EP1772720A2 - Système de diagnostique à distance et procédé pour diagnostiquer un chariot de manutention à distance - Google Patents

Système de diagnostique à distance et procédé pour diagnostiquer un chariot de manutention à distance Download PDF

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Publication number
EP1772720A2
EP1772720A2 EP20060020860 EP06020860A EP1772720A2 EP 1772720 A2 EP1772720 A2 EP 1772720A2 EP 20060020860 EP20060020860 EP 20060020860 EP 06020860 A EP06020860 A EP 06020860A EP 1772720 A2 EP1772720 A2 EP 1772720A2
Authority
EP
European Patent Office
Prior art keywords
parameters
diagnostic
computer
truck
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP20060020860
Other languages
German (de)
English (en)
Other versions
EP1772720A3 (fr
Inventor
Matthias Schopf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
Still Wagner GmbH and Co KG
Kion Warehouse Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Still Wagner GmbH and Co KG, Kion Warehouse Systems GmbH filed Critical Still Wagner GmbH and Co KG
Publication of EP1772720A2 publication Critical patent/EP1772720A2/fr
Publication of EP1772720A3 publication Critical patent/EP1772720A3/fr
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station

Definitions

  • the invention relates to a remote diagnostic system for an industrial truck, which has a data bus for transmitting a plurality of parameters within the truck, wherein on the data bus, a diagnostic module is connected, which has a communication device for transmitting parameters to an external diagnostic computer.
  • the invention relates to a method for remote diagnosis on a truck, which has a data bus for transmitting a plurality of parameters within the truck, wherein the data bus is connected to a diagnostic module having a communication device for transmitting parameters to an external diagnostic computer.
  • Industrial trucks such as counterbalanced forklifts, reach trucks, high-bay stackers or high-level order picker have a variety of electrical components, the signals - in the following called parameters - with each other.
  • the electrical components mentioned are, for example, the controls of the truck, electrical controls, such as the drive, steering or inductive positive displacement of the truck, electric motors with the associated power electronics units for the drive, the steering drive and the load handling functions of the truck, hydraulic valves with the associated electrical actuators, and sensors with which, for example, the positions of the load handling device are monitored.
  • the said electrical components are interconnected by means of a data bus, via which the parameters are transmitted and communicated between the electrical components.
  • the data bus can be designed according to a standard industry standard, for example CAN bus or RS-232.
  • Such a diagnostic device can be formed for example by a portable computer (notebook), which is equipped with a corresponding interface for the data bus.
  • a portable computer notebook
  • the use of such a diagnostic device requires that a trained specialist is present at the site of the truck in order to operate the diagnostic device and to make an evaluation of the data can.
  • a diagnostic module is connected to a communication device on the truck.
  • the communication device transmits the parameters present on the data bus by remote data transmission to an external computer, for example in a customer service center.
  • an external computer for example in a customer service center.
  • the known arrangements and methods for remote diagnostics are limited in their application in that a data transmission and monitoring in real time is not possible.
  • the present invention is based on the object to provide a remote diagnosis system and a method for remote diagnosis on a truck that allow a diagnosis in real time.
  • the diagnostic module is designed such that a limited selection of the parameters transmitted with the data bus is selectable, which can be transferred to the communication device in real time to the diagnostic computer.
  • the parameters transmitted by the communication device are, in particular, control signals and sensor signals present on the data bus. For transmission with the communication device, only a small portion of the data present on the data bus is selected. The selection is made depending on which function of the truck is to be checked by remote diagnosis.
  • the data transmission with the communication device to the external diagnostic computer for example, by a modem, GPRS or UMTS and thus has in any case a lower transmission capacity than the data bus in the truck.
  • the diagnostic module and the diagnostic computer are designed such that the selection of the parameters provided for transmission can be set by means of the diagnostic computer.
  • the selection of the parameters can be done automatically by the diagnostic computer or by the operator of the diagnostic computer.
  • the diagnostic module is designed such that the transmission of the parameters optionally timed or event-dependent.
  • Timed means that the transmission of the selected parameters occurs regularly at equal intervals.
  • a parameter is only transmitted if it has changed.
  • a hysteresis value can be set, such that a data transmission takes place only if the change in the parameter is greater than the set hysteresis value.
  • the diagnostic module and the diagnostic computer are designed in such a way that the selection is made between the time-cycled and the event-dependent parameter transmission by means of the diagnostic computer.
  • the communication device has a modem and / or a wireless communication unit, for example according to the GPRS standard or the UMTS standard, for transmitting the parameters.
  • the object stated at the outset is achieved by selecting a limited selection of the parameters transmitted with the data bus, which are transmitted to the communication computer in real time on the diagnosis computer.
  • For transmission with the communication device only a small portion of the data present on the data bus is selected. The selection is made depending on which function of the truck is to be checked by remote diagnosis.
  • the data transmission with the communication device to the external diagnostic computer is done for example by a modem, GPRS or UMTS and thus always has a lower transmission capacity than the data bus in the truck.
  • the selection of the parameters intended for transmission is set by means of the diagnostic computer.
  • the diagnostic module is remotely controlled on the truck by means of the diagonal computer.
  • the selection of the parameters can be done automatically by the diagnostic computer or by the operator of the diagnostic computer.
  • parameter groups are defined for various functions of the truck.
  • the definition of the parameter groups is carried out on the diagnostic computer.
  • Each parameter group is suitable for purposefully monitoring a specific function of the truck.
  • a parameter group is defined for remote diagnosis for the function of the steering, which includes as parameters the actual steering angle, the steering wheel angle and the rotational speed of a steering motor.
  • the actual steering angle indicates the position of the steered wheel, the steering wheel angle the position of the steering wheel again.
  • the generally executed as an electric motor steering motor generates the force required to move the steered wheel.
  • a few other parameters e.g. a fine adjustment of the directional stability or a redundancy signal of the steering wheel steering transmitter belong to the same parameter group.
  • a parameter group is defined which includes as parameters the rotational speed of a hydraulic pump, the temperature of a pump motor and the current in a power electronics unit of the pump motor.
  • the hydraulic system includes a mostly designed as a gear pump hydraulic pump, which is driven by an electric pump motor.
  • the pump motor is powered by a power electronics unit, which may include, for example, a pulse control unit or an inverter.
  • a parameter group is defined for the remote diagnosis for the function of a load handling means, which parameter comprises the position of an operating element actuated by an operator, the rotational speed of a hydraulic pump, the control flow of at least one hydraulic valve and the actual position of the load handling means.
  • the truck is formed, for example, by a high-shelf forklift with a pivoting fork, as a load handling means a Haupthubmast, a side thruster, a pivoting device and a soirhubmast exist.
  • the function of these hydraulically operated load handling agents can be monitored with the mentioned parameters.
  • the hydraulic actuation takes place by means of an actuator formed by a hydraulic cylinder or a hydraulic motor, which is supplied via a hydraulic valve by a hydraulic pump with hydraulic oil.
  • the hydraulic valve is controlled electrically, for example via actuating magnets.
  • a parameter group is defined, which includes as parameters the distance of a first antenna to a guidewire and the distance of a second antenna to a guidewire.
  • high-bay industrial trucks are often forcibly guided within a rack aisle. If inductive positive guidance is provided, the truck will orient itself on a guidewire embedded in the ground. With two antennas arranged at the front and rear of the truck, the position of the truck relative to the guidewire is detected.
  • the frequency of the signal measured with the antennas on the guide wire signal can be used.
  • the transmission of the parameters is either time-cycled or event-dependent. Timed means that the transmission of the selected parameters occurs regularly at equal intervals. In an event-dependent transmission, a parameter is only transmitted if it has changed. In this case, a hysteresis value can be set, such that a data transmission takes place only if the change in the parameter is greater than the set hysteresis value.
  • the selection between a time-triggered or an event-dependent parameter transmission is set by means of the diagnostic computer.
  • the Diagnostic module is remotely controlled on the truck by means of the diagnostic computer.
  • the selection of the parameters can be done automatically by the diagnostic computer or by the operator of the diagnostic computer.
  • the transmission of the parameters preferably takes place via a modem and / or via a wireless communication unit, for example according to the GPRS standard or the UMTS standard.
  • the figure shows the schematic structure of a remote diagnosis system according to the invention for an industrial truck.
  • the truck belonging to the elements of the remote diagnostic system are shown.
  • Various electrical components 3-8 are connected to a central data bus 2.
  • the components 3-8 communicate via the data bus 2 various parameters, which are, for example, signals from operating elements, sensor signals or control signals.
  • the components 3-8 represent, for example, a steering device 3, a device 4 for guide wire guidance of the truck, a hydraulic pump unit 5, a side thruster 6 for a load, a pivot device 7 for a load, and a lifting device 8 for a load.
  • the data bus 2 is designed according to a standard in vehicles standard, for example, CAN bus or RS-232, and operates, for example, with a clock of 20 milliseconds. The data transfer via the data bus is thus carried out without relevant for the operation of the truck time delay.
  • a diagnostic module 9 is connected to the data bus 2.
  • the industrial truck has an interface 10, which may be formed, for example, by a plug connection or a wireless connection with a high transmission rate, for example according to the Bluetooth standard.
  • the diagnostic module can also be permanently installed in the truck. An interface 10 is then not required.
  • a communication device 9a via which the diagnostic module 9 can communicate with an external diagnostic computer 11.
  • This communication between the diagnostic module 9 and the diagnostic computer 11 can be done for example via a modem, via an ISDN connection, via GPRS or via UMTS.
  • the diagnosis module 9 only a small part of the parameters present on the data bus 2 is transmitted from the diagnosis module 9 to the diagnosis computer 11.
  • the transmission of these few selected parameters can then take place in real time, that is, without significant time delay.
  • the diagnostic process on the truck can thus be completely controlled by the external diagnostic computer 11.
  • the data obtained during the diagnostic process can then be evaluated directly on the external diagonal calculator.
  • the truck and the diagnostic computer 11 may be located at any location that can be reached with the used communication device.
  • the truck may be in a workshop for trucks and the diagnostic computer 11 may be located in a closed room of the same workshop. It is also possible to carry out a remote diagnosis of an industrial truck from a workshop for industrial trucks located on the premises of a customer.
  • a customer service center or a development engineer of the truck manufacturer can connect over long distances with the truck. This facilitates, for example, the implementation of maintenance and Repairs work in locations where no properly trained maintenance personnel are available.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP20060020860 2005-10-10 2006-10-04 Système de diagnostique à distance et procédé pour diagnostiquer un chariot de manutention à distance Ceased EP1772720A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200510048762 DE102005048762A1 (de) 2005-10-10 2005-10-10 Ferndiagnosesystem und Verfahren zur Ferndiagnose an einem Flurförderzeug

Publications (2)

Publication Number Publication Date
EP1772720A2 true EP1772720A2 (fr) 2007-04-11
EP1772720A3 EP1772720A3 (fr) 2011-11-16

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EP20060020860 Ceased EP1772720A3 (fr) 2005-10-10 2006-10-04 Système de diagnostique à distance et procédé pour diagnostiquer un chariot de manutention à distance

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EP (1) EP1772720A3 (fr)
DE (1) DE102005048762A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2033933B1 (fr) 2007-09-04 2015-08-19 Jungheinrich Aktiengesellschaft Chariot de manutention doté en particulier d'une maintenance à distance

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009007426B4 (de) 2009-02-04 2022-05-19 Linde Material Handling Gmbh Verfahren zur Fahrzeugdiagnose und Anpassung von Steuerungsabläufen bei Flurförderzeugen
DE102009022952A1 (de) * 2009-05-25 2011-06-01 Imc Messsysteme Gmbh Verfahren zum Herstellen einer Prüfablauf-Einrichtung und Prüfablauf-Einrichtung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2063809A1 (de) * 1970-12-24 1972-07-13 Jahns G Meßkopf fur ein induktives Fahrzeug leitsystem
DE19508346C1 (de) * 1995-03-09 1996-06-20 Jungheinrich Ag Verfahren zur Bestimmung der Hubhöhe eines höhenverstellbaren Lastaufnahmemittels eines Flurförderzeugs
WO2001023214A1 (fr) * 1999-09-24 2001-04-05 I-Witness, Inc. Enregistreur de donnees d'un vehicule
WO2002006076A1 (fr) * 2000-07-17 2002-01-24 Abm Greiffenberger Antriebstechnik Gmbh Procede de regulation d"entrainement sans capteur d"un vehicule electrique et regulation d"entrainement fonctionnant selon ce procede
DE29624360U1 (de) * 1996-06-25 2002-08-14 Schwarzmueller Gmbh Rein elektrisch betreibbare Lenkvorrichtung für ein Fahrzeug

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5163001A (en) * 1989-02-17 1992-11-10 Luke Jr Walter Interactive display for use on an automatic guided vehicle
US6745151B2 (en) * 2002-05-16 2004-06-01 Ford Global Technologies, Llc Remote diagnostics and prognostics methods for complex systems
DE10360125A1 (de) * 2003-12-20 2005-07-21 Daimlerchrysler Ag Datenloggin in einem Kraftfahrzeug

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2063809A1 (de) * 1970-12-24 1972-07-13 Jahns G Meßkopf fur ein induktives Fahrzeug leitsystem
DE19508346C1 (de) * 1995-03-09 1996-06-20 Jungheinrich Ag Verfahren zur Bestimmung der Hubhöhe eines höhenverstellbaren Lastaufnahmemittels eines Flurförderzeugs
DE29624360U1 (de) * 1996-06-25 2002-08-14 Schwarzmueller Gmbh Rein elektrisch betreibbare Lenkvorrichtung für ein Fahrzeug
WO2001023214A1 (fr) * 1999-09-24 2001-04-05 I-Witness, Inc. Enregistreur de donnees d'un vehicule
WO2002006076A1 (fr) * 2000-07-17 2002-01-24 Abm Greiffenberger Antriebstechnik Gmbh Procede de regulation d"entrainement sans capteur d"un vehicule electrique et regulation d"entrainement fonctionnant selon ce procede

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2033933B1 (fr) 2007-09-04 2015-08-19 Jungheinrich Aktiengesellschaft Chariot de manutention doté en particulier d'une maintenance à distance

Also Published As

Publication number Publication date
EP1772720A3 (fr) 2011-11-16
DE102005048762A1 (de) 2007-04-12

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