CN106082024B - The method and fork truck of a kind of state of device in determining fork truck - Google Patents
The method and fork truck of a kind of state of device in determining fork truck Download PDFInfo
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- CN106082024B CN106082024B CN201610154147.5A CN201610154147A CN106082024B CN 106082024 B CN106082024 B CN 106082024B CN 201610154147 A CN201610154147 A CN 201610154147A CN 106082024 B CN106082024 B CN 106082024B
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- difference
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- state
- motor
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Classifications
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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
- 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
Abstract
The present invention relates to a kind of executed in fork truck device in fixed fork vehicle really state method.This method comprises: first step, the first value of at least first parameter is determined based on the computation model of at least one parameter related with the operating conditions of device.In the next step, second value is determined by the sensor for directly or indirectly sensing the parameter in fork truck.It is next determined that the difference between the first value and second value.Then, in a subsequent step, the state based on the difference determining device.
Description
Technical field
This disclosure relates to a kind of method of the state of the device in determining fork truck (forklift truck, fork lift truck).
The method of the state for the device that present disclosure also relates to one kind in server (server) and fork truck in determining fork truck.
Background technique
In fork truck, there is the device of many frayed influences.Such as electric notor, such as turn for movement forklift, for power
It is hydraulic to or for provided to hoisting system, it is influenced by different type abrasion.
Due to abrasion, the state of these devices is degenerated in fork truck, and then may cause the failure of these devices, so as to draw
Play the failure of entire fork truck.The device to malfunction in fork truck leads to the irregular shut-down of the device or replacement.This is unfavorable, because
These costs stopped work are expensive.
It is known in the art that monitoring the state of device in fork truck.A kind of method of monitoring device state is routinely fixed
The state of manual check device during phase maintains.If the sign that device damage or display are continuously worn, replaces the device.
Another method is, after the scheduled operating time, replaces the device in fork truck.However, although these methods
It is proved to be useful, but these methods do not provide the state in relation to different device in fork truck in maintenance shop interim
Information.
Accordingly, there exist the demand of the improvement project of the state of the device determined in fork truck, the program is solved or at least
Alleviate at least one problem in the above problem.
Summary of the invention
One purpose of the disclosure is to provide the embodiment for solving the problems, such as to determine the state of the device in fork truck.
The disclosure provides a kind of method of state that the device in fixed fork vehicle really is executed in fork truck.This method comprises:
First step determines the first value of the parameter based on the computation model of at least one parameter related with the operating conditions of device.
In the next step, second value is determined by the sensor for directly or indirectly sensing the parameter in fork truck.It is next determined that the
Difference between one value and second value.Then, in a subsequent step, the state based on the difference determining device.
Therefore, a purpose of the disclosure is to be realized and determined in fork truck by the difference between the first value of analysis and second value
Device state, rather than be based only on second value and determine the state.It is determined by the difference between the first value of analysis and second value
The advantage of the state of device is, does not need to determine the second value for indicating that device breaks down.Determining indicates that device breaks down
The process of second value be complicated, this is because fork truck uses in a multitude of different ways.High second value is not necessarily meant that
Device breaks down.High second value may be that fork truck is fiercely driven or heavy duty result.
Present disclosure also relates to the methods of the state in server for determining the device in fork truck.The method comprising the steps of:
Receive the difference between the first value of the parameter and the second value of the parameter, wherein the first value is the operating conditions with described device
The value of related computation model of at least one parameter based on the parameter, and the second value is the sensor parameter in fork truck
The value of sensor.In the next step, the state based on the difference determining device.
The disclosure also provides a kind of fork truck, which is arranged to execute according in any following illustrative embodiments
Method.
Detailed description of the invention
The further purpose of the disclosure, feature and beneficial effect will disclose in the following detailed description, wherein will refer to attached
The some aspects of the disclosure are more fully described in figure, in the accompanying drawings:
Fig. 1 schematically shows the fork truck according to one embodiment of the disclosure.
Fig. 2 is to show the flow chart that method of disclosure is executed in fork truck.
Fig. 3 is to show the flow chart for executing method of disclosure in the server.
Specific embodiment
The main purpose or intention of disclosure embodiment are, solve to deposit in above-mentioned and following prior art
At least one disadvantage or some disadvantages.It is following to be mainly interpreted as logical with the associated plurality of step of attached drawing
's.
Term used herein is used for the purpose of describing the purpose of disclosed particular aspects, it is not intended that limits the disclosure
It is formed on any specific embodiment.As it is used in the present context, singular " one " (a), "one" (an), "the" (the) also purport
Including plural form, is being indicated on the contrary unless context is clear.
As disclosed in attached drawing 1, this disclosure relates to the field of fork truck 1.The fork truck 1 of diagram includes load frame 2.In showing for Fig. 1
In example, which includes two forks.The load frame 2 is attached to lifting device, so that the load frame 2 can be vertically movable.
Load frame 2 is also equipped with hydraulic device, so that the load frame can move in the transverse direction of fork truck 1.Fork truck 1 usually has column
11.However the disclosure does not limit fork truck with column 11.Fork truck 1 includes fork truck body 10.Fork truck body 10 is defined as in load frame 2 and can
The remainder of fork truck 1 after the column 11 of selection removes.Fork truck 1 generally also includes drive motor (not shown), which uses
In driving driving wheel and thus movement forklift 1 in a desired direction.Fork truck 1 further comprises motor (not shown), the horse
Up to for driving hydraulic pump；Hereinafter our motors are referred to as pump motor.Hydraulic pump makes the hydraulic system of fork truck 1 pressurize.Fork
The hydraulic system of vehicle 1 is used for the hydraulic function of fork truck in a manner of as known to those skilled in the art.By being somebody's turn to do for hydraulic system operation
The example of function be the lifting of load frame 2, load frame 2 sidesway and if fork truck 1 is extension type fork truck (reach
Truck reaches formula fork truck) then the longitudinal movement of column 11 and load frame 2 tilt in a longitudinal direction.In another embodiment, bear
The sidesway of carrier 2 and/or the electric notor that is tilted through of load frame 2 execute.For the type of the fork truck, drive motor and pump horse
Power is generated up to by energy source (energy source).Energy source is usually to be suitable for rechargeable battery.However, should
Understand, the disclosure can be used for any kind of fork truck.If the disclosure includes the industry of fork-shaped formula load frame 2 for other
Vehicle, according to the difference in environmental change and the design of each lifting device, fork truck may need to change.However, this public affairs
Described in opening is also a part of this disclosure in the purposes that other include the industrial vehicle of fork-shaped formula load frame 2.
The hydraulic system of 2 control unit 5 of load frame control fork truck 1.The load frame control unit 5 is further arranged to can control drive
Motor is moved with the movement for load frame 2, is especially moved on the longitudinal direction of fork truck 1.The load frame control unit 5 is also controlled
Other function processed such as controls the arrival function (reach function) of fork truck 1, the function to change the position of load frame 2
Including such as lifting function, sideward sliding function etc..Load frame control unit 5 can be with the fully unitary shape of main control unit 6 of fork truck 1
At.This provides simple solution, and less hardware is provided on fork truck 1.Load frame control unit 5 is also possible to solely
Vertical control unit.This will make the maintenance of carrier control unit 5 simpler, and its upgrading is more easily accomplished.
Such as the above-mentioned prior art, the method for determining the unit state in fork truck 1 has defect.Therefore exist to improve and use
In the demand for determining the unit state scheme in fork truck 1.
One purpose of the disclosure is to provide a kind of method for when needing to maintain for determining fork truck.Now, work as fork truck
1 is maintained when breaking down or according to predetermined service time table (for example, after every 500 hours run).
One is contemplated to be fork truck 1 is avoided to break down, and it is also expected to maintenance shop is small every increasing to such as 700 operations
When.
Determine drive motor, hydraulic pump motor, control servo motor, electronic-controlled power steering motor or the electro-mechanical in fork truck 1
Device among fork truck, which needs to maintain, to be advantageous.The problem of being worth the failure of detection or safeguarding e.g. bearing.
Turning now to Fig. 2, that schematically shows execute in fork truck 1 for determining the state of device in fork truck 1
The embodiment of method.In first step S1, the first value of at least one parameter related with the operating conditions of device is determined.The
One value based at least one parameter computation model and determine.As will be described below, at least one parameter may, for example, be
Drive motor, hydraulic pump motor or the temperature value for controlling servo motor.Drive motor, hydraulic pump motor control servo motor
Temperature value is determined by the operating conditions of fork truck.For example, if fork truck drives for a long time or the load with weight, it is drive motor, hydraulic
Pump motor or the temperature value for controlling servo motor are just likely to high.
The computation model of at least one parameter will be typically based on other parameters and calculate at least one parameter.For example, driving
Motor, hydraulic pump motor or to control the temperature of servo motor be ambient temperature, thermal inertia (thermal inertia), into drive
The function of the electric current of dynamic motor, hydraulic pump motor or control servo motor etc..According to many aspects of the disclosure, it may include extremely
Typical parameter in the computation model of a few parameter is temperature, electric current, voltage, load weight, total weight, speed, acceleration
Degree and time.
In second step S2, the second value of at least one parameter is determined that the sensor is straight by the sensor in fork truck
Connect or sense indirectly the parameter.In the above example, at least one parameter is drive motor, hydraulic pump motor or control servo
The temperature of motor.Second value is by directly or indirectly sensing drive motor, hydraulic pump motor or the temperature for controlling servo motor
Sensor and determine.
In next step S3, the difference between the first value and second value is determined.Then in step s 4, determined based on the difference
The state of device.It therefore, in step s 4, can be with the shape of determining device by the difference analyzed between the first value and second value
State.
In the presence of a variety of different methods for determining the difference between the first value and second value, some shape of the difference table showing device
State.
According to the one side of the disclosure, at the beginning of the life cycle of fork truck 1, poor value between the first value and second value
It is considered as the standard deviation (normal difference) between the first value and second value.When between the first value and second value
When difference starts the value difference in any way and with these standard deviations, the change of determining device state in step s 4.
According to another aspect of the present disclosure, difference small between the first value and second value indicates that device works normally.If the
Difference between one value and second value is very big, then device or component related with device are considered breaking down in step s 4.
Second value is rather than only on come really by the difference between the first value of analysis and second value come the state of determining device
The advantage of the fixed state is, does not need to determine the absolute second value for indicating that device breaks down.Determining indicates that event occurs for device
The process of the second value of barrier is complicated, this is because fork truck uses in different ways.High second value does not necessarily mean that dress
It sets and breaks down.High second value may be that fork truck is fiercely driven or heavy duty result.
By analysis the first value and second value between difference come determining device state another advantage is that, at least one ginseng
Several computation models is accurately to recede into the background.As long as the computation model of at least one parameter provides identical result every time.Sensing
Whether the sensor of the second value of at least one parameter is accurately also to have no relations.As long as sensor provides identical result every time.
This is because in step s 4, in the state of determining device it is important that difference between the first value and second value.Rather than first
The absolute value of value and second value.
As briefly described above, according to another aspect of the present disclosure, this method includes another step before step S 4
S3b (not shown).In step S3b, standard deviation is determined based on the multiple differences determined in step s3.Standard deviation is to fill
The value of the difference between the first value and second value is indicated when the state of setting is considered normal.Such as said one illustrative embodiments
It mentions, the standard deviation between the first value and second value is determined during the hours run of 1 first quantity of fork truck.Standard deviation can this
Sample determination is because fork truck 1 is considered normally functioning during the hours run of the first quantity.
According to another aspect of the present disclosure, standard deviation is used in step s 4 in determining device state.In quantification
Hours run after standard deviation has been determined.Then, fork truck 1 continuously determines between the first value and second value in step s3
Difference.These new differences indicate the current state of device.Then in step s 4, fork truck by comparing standard deviation and indicates device
It is new poor with determining device state between the first value and second value of current state.
In the another aspect of the disclosure, the difference can indicate in different ways in fork truck.According to one aspect, which indicates
For histogram (histogram, column diagram).In the example for indicating the difference, X-axis indicates the value of difference, and Y-axis indicates some difference hair
Raw quantity.Therefore, histogram indicates the type of the poor figure of fork truck 1.
According to the another aspect of the disclosure, in the state of determining device, which can use in step s 4.At certain
After a hours run, poor figure has been determined.Then, fork truck 1 is continuously described in new histogram poor.This is new straight
The current state of square chart showing device.Then in step s 4, fork truck by comparing poor figure and indicates device current state
New histogram carrys out the state of determining device.
However, the first value is that the computation model supplied based on electric current is determined in the another exemplary embodiment of the disclosure
Drive motor, hydraulic pump motor or control servo motor electric current supply values.Drive motor, hydraulic pump motor or control servo
The computation model of the electric current supply values of motor can design in different ways.Drive motor, hydraulic pump motor or control servo horse
The computation model of the electric current supply values reached calculates electric current supply based on other parameters.For example, drive motor, hydraulic pump motor
Or the electric current supply values of control servo motor are the load weight of fork truck 1 and the function of speed.In this aspect of the disclosure,
Second value is the electric current supply values from current sensor, and current sensor directly or indirectly senses drive motor, hydraulic pump
The electric current supply of motor or control one of servo motor.
According to the another exemplary embodiment of the disclosure, the first value is the driving determined based on the computation model of voltage value
Motor, hydraulic pump motor or the voltage value for controlling servo motor.Drive motor, hydraulic pump motor or the voltage for controlling servo motor
The computation model of value can design in different ways.The calculating of the voltage value of drive motor, hydraulic pump motor or control servo motor
Model calculates the voltage value based on other parameters.For example, drive motor, hydraulic pump motor or the voltage value for controlling servo motor
It is the load weight of fork truck 1 and the function of speed.In this aspect of the disclosure, second value is the voltage from voltage sensor
Value, voltage sensor directly or indirectly sense the voltage of one of drive motor, hydraulic pump motor or control servo motor.
It is apparent that it is poor that motor temperature exists in the incipient stage and if fork truck intensely operates between 15 minutes.
If fork truck is stopped (such as charging), there is also differences for motor temperature.According to another aspect of the present disclosure, when fork truck is again started up
When work, it is present motor temperature that the first value, which is arranged, in fork truck in this case.
According to another aspect of the present disclosure, this method further comprises if the difference between the first value and second value is more than threshold
Value then issues instruction, such as sounds an alarm to driver or visual notification.
Further, another aspect of the present disclosure, this method further comprise passing the difference between the first value and second value
Server is transported to the further analysis for difference.The advantage for only transmitting the difference is that the data volume for needing to transmit is fairly small, because
Only to transmit difference.
According to one aspect, the difference between the first value and second value is continuously transferred to server with interval appropriate.At this
Disclosed another aspect, the difference between the first value and second value are transferred to clothes in predetermined time or predetermined location (location)
Business device.However, by only it is appropriate interval or predetermined location transmit the difference with continuously transmission difference compared with another
Advantage be need it is smaller by transmitted data amount.
Turning now to Fig. 3, that schematically shows execute this method in the server for determining the dress in fork truck 1
The illustrative embodiments for the state set.In first step S10, the difference between the first value and second value is received.In next step
In rapid S20, the state based on the poor determining device between the first value and second value.As described above, for the example of this method
Property embodiment, in step S20, in fork truck exist determine indicate device some state second value and second value between
The multiple and different modes of value of difference.
According to the one side of the disclosure, in step S20, server will be first at the beginning of the life cycle of fork truck 1
The value of difference between value and second value regards as the standard deviation between the first value and second value.In step S20, when the first value and
When difference between second value starts the value difference in any way and with these standard deviations, server determining device state changes
Become.
According to another aspect of the present disclosure, in step S20, the small difference between the first value and second value is determined as indicating
Device correctly works.If the difference between the first value and second value be it is big, in step S20, device or related with device
Component is considered breaking down.
The advantage of the illustrative embodiments of the above-mentioned method in fork truck is also related to the method in server.Thus, in step
In rapid S20, by the state of the poor determining device between the first value of analysis and second value, second value is rather than only on to determine
The state advantage is not need to determine the second value for indicating that device breaks down.
As this method in fork truck 1 passes through the poor determining device between the first value of analysis and second value in step S20
The advantage of state is that the computation model of at least one parameter is accurately to recede into the background.As long as the calculating mould of at least one parameter
Type provides identical result every time.Whether the sensor for sensing the second value of at least one parameter is accurately also to have no relations.As long as
Sensor provides identical result every time.This is because in the state of determining device in step S20 the first value and second value it
Between difference be important.Rather than the absolute value of the first value and second value.
According to the another aspect of this method in server, this method includes another step S10b before step S20.At this
In step S10b, standard deviation is determined based on multiple differences received in step S10b.Such as the method in fork truck 1, standard
Difference is that the value of the difference between the first value and second value is indicated when unit state is considered normal.In an exemplary embodiment
In, the standard deviation between the first value and second value is determined by server during the hours run of 1 first quantity of fork truck.The mark
It is because fork truck 1 is considered normally functioning during the hours run of the first quantity that quasi- difference can determine in this way.
According to another aspect of the present disclosure, standard deviation is used in step S20 in the state of determining device.In certain number
After the hours run of amount, standard deviation is determined.Then, server continuously receive in step slo the first value and second value it
Between difference.These new differences indicate the current state of device.Then in step S20, server is by comparing standard deviation and table
The current state of showing device it is new poor with determining device state.
In the another aspect of the disclosure, (such as histogram) difference can be indicated in different ways in the server.It is indicating
In the example of the difference, X-axis indicates the value of difference, and Y-axis indicates the quantity that some difference occurs.Therefore, histogram indicates the difference of fork truck 1
The type of figure.
According to the another aspect of this method in server, in the state of determining device, standard deviation figure can be in step S20
Middle use.Poor figure has been determined after some hours run.Then, server continuously receives difference and in new histogram
It is poor to describe.This new histogram represents the current state of device.Then in step S20, server is by comparing poor figure
Carry out the state of determining device with the new histogram of expression device current state.
According to the another aspect of this method in server, if any received difference is more than compared with the normal distribution of the difference
5% difference is higher than 50%, and in step S20, server determining device breaks down.In step S20, determines and fill in server
It sets when breaking down, the limitation for deviation can be adjusted.This is particularly advantageous for many false alarms.Therefore, change service
The limitation of deviation is used in device, rather than the limitation changed on each independent fork truck for deviation to be enough.
According to the another aspect of this method in server, in the state of determining device, it can use and come from another identical fork
The standard deviation figure of vehicle 1.Therefore, the difference continuously received indicates in histogram.Then, in step S20, server can lead to
It crosses and compares the figure of the standard deviation figure from another identical fork truck 1 or multiple identical fork trucks 1 and received difference and carry out determining device
State.
As in the above-mentioned illustrative embodiments in relation in server, the first value can be the calculating mould based on electric current supply
Drive motor, hydraulic pump motor or the electric current supply values for controlling servo motor of type and determination.The party in disclosure server
The one side of method, second value are the electric current supply values from current sensor, which directly or indirectly senses drive
The electric current supply of one of dynamic motor, hydraulic pump motor or control servo motor.Same such as above-mentioned, the first value can be based on electricity
Drive motor, hydraulic pump motor or the voltage value for controlling servo motor of the computation model of pressure value and determination.In the server should
This aspect of method, second value are the voltage values from voltage sensor, which directly or indirectly senses drive
The voltage of one of dynamic motor, hydraulic pump motor or control servo motor.
According to another aspect of the present disclosure, this method in server further comprises if between the first value and second value
Difference be more than that threshold value then issues instruction, such as sounds an alarm or visual notification.
According to another aspect of the present disclosure, this method in server further comprises if between the first value and second value
Difference be more than threshold value then determine execute one movement.Such as the movement can be as 1 enrolled for service (booking of fork truck
Service), predetermined replacement part or limitation drive parameter.
Present disclosure also relates to a kind of fork trucks for being arranged to execute the method according to any of the above-described illustrative embodiments.
Claims (17)
1. a kind of method for the state for determining the device in the fork truck (1) in fork truck (1), the method includes following steps
It is rapid:
The computation model of (S1) based at least one parameter related with the operating conditions of described device determines described at least one
First value of a parameter；
(S2) is determined the second value of at least one parameter by the sensor in the fork truck, the sensor directly or
Ground connection senses the parameter；
(S3) determines the difference between first value and the second value；And
(S4) is based on the difference, determines the state of described device
The state for determining described device the step of before (S4), multiple fixed differences are based on, determine standard deviation, the mark
Quasi- difference is indicated between first value and the second value of described device when the state of described device is considered normal
Difference value.
2. according to the method described in claim 1, wherein it is determined that (S4) further comprises the step of the state of described device: base
In the standard deviation compared between the difference, the state of described device is determined.
3. method according to claim 1 or 2, wherein described device is drive motor, hydraulic pump motor or control servo
Motor.
4. according to the method described in claim 3, wherein, first value is the drive that computation model based on temperature determines
The temperature value of dynamic motor, the hydraulic pump motor or the control servo motor, and the second value is from temperature sensor
Temperature value, the temperature sensor directly or indirectly senses the drive motor, the hydraulic pump motor or the control
The temperature of servo motor.
5. according to the method described in claim 3, wherein, first value is the institute determined based on the computation model of electric current supply
The electric current supply values of drive motor, the hydraulic pump motor or the control servo motor are stated, and the second value is from electricity
The electric current supply values of flow sensor, the current sensor directly or indirectly sense the drive motor, the hydraulic pump horse
It reaches or the electric current of the control servo motor supplies.
6. according to the method described in claim 3, wherein, first value is the drive determined based on the computation model of voltage
The voltage value of dynamic motor, the hydraulic pump motor or the control servo motor, and the second value is from voltage sensor
Voltage value, the voltage sensor directly or indirectly senses the drive motor, the hydraulic pump motor or the control
The voltage of servo motor.
7. according to the method described in claim 1, wherein, the method further includes: if first value and described the
Difference between two-value is more than threshold value, then issues and indicate to driver, described to be designated as alarm or visual notification.
8. according to the method described in claim 1, the method further includes:
The difference is transmitted to server to be used for the further analysis of the difference.
9. a kind of method for determining the state of the device in fork truck (1) in the server, the described method comprises the following steps:
(S10) receives the difference between the first value of parameter and the second value of parameter, wherein first value is and described device
The related parameter of operating conditions computation model based on the parameter value, and the second value is felt in the fork truck
Survey the value of the parameter of the sensor of the parameter；
(S20) is based on the difference, determines the state of described device
The state for determining described device the step of before (S20), standard deviations, the standard are determined based on multiple received differences
Difference is that the value of the difference between first value and the second value is indicated when the state of described device is considered normal.
10. according to the method described in claim 9, wherein it is determined that the step of state of described device further comprise: based on institute
Standard deviation is stated compared between the difference, determines the state of described device.
11. according to the method described in claim 9, wherein it is determined that the step of state of described device further comprise: based on institute
Difference is stated compared between the standard deviation of another fork truck (1), determines the state of described device.
12. the method according to any one of claim 9 to 11, wherein described device is drive motor, hydraulic pump motor
Or control servo motor.
13. according to the method for claim 12, wherein first value is the described of computation model determination based on temperature
The temperature value of drive motor, the hydraulic pump motor or the control servo motor, and the second value is from temperature sensing
The temperature value of device, the temperature sensor sense the drive motor, the hydraulic pump motor or the control servo motor
Temperature.
14. according to the method for claim 12, wherein first value is that the computation model supplied based on electric current is determined
The electric current supply values of the drive motor, the hydraulic pump motor or the control servo motor, and the second value is to come from
The electric current supply values of current sensor, the current sensor sense the drive motor, the hydraulic pump motor or the control
The electric current of servo motor processed supplies.
15. according to the method for claim 12, wherein first value is described in the computation model determination based on voltage
The voltage value of drive motor, the hydraulic pump motor or the control servo motor, and the second value is from voltage sensor
The voltage value of device, the voltage sensor sense the drive motor, the hydraulic pump motor or the control servo motor
Voltage.
16. according to the method for claim 11, wherein the method further includes: if first value with it is described
Difference between second value is more than threshold value, then issues instruction, described to be designated as alarm or visual notification.
17. fork truck, the fork truck be arranged to execute according to claim 1 to any one of 8 method.
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 CN106082024A (en) | 2016-11-09 |
| CN106082024B true 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) |
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| DE102007043472A1 (en) * | 2007-09-04 | 2009-03-05 | Jungheinrich Aktiengesellschaft | Truck and remote maintenance system as well as remote maintenance of a truck |
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2015
- 2015-04-30 EP EP15165883.8A patent/EP3088350B1/en active Active
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2016
- 2016-03-17 CN CN201610154147.5A patent/CN106082024B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
|---|---|
| CN106082024A (en) | 2016-11-09 |
| EP3088350B1 (en) | 2019-03-27 |
| EP3088350A1 (en) | 2016-11-02 |
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