor or the electric current supply values of control servo motor that model determines.Drive
The computation model of the electric current supply values of motor, hydraulic pump motor or control servo motor can be by different way
Design.Drive motor, hydraulic pump motor or the computation model of electric current supply values controlling servo motor
The supply of this electric current is calculated based on other parameters.Such as, motor, hydraulic pump motor or control is driven to watch
The electric current supply values taking motor is load weight and the function of speed of fork truck 1.At this of the disclosure
In aspect, the second value is the electric current supply values from current sensor, and current sensor is direct or indirect
Ground sensing drives motor, hydraulic pump motor or controls the electric current supply of one of servo motor.
Another exemplary embodiment according to the disclosure, the first value is computation model based on magnitude of voltage
Determine drives motor, hydraulic pump motor or controls the magnitude of voltage of servo motor.Drive motor, hydraulic pressure
The computation model of the magnitude of voltage of pump motor or control servo motor can design by different way.Drive horse
Reach, hydraulic pump motor or control the computation model of magnitude of voltage of servo motor and calculate based on other parameters
This magnitude of voltage.Such as, the magnitude of voltage driving motor, hydraulic pump motor or control servo motor is fork truck
The load weight of 1 and the function of speed.In this one side of the disclosure, the second value is to pass from voltage
The magnitude of voltage of sensor, voltage sensor senses driving motor, hydraulic pump motor or control directly or indirectly
The voltage of one of servo motor processed.
If it is apparent that operated the most intensely between 15 minutes with fork truck when the incipient stage, horse
Reach temperature existence poor.If fork truck is stopped (such as charging), motor temperature there is also difference.According to
Another aspect of the present disclosure, when fork truck is again started up work, fork truck arranges first in this case
Value is present motor temperature.
According to another aspect of the present disclosure, if the method farther includes between the first value and the second value
Difference exceed threshold value and then send instruction, such as send alarm or visual notification to driver.
Further, another aspect of the present disclosure, the method farther includes the first value and the second value
Between difference transmission to server for the further analysis of difference.The advantage only transmitting this difference is,
The data volume needing transmission is fairly small, because only transmitting difference.
According on the one hand, the difference between the first value and the second value is continuously transferred to clothes with suitable interval
Business device.Difference between another aspect of the present disclosure, the first value and the second value is in the scheduled time or predetermined
(location) is transferred to server in place.But, by only at suitable interval or in predetermined field
Transmitted this difference another advantage is that compared with transmitting difference continuously, need to be transmitted data volume more
Little.
Turning now to Fig. 3, that schematically shows and perform the method in the server for determining
The illustrative embodiments of the state of the device in fork truck 1.In first step S10, receive first
Difference between value and the second value.In next step S20, based on the difference between the first value and the second value
Determine the state of device.As above, for the illustrative embodiments of the method, in step
In S20, it is poor to exist in fork truck between the second value and the second value determining certain state representing device
The multiple different modes of value.
According to the one side of the disclosure, in step S20, server is by the Life Cycle at fork truck 1
During the beginning of phase, the first value being worth the difference between the second value is regarded as between the first value and the second value
Standard deviation.In step S20, when first value with second value between difference start by any way and with
During the value difference of these standard deviations, server determines that unit state changes.
According to another aspect of the present disclosure, in step S20, by between the first value and the second value
Little difference is defined as representing that device correctly works.If the difference between the first value and the second value is big,
In step S20, device or the parts relevant with device are considered to break down.
The above-mentioned method that the advantage of the illustrative embodiments of method is directed in server in fork truck.
Thus, in step S20, determine the state of device by analyzing the difference between the first value and the second value,
It is rather than only on the second value to determine that this state advantage is, it is not necessary to determine that expression device breaks down
Second value.
Such as the method in fork truck 1, in step S20, it is worth and the second value by analyzing first
Between difference determine that the advantage of unit state is, the computation model of at least one parameter is the heaviest
Want.As long as the computation model of at least one parameter provides identical result every time.Sense at least one parameter
The sensor of the second value whether be also to have no relations accurately.As long as sensor provides identical knot every time
Really.This is because when determining the state of device in step S20 difference between the first value and the second value
It is important.Rather than the first value and the absolute value of the second value.
According to the another aspect of the method in server, the method included another before step S20
Step S10b.In this step S10b, determine based on the multiple differences received in step S10b
Standard deviation.As for the method in fork truck 1, standard deviation is the table when unit state is considered as normal
Show the value of difference between the first value and the second value.In one exemplary embodiment, at fork truck 1 first
The standard deviation between the first value and the second value is determined by server during the hours run of quantity.This mark
Quasi-difference can so determine and is because, and fork truck 1 is considered as function during the hours run of the first quantity
Normally.
According to another aspect of the present disclosure, in step S20, use mark when determining the state of device
Accurate poor.After the hours run of certain quantity, standard deviation is determined.Then, server is in step
S10 receives difference between the first value and the second value continuously.These new differences represent the current of device
State.Then, in step S20, server is by standard of comparison difference and the current state of expression device
The poorest to determine unit state.
In the another aspect of the disclosure, can represent (such as rectangular histogram) by different way in the server
This is poor.In the example representing this difference, X-axis represents poor value, and Y-axis represents what certain difference occurred
Quantity.Therefore, rectangular histogram represents the type of poor figure of fork truck 1.
According to the another aspect of the method in server, when determining the state of device, standard deviation figure
Can use in step S20.Poor figure is determined after certain hours run.Then, server
Continuously receive difference and in new rectangular histogram describe poor.This new rectangular histogram represents the current of device
State.Then, in step S20, server is by poor figure and represents device current state
New rectangular histogram determines the state of device.
According to the another aspect of the method in server, if the difference of arbitrary reception is divided with the normal of this difference
Cloth is compared the difference more than 5% and is higher than 50%, and in step S20, server determines that device breaks down.
In step S20, when server determines that device breaks down, the restriction for deviation can be adjusted.
This is particularly advantageous for a lot of false alarms.Therefore, change the restriction for deviation in server,
Rather than to change on each independent fork truck the restriction for deviation be enough.
According to the another aspect of the method in server, when determining the state of device, can use from
The standard deviation figure of another identical fork truck 1.Therefore, the difference received continuously represents in rectangular histogram.
Then, in step S20, server can be by comparing from another identical fork truck 1 or multiple identical
The figure of the standard deviation figure of fork truck 1 and the difference of reception determines unit state.
As above-mentioned about in the illustrative embodiments in server, the first value can be to supply based on electric current
The computation model given and driving motor, hydraulic pump motor or controlling the electric current supply of servo motor of determining
Value.The one side of the method in disclosure server, the second value is the electric current from current sensor
Supply values, this current sensor senses driving motor, hydraulic pump motor or control directly or indirectly and watches
Take the electric current supply of one of motor.Same described above, the first value can be calculating based on magnitude of voltage
Model and determine drive motor, hydraulic pump motor or control servo motor magnitude of voltage.At server
This one side of middle the method, the second value is the magnitude of voltage from voltage sensor, this voltage sensor
Sensing drives motor, hydraulic pump motor or controls the voltage of one of servo motor directly or indirectly.
According to another aspect of the present disclosure, if the method in server farther include the first value and
Difference between second value exceedes threshold value and then sends instruction, such as, send alarm or visual notification.
According to another aspect of the present disclosure, if the method in server farther include the first value and
Difference between second value exceedes threshold value and then determines to perform an action.Such as this action can be for fork truck 1
Enrolled for service (booking service), predetermined replacement part or restriction drive parameter.
The disclosure further relates to a kind of being arranged to and performs the side according to any of the above-described illustrative embodiments
The fork truck of method.
Claims (19)
1. the method determining the state of device in described fork truck (1) in fork truck (1), institute
The method of stating comprises the following steps:
-(S1) meter based at least one parameter relevant with the operating conditions of described device
Calculate model, determine the first value of at least one parameter described；
-(S2) is determined the second of at least one parameter described by the sensor in described fork truck
Value, described sensor senses described parameter directly or indirectly；
-(S3) determines the difference between described first value and described second value；And
-(S4), based on described difference, determines the state of described device.
Method the most according to claim 1, wherein, described method is determining the shape of described device
Before the step (S4) of state, including another step: based on multiple fixed differences, determine
Standard deviation, described standard deviation is to represent described when the state of described device is considered as normal
The value of the difference between described first value and described second value of device.
Method the most according to claim 2, wherein it is determined that the step of the state of described device (S4)
Farther include: based on the comparison between described standard deviation and described difference, determine described device
State.
The most according to the method in any one of claims 1 to 3, wherein, described device is to drive
Motor, hydraulic pump motor or control servo motor.
Method the most according to claim 4, wherein, described first value is calculating based on temperature
The described driving motor that model determines, described hydraulic pump motor or described control servo motor
Temperature value, and described second value is the temperature value from temperature sensor, described temperature sensing
Device senses described driving motor, described hydraulic pump motor or described control directly or indirectly and watches
Take the temperature of motor.
Method the most according to claim 4, wherein, described first value supplies based on electric current
The described driving motor that computation model determines, described hydraulic pump motor or described control servo horse
The electric current supply values reached, and described second value is the electric current supply values from current sensor,
Described current sensor senses described driving motor, described hydraulic pump motor directly or indirectly
Or the electric current supply of described control servo motor.
Method the most according to claim 4, wherein, described first value is calculating based on voltage
The described driving motor that model determines, described hydraulic pump motor or described control servo motor
Magnitude of voltage, and described second value is the magnitude of voltage from voltage sensor, described voltage sensor
Device senses described driving motor, described hydraulic pump motor or described control directly or indirectly and watches
Take the voltage of motor.
Method the most according to any one of claim 1 to 7, wherein, described method is further
Including: if the difference between described first value and described second value exceedes threshold value, then send finger
Show, such as, send alarm or visual notification to driver.
Method the most according to any one of claim 1 to 8, described method farther includes:
-described difference transmission is analyzed to server for the further of described difference.
10. the method being used in the server determining the state of the device in fork truck (1), described side
Method comprises the following steps:
Difference between first value and second value of parameter of-(S10) reception parameter, wherein,
The parameter meter based on described parameter that described first value is relevant with the operating conditions of described device
Calculate the value of model, and described second value is the sensing sensing described parameter in described fork truck
The value of the parameter of device；
-(S20), based on described difference, determines the state of described device.
11. methods according to claim 10, wherein, described method is determining the shape of described device
Before the step (S20) of state, including another step: differences based on multiple receptions determine standard
Difference, described standard deviation is to represent described first when the state of described device is considered as normal
The value of the difference between value and described second value.
12. methods according to claim 11, wherein it is determined that the step of the state of described device is entered
One step includes: based on the comparison between described standard deviation and described difference, determine described device
State.
13. methods according to claim 11, wherein it is determined that the step of the state of described device is entered
One step includes: the comparison between standard deviation based on described difference and another fork truck (1), determines
The state of described device.
14. according to the method according to any one of claim 10 to 13, and wherein, described device is to drive
Dynamic motor, hydraulic pump motor or control servo motor.
15. methods according to claim 14, wherein, described first value is calculating based on temperature
The described driving motor that model determines, described hydraulic pump motor or described control servo motor
Temperature value, and described second value is the temperature value from temperature sensor, described temperature sensing
Device senses described driving motor, described hydraulic pump motor or the temperature of described control servo motor.
16. methods according to claim 14, wherein, described first value supplies based on electric current
The described driving motor that computation model determines, described hydraulic pump motor or described control servo horse
The electric current supply values reached, and described second value is the electric current supply values from current sensor,
Described current sensor senses described driving motor, described hydraulic pump motor or described control and watches
Take the electric current supply of motor.
17. methods according to claim 14, wherein, described first value is calculating based on voltage
The described driving motor that model determines, described hydraulic pump motor or described control servo motor
Magnitude of voltage, and described second value is the magnitude of voltage from voltage sensor, described voltage sensor
Device senses described driving motor, described hydraulic pump motor or the voltage of described control servo motor.
18. according to the method according to any one of claim 13 to 16, and wherein, described method enters one
Step includes: if the difference between described first value and described second value exceedes threshold value, then send
Instruction, such as, send alarm or visual notification.
19. fork trucks, described fork truck is arranged to perform according to the method any one of claim 1 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15165883.8A EP3088350B1 (en) | 2015-04-30 | 2015-04-30 | A method of determining the state of a device in a forklift truck |
| EP15165883.8 | 2015-04-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106082024A true CN106082024A (en) | 2016-11-09 |
| CN106082024B CN106082024B (en) | 2019-05-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610154147.5A Active CN106082024B (en) | 2015-04-30 | 2016-03-17 | The method and fork truck of a kind of state of device in determining fork truck |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP3088350B1 (en) |
| CN (1) | CN106082024B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1764254A1 (en) * | 2005-09-20 | 2007-03-21 | Atlet AB | Improved control system for an industrial truck |
| CN101407307A (en) * | 2008-11-24 | 2009-04-15 | 三一集团有限公司 | Anti-loosening method and device for lifting chain and stacking machine using device |
| WO2009084869A2 (en) * | 2007-12-27 | 2009-07-09 | Doosan Infracore Co., Ltd. | Motor control method and control device for electrical forklift truck |
| EP2088117A1 (en) * | 2008-02-11 | 2009-08-12 | Haldex Hydraulics AB | High power switch device and a power pack comprising a high power switch device. |
| CN103688226A (en) * | 2011-06-06 | 2014-03-26 | 克朗设备有限公司 | Method and apparatus for automatically calibrating vehicle parameters |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007043472A1 (en) * | 2007-09-04 | 2009-03-05 | Jungheinrich Aktiengesellschaft | Truck and remote maintenance system as well as remote maintenance of a truck |
-
2015
- 2015-04-30 EP EP15165883.8A patent/EP3088350B1/en active Active
-
2016
- 2016-03-17 CN CN201610154147.5A patent/CN106082024B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1764254A1 (en) * | 2005-09-20 | 2007-03-21 | Atlet AB | Improved control system for an industrial truck |
| WO2009084869A2 (en) * | 2007-12-27 | 2009-07-09 | Doosan Infracore Co., Ltd. | Motor control method and control device for electrical forklift truck |
| EP2088117A1 (en) * | 2008-02-11 | 2009-08-12 | Haldex Hydraulics AB | High power switch device and a power pack comprising a high power switch device. |
| CN101407307A (en) * | 2008-11-24 | 2009-04-15 | 三一集团有限公司 | Anti-loosening method and device for lifting chain and stacking machine using device |
| CN103688226A (en) * | 2011-06-06 | 2014-03-26 | 克朗设备有限公司 | Method and apparatus for automatically calibrating vehicle parameters |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106082024B (en) | 2019-05-07 |
| EP3088350B1 (en) | 2019-03-27 |
| EP3088350A1 (en) | 2016-11-02 |
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