EP1840078B1 - Industrial truck with a data bus and a transmitting and receiving unit - Google Patents

Industrial truck with a data bus and a transmitting and receiving unit Download PDF

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Publication number
EP1840078B1
EP1840078B1 EP07004418A EP07004418A EP1840078B1 EP 1840078 B1 EP1840078 B1 EP 1840078B1 EP 07004418 A EP07004418 A EP 07004418A EP 07004418 A EP07004418 A EP 07004418A EP 1840078 B1 EP1840078 B1 EP 1840078B1
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EP
European Patent Office
Prior art keywords
receiving unit
data bus
sending
transmitting
industrial truck
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EP07004418A
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German (de)
French (fr)
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EP1840078A1 (en
Inventor
Ralf Dipl.-Ing. Baginski
Frank Dr.-Ing. Mänken
Martin Dipl.-Ing. Von Werder
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Jungheinrich AG
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Jungheinrich AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • Modern industrial trucks have a large number of electronic units. These include, among other things, a drive control for controlling a drive motor, a lift control for controlling the lift function via a hydraulic system, an on-board computer and various control and operating elements. In operation, many of these units exchange data with each other, for example, a control command of an operating element is forwarded to the driving control, or a state information relating to a lifting operation is transmitted from the stroke control to the on-board computer.
  • a vehicle data bus is usually provided, to which the electronic units are connected and communicate via so-called telegrams.
  • a bus system frequently used in the industrial truck sector is the so-called CAN bus (Controller Area Network Bus).
  • a telegram sent on the data bus comprises a number of contents, for example an address of a receiver, status data or control commands, error codes, test numbers, etc.
  • Each telegram on the data bus is basically available to all units connected to the data bus.
  • the transmitting and receiving unit continuously transmits signals, the associated transponder, which are located in the transmission and reception of the transmitting and receiving unit, in the above example so-called RFID tags, activate and cause the transmission of a coded signal, the from the transmitting and receiving unit is received.
  • the continuous transmission mode leads to a constant emission of high-frequency radio-frequency pulses in a limited frequency band, which can lead to problems especially with simultaneous operation of multiple transmitting and receiving units, for example in a warehouse with many suitably equipped trucks.
  • EP 1 728 758 A2 which is state of the art according to Article 54 (3) EPC, an industrial truck is known.
  • a communication device is connected for data transfer with goods identification means via a CAN bus line 14 to a central electronic controller 3.
  • the electronic control system for the truck controls the driving or lifting function of the truck.
  • the object of the invention to provide an industrial truck, which is equipped with a transmitting and receiving unit and this can use more targeted and versatile, especially in an environment with a large number of other transmitters and receivers.
  • the invention is also based on the object to provide a method for operating this truck, which allows operating a transmitting and receiving unit in an environment with a plurality of further transmitting and receiving units.
  • the truck according to the invention has a data bus to which a plurality of electronic units of the industrial truck are connected, which transmit or receive telegrams via the data bus, and a transmitting and receiving unit which detect data of a transponder located in the transmitting and receiving area of the transmitting and receiving unit can, wherein the transmitting and receiving unit is connected to the data bus and evaluated via the data bus sent telegrams and / or sends telegrams to the data bus.
  • the data bus can be, for example, a CAN bus, via which the communication between the individual electronic units is handled.
  • Transponders can be arranged at different points in the application of the truck. It can be provided with a transponder both goods to be transported and certain storage positions, such as the subjects of a high-bay warehouse, obstacles, signal systems or other specific items. In the transponder, data are stored which serve, for example, a clear identification of the goods marked with the transponder on the basis of a product code. The transmitting and receiving unit is able to read out the data stored in the transponder.
  • an activation signal is first emitted by the transmitting and receiving unit, whereupon the transponder transmits a coded signal, which is received by the transmitting and receiving unit.
  • the transmitting and receiving unit is connected to the data bus. It is thus created a possibility of communication between the transmitting and receiving unit and the other electronic units of the truck.
  • the transmitting and receiving unit evaluates transmitted via the data bus telegrams.
  • the transmission and reception unit basically has all the data available on the vehicle data bus available. Due to the possibility of the transmitting and receiving unit to evaluate telegrams on the data bus, the transmitting and receiving unit can be controlled very flexibly via the data bus.
  • the transmitting and receiving unit comprises a control module which evaluates telegrams sent over the data bus and activates and deactivates the transmitting and receiving unit.
  • the control module allows easy activation and deactivation in accordance with the evaluated telegrams.
  • the transmitting and receiving device has an interface for direct connection to the data bus.
  • the transmitting and receiving unit can have any connection to the data bus, for example via a suitable adapter.
  • the transmitting and receiving unit is advantageously equipped with an interface which can be connected directly to the data bus.
  • an evaluation unit is provided, the signals of the transponder received by the transmitting and receiving unit evaluates and which is connected to the data bus.
  • the evaluation unit can also be integrated into the transmitting and receiving unit, but a separate evaluation unit achieves a modular design in which the transmitting and receiving unit is reduced to the elements essential for the transmission and reception of the radio-frequency pulses and the evaluation of the received Signals, for example, a decoding, is performed in the separate evaluation. Both units are independently connected to the data bus, so that the information exchange between the two units can take place via the data bus.
  • the transmitting and receiving unit is an RFID transmitting and receiving unit. It is thus used in many applications common technology for the transmitting and receiving unit.
  • a load sensor which measures the load condition of the load holding means, is connected to the data bus.
  • the transmitting and receiving unit may be activated whenever the loading condition changes, i. when a load is picked up or set down. The determination of a fork assignment can be provided as a trigger for activation.
  • the inventive method for operating a truck is characterized in that the transmitting and receiving unit is controlled in accordance with telegrams sent over the data bus. Controlling the transmitting and receiving unit comprises all interventions in the transmitting and receiving operation, for example, an adjustment of the transmission power.
  • the transmitting and receiving unit is activated and deactivated in accordance with telegrams sent over the data bus.
  • This activation and deactivation is preferably carried out as a function of the driving speed, in which the transmitting and receiving unit is activated when it falls below a first driving speed and when a second driving speed is exceeded Driving speed is deactivated, wherein the first driving speed is less than or equal to the second driving speed.
  • Driving speed is deactivated, wherein the first driving speed is less than or equal to the second driving speed.
  • the transmitting and receiving unit is preferably provided to activate and deactivate the transmitting and receiving unit as a function of the position of the lifting mast or the load holding means. Additionally or alternatively to the speed-dependent activation of the transmitting and receiving unit, further data available on the vehicle data bus can be included. This is useful, for example, in a reach truck, in which an activation of the transmitting and receiving unit can be made in after moving the mast. In this position of the reach mast, the load holding means approaches a load to be picked up or a storage place provided with a transponder.
  • the transmitting and receiving unit can preferably be activated as a function of a load state of the load holding means detected by a load sensor, and be deactivated, for example, whenever the load condition changes.
  • telegrams sent by the transmitting and receiving unit onto the data bus automatically act on the control of the industrial truck.
  • another electronic unit of the industrial truck which is connected to the data bus, can be controlled by the transmitting and receiving unit.
  • a corresponding transponder can for example also be integrated into a stop sign and thereby force an automatic stop of the truck when approaching the stop sign.
  • Such control measures can make an important contribution to traffic safety.
  • the driving speed is limited as a function of telegrams sent by the transmitting and receiving unit to the data bus.
  • Such an automatic limitation of the driving speed can in turn be carried out in response to corresponding traffic signs or possible dangerous situations, or even for Protection of particularly sensitive goods, which are provided with a corresponding transponder.
  • the height of the load holding means or the maximum lifting or lowering speed is controlled as a function of telegrams sent by the transmitting and receiving unit on the data bus.
  • the smooth operation of the truck for the driver can be facilitated, for example by the correct height of a storage space is automatically approached in accordance with the provided at this storage space transponder.
  • a limitation of the lifting or lowering speed can in turn be useful for the protection of particularly sensitive goods, or also facilitate a precise approach certain storage positions.
  • telegrams sent by the transmitting and receiving unit to the data bus are evaluated and data contained therein is displayed on the display of an on-board computer, the on-board computer being connected to the data bus.
  • the connection of the transmitting and receiving unit to the data bus permits a particularly simple display of the data of a transponder read out by the transmitting and receiving unit, because this data belongs to the data carrier On-board computer in the form of existing on the data bus telegrams are directly available for display.
  • a vehicle data bus is shown. It is a CAN bus that allows all connected electronic units to exchange data quickly, easily and securely.
  • the data is sent in the form of telegrams via the data bus.
  • an RFID transmitting and receiving unit 12 is provided with a suitable interface 13, and connected directly to the vehicle data bus 10.
  • the RFID transmitting and receiving unit 12 includes an antenna, not shown.
  • an RFID evaluation unit 14 connected as a separate module to the vehicle data bus 10.
  • the RFID transmitting and receiving unit 12 converts the signals received from a transponder into a telegram and transmits this via the vehicle data bus 10 to the RFID evaluation unit 14.
  • the RFID evaluation unit 14 receives the telegram and evaluates the information contained therein received from the transponder Signals off. The evaluation includes in particular a decoding. Subsequently, the RFID evaluation unit 14 sends another telegram to the data bus 10, which contains the data received from the transponder in a processed form. These data are basically available to all units connected to the data bus 10. These include z. As the stroke control 24, the travel control 26 and the on-board computer 20 (on-board computer / display). The units mentioned can directly access the data of the transponder contained in the telegram. Alternatively, a central control unit 16 (master) can read the telegrams and set down further telegrams on the data bus which serve to control other units connected to the data bus.
  • telegrams sent by the RFID transmitting and receiving unit 12 or the RFID evaluation unit 14 may also be transmitted by a On-board computer 20 (on-board computer / display) read and displayed immediately.
  • a 10-module 18 is connected to the data bus 10, which cooperates in the present embodiment with a load sensing, which is provided on the load-holding means.
  • a load condition measured by the load sensor, not shown, is converted into a corresponding telegram with the aid of the IO module 18 and sent to the data bus.
  • the load state reported by the 10 module 18, more precisely the corresponding telegram, can be received and evaluated by the central control unit 16. If the central control unit 16 detects a change in the load state, it can send another telegram to the data bus, which contains an activation command for the RFID transmitting and receiving unit 12.
  • a WLAN unit 22 is connected to the vehicle data bus 10. This WLAN unit allows integration of the truck in an existing wireless network. If appropriate, the data read out by a transponder can also be transmitted via this radio network.
  • FIG. 2 an industrial truck 30 is indicated, which is equipped with an RFID transmitting and receiving unit 32, which is arranged including its antenna in the vicinity of the load holding means 34.
  • the RFID transmitting and receiving unit is connected to the data bus of the industrial truck.
  • the transmitting and receiving unit 32 is activated and deactivated as a function of the driving speed. If a first driving speed is exceeded, the transmitting and receiving unit 32 is activated. As a result, located in the vicinity of the transmitting and receiving unit located transponder can be activated and read. These are, for example, to be transported goods, or even at a high bay 36, more precisely at each of the storage bins of the high bay. A transponder is located, for example, at 38 in the lowermost right compartment of the high rack 36. If the driving speed of the truck 30 when starting this storage space drops below a first speed, the transmitting and receiving unit 32 is activated and the data stored in the transponder 38 are read.
  • the transmitting and receiving unit 32 is deactivated again. In this way, an unnecessary transmission mode is avoided, if necessary the radio channel of the transmitting and receiving unit 32 are otherwise used during this time.
  • FIG. 2 indicated is a equipped with an RFID transponder 42 warning sign 40. If the transmitting and receiving unit 32 of the truck 30 in the transmission range of the warning sign 40, the data of the transponder 42 are made available via the data bus of the truck 30. Thereupon the electronic control of the truck automatically limits the maximum possible driving speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Small-Scale Networks (AREA)
  • Traffic Control Systems (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

Moderne Flurförderzeuge weisen eine Vielzahl elektronischer Einheiten auf. Hierzu gehören unter anderem eine Fahrsteuerung zum Steuern eines Antriebsmotors, eine Hubsteuerung zur Steuerung der Hubfunktion über ein hydraulisches System, ein Bordcomputer und unterschiedliche Steuer- und Bedienelemente. Im Betrieb tauschen viele dieser Einheiten untereinander Daten aus, beispielsweise wird ein Steuerbefehl eines Bedienelements an die Fahrsteuerung weitergeleitet, oder eine einen Hubvorgang betreffende Zustandsinformation wird von der Hubsteuerung an den Bordcomputer übermittelt.Modern industrial trucks have a large number of electronic units. These include, among other things, a drive control for controlling a drive motor, a lift control for controlling the lift function via a hydraulic system, an on-board computer and various control and operating elements. In operation, many of these units exchange data with each other, for example, a control command of an operating element is forwarded to the driving control, or a state information relating to a lifting operation is transmitted from the stroke control to the on-board computer.

Für derartige Kommunikationsvorgänge ist in der Regel ein Fahrzeug-Datenbus vorgesehen, an den die elektronischen Einheiten angeschlossen sind und über sogenannte Telegramme kommunizieren. Ein im Flurförderzeugbereich häufig verwendetes Bussystem ist der sogenannte CAN-Bus (Controller Area Network-Bus).For such communication processes, a vehicle data bus is usually provided, to which the electronic units are connected and communicate via so-called telegrams. A bus system frequently used in the industrial truck sector is the so-called CAN bus (Controller Area Network Bus).

Ein auf den Datenbus gesendetes Telegramm umfaßt eine Reihe von Inhalten, beispielsweise eine Adresse eines Empfängers, Zustandsdaten oder Steuerbefehle, Fehlercodes, Prüfnummern usw.. Jedes Telegramm auf dem Datenbus steht grundsätzlich allen an den Datenbus angeschlossenen Einheiten zur Verfügung.A telegram sent on the data bus comprises a number of contents, for example an address of a receiver, status data or control commands, error codes, test numbers, etc. Each telegram on the data bus is basically available to all units connected to the data bus.

Es ist bekannt, Flurförderzeuge mit einer Sende- und Empfangseinheit zum automatischen Auslesen von Transpondern auszustatten. Derartige Sende- und Empfangseinheiten, z. B. RFID (Radio Frequency Identification) Sende- und Empfangseinheiten, werden vielfältig eingesetzt und weisen in der Regel standardisierte Datenschnittstellen wie z.B. USB (Universal Serial Bus) oder RS-232 zum Anschluß an eine Datenverarbeitungseinheit auf. In Verbindung mit Flurförderzeugen ist bekannt, eine entsprechende RFID Sende- und Empfangseinheit an einem Flurförderzeug anzuordnen und über eine der genannten Standardschnittstellen mit einem separaten Warenwirtschaftsystem oder einem Bordcomputer zu verbinden.It is known to equip industrial trucks with a transmitting and receiving unit for automatic reading of transponders. Such transmitting and receiving units, for. As RFID (Radio Frequency Identification) transmitting and receiving units, are widely used and usually have standardized data interfaces such. USB (Universal Serial Bus) or RS-232 for connection to a data processing unit. In connection with industrial trucks is known to arrange a corresponding RFID transmitting and receiving unit on a truck and to connect via one of said standard interfaces with a separate inventory management system or an on-board computer.

Bei dieser bekannten Anordnung sendet die Sende- und Empfangseinheit fortlaufend Signale aus, die zugehörige Transponder, die sich im Sende- und Empfangsbereich der Sende- und Empfangseinheit befinden, im obigen Beispiel sogenannte RFID Tags, aktivieren und zum Aussenden eines codierten Signals veranlassen, das von der Sende- und Empfangseinheit empfangen wird. Der fortlaufende Sendebetrieb führt zu einer ständigen Emission hochfrequenter Radiofrequenzpulse in einem begrenzten Frequenzband, was insbesondere bei gleichzeitigem Betrieb mehrerer Sende- und Empfangseinheiten, beispielsweise in einem Lager mit vielen entsprechend ausgestatteten Flurförderzeugen, zu Problemen führen kann.In this known arrangement, the transmitting and receiving unit continuously transmits signals, the associated transponder, which are located in the transmission and reception of the transmitting and receiving unit, in the above example so-called RFID tags, activate and cause the transmission of a coded signal, the from the transmitting and receiving unit is received. The continuous transmission mode leads to a constant emission of high-frequency radio-frequency pulses in a limited frequency band, which can lead to problems especially with simultaneous operation of multiple transmitting and receiving units, for example in a warehouse with many suitably equipped trucks.

Aus EP 1 728 758 A2 , die gemäß Artikel 54 (3) EPÜ Stand der Technik zählt, ist Flurförderzeug mit einer elektrischen Steuereinheit bekannt. Eine Kommunikationsvorrichtung ist zum Datentransfer mit Warenidentifikationsmitteln über eine CAN-Bus-Leitung 14 mit einer zentralen elektronischen Steuerung 3 verbunden. Die elektronische Steuerung für das Flurförderzeug steuert Fahr- oder Hubfunktion des Flurförderzeugs.Out EP 1 728 758 A2 , which is state of the art according to Article 54 (3) EPC, an industrial truck is known. A communication device is connected for data transfer with goods identification means via a CAN bus line 14 to a central electronic controller 3. The electronic control system for the truck controls the driving or lifting function of the truck.

Aus XP-002441396 ist der elektrische Schubmaststapler R 14 X bekannt, der eine Eigendiagnose besitzt, die über eine CAN-Bus-Systemverbindung ausgelesen werden kann.From XP-002441396 the electric reach truck R 14 X is known, which has a self-diagnosis, which can be read out via a CAN bus system connection.

Davon ausgehend ist es die Aufgabe der Erfindung, ein Flurförderzeug bereitzustellen, das mit einer Sende- und Empfangseinheit ausgestattet ist und diese zielgerichteter und vielseitiger einsetzen kann, insbesondere in einer Umgebung mit einer Vielzahl von weiteren Sendern und Empfängern. Der Erfindung liegt ebenfalls die Aufgabe zu Grunde, ein Verfahren zum Betreiben dieses Flurförderzeugs bereitzustellen, das ein Betreiben einer Sende- und Empfangseinheit in einer Umgebung mit einer Vielzahl von weiteren Sende- und Empfangseinheiten gestattet.On this basis, it is the object of the invention to provide an industrial truck, which is equipped with a transmitting and receiving unit and this can use more targeted and versatile, especially in an environment with a large number of other transmitters and receivers. The invention is also based on the object to provide a method for operating this truck, which allows operating a transmitting and receiving unit in an environment with a plurality of further transmitting and receiving units.

Diese Aufgabe wird gelöst durch ein Flurförderzeug mit den Merkmalen des Patentanspruchs 1 sowie durch ein Verfahren nach Anspruch 8. Vorteilhafte Ausgestaltungen sind in den Unteransprüchen angegeben.This object is achieved by an industrial truck with the features of patent claim 1 and by a method according to claim 8. Advantageous embodiments are specified in the subclaims.

Das erfindungsgemäße Flurförderzeug hat einen Datenbus, an den mehrere elektronische Einheiten des Flurförderzeugs angeschlossen sind, die Telegramme über den Datenbus senden oder empfangen, und eine Sende- und Empfangseinheit, die Daten eines sich im Sende- und Empfangsbereich der Sende- und Empfangseinheit befindlichen Transponders erfassen kann, wobei die Sende- und Empfangseinheit mit dem Datenbus verbunden ist und über den Datenbus gesendete Telegramme auswertet und/oder Telegramme auf den Datenbus sendet.The truck according to the invention has a data bus to which a plurality of electronic units of the industrial truck are connected, which transmit or receive telegrams via the data bus, and a transmitting and receiving unit which detect data of a transponder located in the transmitting and receiving area of the transmitting and receiving unit can, wherein the transmitting and receiving unit is connected to the data bus and evaluated via the data bus sent telegrams and / or sends telegrams to the data bus.

Der Datenbus kann beispielsweise ein CAN-Bus sein, über den die Kommunikation zwischen den einzelnen elektronischen Einheiten abgewickelt wird. Transponder können an unterschiedlichen Stellen im Einsatzbereich des Flurförderzeugs angeordnet sein. Es können sowohl zu transportierende Waren als auch bestimmte Lagerpositionen, beispielsweise die Fächer eines Hochregallagers, Hindernisse, Signalanlagen oder sonstige bestimmte Gegenstände mit einem Transponder versehen sein. In dem Transponder sind Daten gespeichert, die beispielsweise einer eindeutigen Identifikation der mit dem Transponder gekennzeichneten Waren anhand eines Produktcodes dienen. Die Sende- und Empfangseinheit ist in der Lage, die in dem Transponder gespeicherten Daten auszulesen. Im Falle passiver Transponder wird dazu zunächst ein Aktivierungssignal von der Sende- und Empfangseinheit ausgesandt, woraufhin der Transponder ein codiertes Signal aussendet, welches von der Sende- und Empfangseinheit empfangen wird. Erfindungswesentlich ist, daß die Sende- und Empfangseinheit mit dem Datenbus verbunden ist. Es ist somit eine Kommunikationsmöglichkeit zwischen der Sende- und Empfangseinheit und den sonstigen elektronischen Einheiten des Flurförderzeugs geschaffen. Insbesondere ist vorgesehen, daß die Sende- und Empfangseinheit über den Datenbus gesendete Telegramme auswertet. Dadurch stehen der Sende- und Empfangseinheit grundsätzlich sämtliche auf dem Fahrzeug-Datenbus verfügbaren Daten zur Verfügung. Durch die Möglichkeit der Sende- und Empfangseinheit, Telegramme auf dem Datenbus auszuwerten, kann die Sende- und Empfangseinheit sehr flexibel über den Datenbus gesteuert werden.The data bus can be, for example, a CAN bus, via which the communication between the individual electronic units is handled. Transponders can be arranged at different points in the application of the truck. It can be provided with a transponder both goods to be transported and certain storage positions, such as the subjects of a high-bay warehouse, obstacles, signal systems or other specific items. In the transponder, data are stored which serve, for example, a clear identification of the goods marked with the transponder on the basis of a product code. The transmitting and receiving unit is able to read out the data stored in the transponder. In the case of passive transponders, an activation signal is first emitted by the transmitting and receiving unit, whereupon the transponder transmits a coded signal, which is received by the transmitting and receiving unit. Essential to the invention is that the transmitting and receiving unit is connected to the data bus. It is thus created a possibility of communication between the transmitting and receiving unit and the other electronic units of the truck. In particular, it is provided that the transmitting and receiving unit evaluates transmitted via the data bus telegrams. As a result, the transmission and reception unit basically has all the data available on the vehicle data bus available. Due to the possibility of the transmitting and receiving unit to evaluate telegrams on the data bus, the transmitting and receiving unit can be controlled very flexibly via the data bus.

Durch das Senden von Telegrammen auf den Datenbus können Informationen von der Sende- und Empfangseinheit, insbesondere also von den ausgelesenen Transpondern, über den Datenbus sämtlichen an den Datenbus angeschlossenen elektronischen Einheiten zur Verfügung gestellt werden. Es bieten sich dadurch vielfältige neue Möglichkeiten, diese Informationen im Betrieb des Flurförderzeugs auszunutzen.By sending telegrams to the data bus, information from the transmitting and receiving unit, in particular from the read-out transponders, can be made available to all of the electronic units connected to the data bus via the data bus. This offers a variety of new opportunities to exploit this information in the operation of the truck.

Erfindungsgemäß umfaßt die Sende- und Empfangseinheit ein Steuermodul, das über den Datenbus gesendete Telegramme auswertet und die Sende- und Empfangseinheit aktiviert und deaktiviert. Das Steuermodul erlaubt eine einfache Aktivierung und Deaktivierung nach Maßgabe der ausgewerteten Telegramme.According to the invention, the transmitting and receiving unit comprises a control module which evaluates telegrams sent over the data bus and activates and deactivates the transmitting and receiving unit. The control module allows easy activation and deactivation in accordance with the evaluated telegrams.

Gemäß einer Ausgestaltung weist die Sende- und Empfangseinrichtung eine Schnittstelle zur direkten Verbindung mit dem Datenbus auf. Grundsätzlich kann die Sende- und Empfangseinheit über eine beliebige Verbindung zum Datenbus verfügen, beispielsweise über einen geeigneten Adapter. Vorteilhaft ist die Sende- und Empfangseinheit jedoch mit einer Schnittstelle, die unmittelbar mit dem Datenbus verbunden werden kann, ausgerüstet.According to one embodiment, the transmitting and receiving device has an interface for direct connection to the data bus. In principle, the transmitting and receiving unit can have any connection to the data bus, for example via a suitable adapter. However, the transmitting and receiving unit is advantageously equipped with an interface which can be connected directly to the data bus.

Über den dadurch erreichten vereinfachten Aufbau hinaus kann die zeitaufwendige und potentiell fehleranfällige Übermittlung der Daten über die Standardschnittstellen und entsprechende Adapter entfallen.In addition to the simplified structure achieved thereby, the time-consuming and potentially error-prone transmission of the data via the standard interfaces and corresponding adapters can be dispensed with.

In einer bevorzugten Ausgestaltung ist eine Auswerteeinheit vorgesehen, die von der Sende- und Empfangseinheit empfangene Signale des Transponders auswertet und die mit dem Datenbus verbunden ist. Grundsätzlich kann die Auswerteeinheit auch in die Sende- und Empfangseinheit integriert sein, durch eine separate Auswerteeinheit wird jedoch ein modularer Aufbau erreicht, bei dem die Sende- und Empfangseinheit auf die für das Senden und Empfangen der Hochfrequenzpulse wesentlichen Elemente reduziert wird und die Auswertung der empfangenen Signale, beispielsweise eine Decodierung, in der separaten Auswerteeinheit durchgeführt wird. Beide Einheiten sind unabhängig voneinander mit dem Datenbus verbunden, so daß auch der Informationsaustausch zwischen den beiden Einheiten über den Datenbus erfolgen kann.In a preferred embodiment, an evaluation unit is provided, the signals of the transponder received by the transmitting and receiving unit evaluates and which is connected to the data bus. In principle, the evaluation unit can also be integrated into the transmitting and receiving unit, but a separate evaluation unit achieves a modular design in which the transmitting and receiving unit is reduced to the elements essential for the transmission and reception of the radio-frequency pulses and the evaluation of the received Signals, for example, a decoding, is performed in the separate evaluation. Both units are independently connected to the data bus, so that the information exchange between the two units can take place via the data bus.

Gemäß einer Ausgestaltung ist die Sende- und Empfangseinheit eine RFID Sende- und Empfangseinheit. Es wird damit eine in vielen Anwendungsbereichen gängige Technologie für die Sende- und Empfangseinheit verwendet.According to one embodiment, the transmitting and receiving unit is an RFID transmitting and receiving unit. It is thus used in many applications common technology for the transmitting and receiving unit.

In einer weiteren Ausgestaltung der Erfindung ist eine Lastsensierung, die den Belastungszustand des Lasthaltemittels mißt, mit dem Datenbus verbunden. In Verbindung mit der mit dem Datenbus verbundenen Sende- und Empfangseinheit wird dadurch eine Steuerung der Sende- und Empfangseinheit in Abhängigkeit vom Belastungszustand des Lasthaltemittels ermöglicht. Beispielsweise kann die Sende- und Empfangseinheit immer dann aktiviert werden, wenn sich der Belastungszustand ändert, d.h. wenn eine Last aufgenommen bzw. abgesetzt wird. Auch die Feststellung einer Gabelbelegung kann als Auslöser für eine Aktivierung vorgesehen sein.In a further embodiment of the invention, a load sensor, which measures the load condition of the load holding means, is connected to the data bus. In conjunction with the transmitting and receiving unit connected to the data bus thereby controlling the transmitting and receiving unit is possible in dependence on the load state of the load holding means. For example, the transmitting and receiving unit may be activated whenever the loading condition changes, i. when a load is picked up or set down. The determination of a fork assignment can be provided as a trigger for activation.

Das erfindungsgemäße Verfahren zum Betreiben eines Flurförderzeugs zeichnet sich dadurch aus, daß die Sende- und Empfangseinheit nach Maßgabe von über den Datenbus gesendeten Telegrammen gesteuert wird. Ein Steuern der Sende- und Empfangseinheit umfaßt dabei sämtliche Eingriffe in den Sende- und Empfangsbetrieb, beispielsweise eine Anpassung der Sendeleistung.The inventive method for operating a truck is characterized in that the transmitting and receiving unit is controlled in accordance with telegrams sent over the data bus. Controlling the transmitting and receiving unit comprises all interventions in the transmitting and receiving operation, for example, an adjustment of the transmission power.

In einer bevorzugten Ausgestaltung des Verfahrens wird die Sende- und Empfangseinheit nach Maßgabe von über den Datenbus gesendeten Telegrammen aktiviert und deaktiviert. Bevorzugt wird diese Aktivierung und Deaktivierung in Abhängigkeit von der Fahrgeschwindigkeit durchgeführt, in dem die Sende- und Empfangseinheit bei Unterschreiten einer ersten Fahrgeschwindigkeit aktiviert und bei Überschreiten einer zweiten Fahrgeschwindigkeit deaktiviert wird, wobei die erste Fahrgeschwindigkeit kleiner oder gleich der zweiten Fahrgeschwindigkeit ist. Auf diese Weise kann ein unnötiges Senden der Sende- und Empfangseinheit während schneller Fahrt vermieden werden. Erst wenn die erste Fahrgeschwindigkeit unterschritten wird, beispielsweise weil das Flurförderzeug langsam an eine zu transportierende Last heran manövriert wird, wird die Sende- und Empfangseinheit aktiviert. In diesem Fall befindet sich der auszulesende Transponder bereits in der Nähe des Flurförderzeugs.In a preferred embodiment of the method, the transmitting and receiving unit is activated and deactivated in accordance with telegrams sent over the data bus. This activation and deactivation is preferably carried out as a function of the driving speed, in which the transmitting and receiving unit is activated when it falls below a first driving speed and when a second driving speed is exceeded Driving speed is deactivated, wherein the first driving speed is less than or equal to the second driving speed. In this way, unnecessary transmission of the transmitting and receiving unit during fast travel can be avoided. Only when the first driving speed is exceeded, for example because the truck is slowly maneuvered close to a load to be transported, the transmitting and receiving unit is activated. In this case, the transponder to be read is already in the vicinity of the truck.

Weiterhin ist bevorzugt vorgesehen, die Sende- und Empfangseinheit abhängig von der Position des Hubmastes oder des Lasthaltemittels zu aktivieren und zu deaktivieren. Zusätzlich oder alternativ zur geschwindigkeitsabhängigen Aktivierung der Sende- und Empfangseinheit können weitere auf dem Fahrzeug-Datenbus verfügbare Daten einbezogen werden. Dies ist beispielsweise bei einem Schubmaststapler sinnvoll, bei dem eine Aktivierung der Sende- und Empfangseinheit bei nach vom verfahrenem Schubmast vorgenommen werden kann. In dieser Position des Schubmastes nähert sich das Lasthaltemittel einer aufzunehmenden Last oder einem mit einem Transponder versehenen Lagerplatz.Furthermore, it is preferably provided to activate and deactivate the transmitting and receiving unit as a function of the position of the lifting mast or the load holding means. Additionally or alternatively to the speed-dependent activation of the transmitting and receiving unit, further data available on the vehicle data bus can be included. This is useful, for example, in a reach truck, in which an activation of the transmitting and receiving unit can be made in after moving the mast. In this position of the reach mast, the load holding means approaches a load to be picked up or a storage place provided with a transponder.

Bevorzugt kann die Sende- und Empfangseinheit abhängig von einem mit einer Lastsensierung erfaßten Belastungszustand des Lasthaltemittels aktiviert und deaktiviert werden, beispielsweise immer dann, wenn sich der Belastungszustand ändert.The transmitting and receiving unit can preferably be activated as a function of a load state of the load holding means detected by a load sensor, and be deactivated, for example, whenever the load condition changes.

In einer weiteren bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens wirken von der Sende- und Empfangseinheit auf den Datenbus gesendete Telegramme automatisch auf die Steuerung des Flurförderzeugs ein. Ergänzend zu der vorgesehenen Steuerung der Sende- und Empfangseinheit über den Datenbus kann auch eine andere elektronische Einheit des Flurförderzeugs, die an den Datenbus angeschlossen ist, von der Sende- und Empfangseinheit gesteuert werden. Beispielsweise wird dadurch ermöglicht, das Flurförderzeug bei Annäherung an ein mit einem Transponder ausgestattetes Hindernis ohne weitere Interaktion des Fahrers abzustoppen. Ein entsprechender Transponder kann beispielsweise auch in ein Stoppschild integriert werden und dadurch ein automatisches Anhalten des Flurförderzeugs bei der Annäherung an das Stoppschild erzwingen. Durch derartige Steuereingriffe kann ein wichtiger Beitrag zur Verkehrssicherheit geleistet werden.In a further preferred embodiment of the method according to the invention, telegrams sent by the transmitting and receiving unit onto the data bus automatically act on the control of the industrial truck. In addition to the intended control of the transmitting and receiving unit via the data bus, another electronic unit of the industrial truck, which is connected to the data bus, can be controlled by the transmitting and receiving unit. For example, this makes it possible to stop the truck when approaching an equipped with a transponder obstacle without further interaction of the driver. A corresponding transponder can for example also be integrated into a stop sign and thereby force an automatic stop of the truck when approaching the stop sign. Such control measures can make an important contribution to traffic safety.

In einer bevorzugten Ausgestaltung wird die Fahrgeschwindigkeit in Abhängigkeit von von der Sende- und Empfangseinheit auf den Datenbus gesendeten Telegrammen begrenzt. Eine derartige automatische Begrenzung der Fahrgeschwindigkeit kann wiederum als Reaktion auf entsprechende Verkehrsschilder oder mögliche Gefahrensituationen erfolgen, oder auch zum Schutz besonders empfindlicher Transportgüter, die mit einem entsprechenden Transponder versehen sind.In a preferred embodiment, the driving speed is limited as a function of telegrams sent by the transmitting and receiving unit to the data bus. Such an automatic limitation of the driving speed can in turn be carried out in response to corresponding traffic signs or possible dangerous situations, or even for Protection of particularly sensitive goods, which are provided with a corresponding transponder.

Gemäß einer weiteren Ausgestaltung des Verfahrens wird die Höhe des Lasthaltemittels oder die maximale Hub- oder Senkgeschwindigkeit in Abhängigkeit von von der Sende- und Empfangseinheit auf den Datenbus gesendeten Telegrammen gesteuert. Dadurch kann der reibungslose Betrieb des Flurförderzeugs für den Fahrer erleichtert werden, beispielsweise indem die korrekte Höhe eines Lagerplatzes automatisch nach Maßgabe des an diesem Lagerplatz vorgesehenen Transponders angefahren wird. Eine Begrenzung der Hub- oder Senkgeschwindigkeit kann wiederum zum Schutz besonders empfindlicher Güter sinnvoll sein, oder ebenfalls ein präzises Anfahren bestimmter Lagerpositionen erleichtern.According to a further embodiment of the method, the height of the load holding means or the maximum lifting or lowering speed is controlled as a function of telegrams sent by the transmitting and receiving unit on the data bus. Thereby, the smooth operation of the truck for the driver can be facilitated, for example by the correct height of a storage space is automatically approached in accordance with the provided at this storage space transponder. A limitation of the lifting or lowering speed can in turn be useful for the protection of particularly sensitive goods, or also facilitate a precise approach certain storage positions.

Gemäß einer weiteren Ausgestaltung werden von der Sende- und Empfangseinheit auf den Datenbus gesendete Telegramme ausgewertet und darin enthaltene Daten auf dem Display eines Bordcomputers angezeigt, wobei der Bordcomputer mit dem Datenbus verbunden ist. Bei dieser Ausgestaltung des Verfahrens erlaubt die Verbindung der Sende- und Empfangseinheit mit dem Datenbus eine besonders einfache Anzeige der von der Sende- und Empfangseinheit ausgelesenen Daten eines Transponders, weil diese Daten dem Bordcomputer in Form von auf dem Datenbus vorhandenen Telegrammen unmittelbar für die Anzeige zur Verfügung stehen.According to a further embodiment, telegrams sent by the transmitting and receiving unit to the data bus are evaluated and data contained therein is displayed on the display of an on-board computer, the on-board computer being connected to the data bus. In this embodiment of the method, the connection of the transmitting and receiving unit to the data bus permits a particularly simple display of the data of a transponder read out by the transmitting and receiving unit, because this data belongs to the data carrier On-board computer in the form of existing on the data bus telegrams are directly available for display.

Die Erfindung wird nachfolgend anhand eines in zwei Zeichnungen dargestellten Ausführungsbeispiels näher erläutert.The invention will be explained in more detail with reference to an embodiment shown in two drawings.

Es zeigen:

Figur 1
eine schematische Darstellung der Verbindung der elektronischen Komponenten eines erfindungsgemäßen Flurförderzeugs,
Figur 2
eine Veranschaulichung des erfindungsgemäßen Verfahrens.
Show it:
FIG. 1
a schematic representation of the connection of the electronic components of a truck according to the invention,
FIG. 2
an illustration of the method according to the invention.

In der Figur 1 ist bei 10 ein Fahrzeug-Datenbus dargestellt. Es handelt sich dabei um einen CAN-Bus, über den sämtliche angeschlossenen elektronischen Einheiten schnell, einfach und sicher Daten miteinander austauschen können. Die Daten werden in Form von Telegrammen über den Datenbus gesendet.In the FIG. 1 at 10 a vehicle data bus is shown. It is a CAN bus that allows all connected electronic units to exchange data quickly, easily and securely. The data is sent in the form of telegrams via the data bus.

Bei dem erfindungsgemäßen Flurförderzeug ist eine RFID Sende- und Empfangseinheit 12 mit einer geeigneten Schnittstelle 13 versehen, und diese direkt an den Fahrzeug-Datenbus 10 angeschlossen. Die RFID Sende- und Empfangseinheit 12 umfaßt eine nicht dargestellte Antenne. Weiterhin ist im dargestellten Ausführungsbeispiel eine RFID Auswerteeinheit 14 als separates Modul an den Fahrzeug-Datenbus 10 angeschlossen.In the truck according to the invention an RFID transmitting and receiving unit 12 is provided with a suitable interface 13, and connected directly to the vehicle data bus 10. The RFID transmitting and receiving unit 12 includes an antenna, not shown. Furthermore, in the illustrated embodiment, an RFID evaluation unit 14 connected as a separate module to the vehicle data bus 10.

Die RFID Sende- und Empfangseinheit 12 setzt die von einem Transponder empfangenen Signale in ein Telegramm um und sendet dieses über den Fahrzeug-Datenbus 10 an die RFID Auswerteeinheit 14. Die RFID Auswerteeinheit 14 empfängt das Telegramm und wertet die darin enthaltenen, von dem Transponder empfangenen Signale aus. Die Auswertung umfaßt insbesondere eine Decodierung. Anschließend sendet die RFID Auswerteeinheit 14 ein weiteres Telegramm auf den Datenbus 10, welches die von dem Transponder empfangenen Daten in einer aufbereiteten Form enthält. Diese Daten sind grundsätzlich für alle an den Datenbus 10 angeschlossenen Einheiten verfügbar. Dazu gehören z. B. die Hubsteuerung 24, die Fahrsteuerung 26 sowie der Bordcomputer 20 (Bordcomputer/Display). Die genannten Einheiten können direkt auf die in dem Telegramm enthaltenen Daten des Transponders zugreifen. Alternativ kann auch eine zentrale Steuereinheit 16 (Master) die Telegramme lesen und weitere Telegramme auf den Datenbus absetzen, die einer Steuerung anderer an den Datenbus angeschlossenen Einheiten dienen.The RFID transmitting and receiving unit 12 converts the signals received from a transponder into a telegram and transmits this via the vehicle data bus 10 to the RFID evaluation unit 14. The RFID evaluation unit 14 receives the telegram and evaluates the information contained therein received from the transponder Signals off. The evaluation includes in particular a decoding. Subsequently, the RFID evaluation unit 14 sends another telegram to the data bus 10, which contains the data received from the transponder in a processed form. These data are basically available to all units connected to the data bus 10. These include z. As the stroke control 24, the travel control 26 and the on-board computer 20 (on-board computer / display). The units mentioned can directly access the data of the transponder contained in the telegram. Alternatively, a central control unit 16 (master) can read the telegrams and set down further telegrams on the data bus which serve to control other units connected to the data bus.

Zu Anzeigezwecken können von der RFID Sende- und Empfangseinheit 12 oder der RFID Auswerteeinheit 14 gesendete Telegramme auch von einem Bordcomputer 20 (Bordcomputer/Display) gelesen und unmittelbar angezeigt werden.For display purposes, telegrams sent by the RFID transmitting and receiving unit 12 or the RFID evaluation unit 14 may also be transmitted by a On-board computer 20 (on-board computer / display) read and displayed immediately.

Weiterhin ist an den Datenbus 10 ein 10-Modul 18 angeschlossen, welches im vorliegenden Ausführungsbeispiel mit einer Lastsensierung, die an dem Lasthaltemittel vorgesehen ist, zusammenwirkt. Ein von der nicht dargestellten Lastsensierung gemessener Belastungszustand wird mit Hilfe des IO-Moduls 18 in ein entsprechendes Telegramm umgewandelt und auf den Datenbus gesendet. Der von dem 10-Modul 18 gemeldete Belastungszustand, genauer das entsprechende Telegramm, kann von der zentralen Steuereinheit 16 empfangen und ausgewertet werden. Stellt die zentrale Steuereinheit 16 dabei eine Änderung des Belastungszustand fest, kann diese ein weiteres Telegramm auf den Datenbus senden, welches einen Aktivierungsbefehl für die RFID Sende- und Empfangseinheit 12 beinhaltet.Furthermore, a 10-module 18 is connected to the data bus 10, which cooperates in the present embodiment with a load sensing, which is provided on the load-holding means. A load condition measured by the load sensor, not shown, is converted into a corresponding telegram with the aid of the IO module 18 and sent to the data bus. The load state reported by the 10 module 18, more precisely the corresponding telegram, can be received and evaluated by the central control unit 16. If the central control unit 16 detects a change in the load state, it can send another telegram to the data bus, which contains an activation command for the RFID transmitting and receiving unit 12.

Weiterhin ist eine WLAN-Einheit 22 an den Fahrzeug-Datenbus 10 angeschlossen. Diese WLAN-Einheit erlaubt eine Integration des Flurförderzeugs in ein bestehendes WLAN-Funknetz. Gegebenenfalls können über dieses Funknetz auch die von einem Transponder ausgelesenen Daten gesendet werden.Furthermore, a WLAN unit 22 is connected to the vehicle data bus 10. This WLAN unit allows integration of the truck in an existing wireless network. If appropriate, the data read out by a transponder can also be transmitted via this radio network.

Das erfindungsgemäße Verfahren wird anhand der Figur 2 näher erläutert. In Figur 2 ist ein Flurförderzeug 30 angedeutet, das mit einer RFID Sende- und Empfangseinheit 32 ausgestattet ist, die einschließlich ihrer Antenne in der Nähe des Lasthaltemittels 34 angeordnet ist. Erfindungsgemäß ist die RFID Sende- und Empfangseinheit mit dem Datenbus des Flurförderzeugs verbunden.The inventive method is based on the FIG. 2 explained in more detail. In FIG. 2 an industrial truck 30 is indicated, which is equipped with an RFID transmitting and receiving unit 32, which is arranged including its antenna in the vicinity of the load holding means 34. According to the invention, the RFID transmitting and receiving unit is connected to the data bus of the industrial truck.

Im Betrieb des Flurförderzeugs wird die Sende- und Empfangseinheit 32 in Abhängigkeit von der Fahrgeschwindigkeit aktiviert und deaktiviert. Wird eine erste Fahrgeschwindigkeit unterschritten, wird die Sende- und Empfangseinheit 32 aktiviert. Dadurch können in der Nähe der Sende- und Empfangseinheit befindliche Transponder aktiviert und ausgelesen werden. Diese befinden sich beispielsweise an zu transportierenden Waren, oder auch an einem Hochregal 36, genauer an jedem der Lagerplätze des Hochregals. Ein Transponder befindet sich beispielsweise bei 38 im untersten rechten Fach des Hochregals 36. Wenn die Fahrgeschwindigkeit des Flurförderzeugs 30 beim Anfahren dieses Lagerplatzes unter eine erste Geschwindigkeit sinkt, wird die Sende- und Empfangseinheit 32 aktiviert und die in dem Transponder 38 gespeicherten Daten werden ausgelesen. Wenn sich z.B. nach Aufnahme einer Ladung aus dem betreffenden Lagerplatz das Flurförderzeug 30 wieder von dem Regal 36 entfernt und die Fahrgeschwindigkeit dabei eine zweite Geschwindigkeit überschreitet, wird die Sende- und Empfangseinheit 32 wieder deaktiviert. Auf diese Weise wird ein unnötiger Sendebetrieb vermieden, gegebenenfalls kann der Funkkanal der Sende- und Empfangseinheit 32 während dieser Zeit anderweitig genutzt werden.During operation of the truck, the transmitting and receiving unit 32 is activated and deactivated as a function of the driving speed. If a first driving speed is exceeded, the transmitting and receiving unit 32 is activated. As a result, located in the vicinity of the transmitting and receiving unit located transponder can be activated and read. These are, for example, to be transported goods, or even at a high bay 36, more precisely at each of the storage bins of the high bay. A transponder is located, for example, at 38 in the lowermost right compartment of the high rack 36. If the driving speed of the truck 30 when starting this storage space drops below a first speed, the transmitting and receiving unit 32 is activated and the data stored in the transponder 38 are read. If, for example, after picking up a load from the respective storage bin, the truck 30 again away from the shelf 36 and the driving speed exceeds a second speed, the transmitting and receiving unit 32 is deactivated again. In this way, an unnecessary transmission mode is avoided, if necessary the radio channel of the transmitting and receiving unit 32 are otherwise used during this time.

Ebenfalls in der Figur 2 angedeutet ist ein mit einem RFID Transponder 42 ausgerüstetes Warnschild 40. Gelangt die Sende- und Empfangseinheit 32 des Flurförderzeugs 30 in den Sendebereich des Warnschildes 40, werden die Daten des Transponders 42 über den Datenbus des Flurförderzeugs 30 verfügbar gemacht. Daraufhin begrenzt die elektronische Steuerung des Flurförderzeugs automatisch die maximal mögliche FahrgeschwindigkeitAlso in the FIG. 2 indicated is a equipped with an RFID transponder 42 warning sign 40. If the transmitting and receiving unit 32 of the truck 30 in the transmission range of the warning sign 40, the data of the transponder 42 are made available via the data bus of the truck 30. Thereupon the electronic control of the truck automatically limits the maximum possible driving speed

Claims (14)

  1. An industrial truck (30) with a data bus (10), to which several electronic units (20, 26, 27) of the industrial truck are connected which send or receive telegrams via the data bus, and with a sending and receiving unit (12) which can acquire data of a transponder present in the sending and receiving range of the sending and receiving unit, characterised in that the sending and receiving unit is connected to the data bus and analyses telegrams sent via the data bus and/or sends telegrams to the data bus for the several electronic units, wherein the sending and receiving unit comprises a control module which analyses telegrams sent via the data bus and which controls the sending and receiving unit in accordance to the telegrams sent via the data bus and which activates and deactivates, wherein the controlling of the sending and receiving unit comprises an adjustment of the transmitting power.
  2. An industrial truck according to claim 1, characterised in that the sending and receiving unit has an interface for direct connection with the data bus.
  3. An industrial truck according to claim 1 or 2, characterised in that an analysing unit (14) is provided, which analyses signals from the transponder received by the sending and receiving unit, and which is connected to the data bus.
  4. An industrial truck according to any one of claims 1 to 3, characterised in that the sending and receiving unit is a RFID sending and receiving unit.
  5. An industrial truck according to any one of claims 1 to 4, characterised in that a load sensing system, which measures the loading condition of the load holding means, is connected to the data bus.
  6. A method to operate an industrial truck according to any one of claims 1 to 5, wherein the sending and receiving unit is controlled in accordance with telegrams sent via the data bus.
  7. A method according to claim 6, wherein the sending and receiving unit is activated and deactivated in accordance with telegrams sent via the data bus.
  8. A method according to claim 6 or 7, wherein the sending and receiving unit is activated upon falling below a first travelling speed and deactivated upon exceeding a second travelling speed, wherein the first travelling speed is smaller than or equal to the second travelling speed.
  9. A method according to any one of claims 6 to 8, wherein the sending and receiving unit is activated and deactivated depending on the position of the lifting mast or of the load holding means.
  10. A method according to any one of claims 6 to 9, wherein the sending and receiving unit is activated and deactivated depending on a loading condition of the load holding means which is acquired by a load sensing system.
  11. A method according to any one of claims 6 to 10, wherein telegrams sent to the data bus by the sending and receiving unit act automatically upon the control system of the industrial truck.
  12. A method according to claim 11, wherein the travelling speed is limited depending on telegrams sent to the data bus by the sending and receiving unit.
  13. A method according to claim 11 or 12, wherein the height of the load holding means or the maximum lifting or lowering speed is controlled depending on telegrams sent to the data bus by the sending and receiving unit.
  14. A method according to any one of claims 6 to 13, wherein telegrams sent to the data bus by the sending and receiving unit are analysed and data contained therein are displayed on the display of an on-board computer (20), the on-board computer being connected to the data bus.
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CN101045517A (en) 2007-10-03
DE102006014450A1 (en) 2007-10-04
US20070233304A1 (en) 2007-10-04
EP1840078A1 (en) 2007-10-03
CN101045517B (en) 2012-11-21

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