EP2008961B1 - Steuereinheit, Verfahren und Computerprogrammprodukt zur Steuerung eines Hebemechanismus - Google Patents

Steuereinheit, Verfahren und Computerprogrammprodukt zur Steuerung eines Hebemechanismus Download PDF

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Publication number
EP2008961B1
EP2008961B1 EP07111422A EP07111422A EP2008961B1 EP 2008961 B1 EP2008961 B1 EP 2008961B1 EP 07111422 A EP07111422 A EP 07111422A EP 07111422 A EP07111422 A EP 07111422A EP 2008961 B1 EP2008961 B1 EP 2008961B1
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EP
European Patent Office
Prior art keywords
lift mechanism
control unit
input element
industrial truck
mode
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EP07111422A
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English (en)
French (fr)
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EP2008961A1 (de
Inventor
Martin Söderlund
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.)
Toyota Material Handling Manufacturing Sweden AB
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BT Products AB
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Publication date
Application filed by BT Products AB filed Critical BT Products AB
Priority to EP07111422A priority Critical patent/EP2008961B1/de
Priority to PCT/EP2008/057556 priority patent/WO2009003833A1/en
Publication of EP2008961A1 publication Critical patent/EP2008961A1/de
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Publication of EP2008961B1 publication Critical patent/EP2008961B1/de
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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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Definitions

  • the invention relates to a method, computer program product and a system for operating a lift mechanism. Specifically, the invention relates to control the velocity of the lift mechanism.
  • the trucks are in general manually manoeuvred in travel speed as well as in controlling the lift mechanism using analogue controls that enables the operator to adjust the speed of the different mechanisms.
  • the lift mechanism of a truck is manoeuvred using the analogues control, for example, using full throttle when moving an unloaded fork lift between a lowest position to a position in proximity of a retrieving position, that is, the position where to position the forks in under the pallet and lift it up.
  • the controls are manoeuvred gently up/down to position the fork in the accurate position.
  • the analogue controls are expensive to implement into the trucks and are rather sensitive and have a tendency to break down.
  • EP 1 724 235 describes a controller provided in an industrial vehicle driven by a single engine.
  • the engine is used for both travel and lifting operation.
  • the engine drives the industrial vehicle forward through a torque converter and it also drives the hydraulic pump for the lifting mechanism.
  • the controller is able to detect whether the vehicle is moving and lifting or standing still and lifting. Based on this, the controller sets different speeds of the engine, i:e if the vehicle is standing still the lift engine is controlled based on several parameters, to have a second engine speed upper limit which is higher than the first engine speed upper limit.
  • US 5 890 086 relates to a control system for a material handling vehicle.
  • the control system comprises display and steering modules.
  • the display and steering modules are configurable by software which controls the modules and various drivers in each module.
  • JP 2006055053 relates to an agricultural machine, which is controlled with a remote control that allows double clicking on certain buttons of the remote control for controlling of the machine.
  • the remote control has dedicated buttons for each function of the agricultural machine.
  • the invention relates to an industrial truck, a method and a computer program product for controlling a lift mechanism according to claims 1, 6 and 8.
  • the invention relates to an industrial truck comprising a control unit for controlling a lift mechanism of an industrial truck arranged to receive an indication from an operator of the industrial truck.
  • the control unit is further arranged to analyse the indication and to determine one of at least two modes of operation of the industrial truck based on the indication.
  • the at least two modes are a first normal mode and a second slow mode, arranged to run the lift mechanism at two different velocities.
  • the control unit is arranged to generate and transmit a control command indicating the determined mode, which is arranged to determine a mode of operation when the indication is a double click operation of an input element of the industrial truck.
  • the control unit is arranged to detect that a digital on/off input element of an human machine interface of the industrial truck has been double clicked by determining that a time interval between the release of the digital on/off input element and the reactivation of the digital on/off input element is within a predetermined time interval, wherein normal mode is achieved by pressing and holding down the input element, and said slow mode is achieved by said double clicking operation of the input element.
  • the industrial truck comprises a lift mechanism control unit, wherein the digital on/off input element is arranged to generate and send an operator signal to the main control unit when activated and the main control unit is arranged to receive the operator signal from the digital on/off input element and in response to the operator signal generate and transmit a control command to the lift mechanism control unit.
  • the lift mechanism control unit is arranged to receive the control command and based on the control command send out a control signal to the lift mechanism controlling the lift mechanism, wherein a lowering/lifting/laterally moving operation of the lift mechanism is run in first normal mode or a second slow mode based on the operator signal.
  • the lift mechanism control unit is generating a power feed at a first power level at the first normal mode and a second lower power level at the second slow mode.
  • the lift mechanism control unit is a pump motor controller unit and/or a valve control unit.
  • the lift mechanism comprises a pump motor and a valve controlled by the lift mechanism control unit.
  • the invention further relates to a method for controlling a lift mechanism of the industrial truck, wherein the velocity of the lift mechanism can be run in a first normal mode or a second slow mode.
  • the method comprises the steps of indicating that the lift mechanism should be run in the second slow mode by using a digital on/off input element of a human machine interface of the industrial truck, controlling an output of a lift mechanism control unit of the lift mechanism using a control command of a main control unit, said control command being based on the indication received from the human machine interface, and running the lift mechanism using the output from the lift mechanism control unit, thereby running the lift mechanism at a slow predetermined velocity, wherein indication of running the lift mechanism in a second slow mode is a double click operation of the digital on/off input element.
  • the lift mechanism control unit controls a pump motor, a valve, or a combination thereof.
  • the invention further relates to a computer program product for controlling a lift mechanism of an industrial truck, wherein the lift mechanism can be run in a first normal mode at a first velocity or a second slow mode at a second slower velocity based on an indication from an operator, said computer program product is arranged, when executed on a main control unit of an industrial truck according to what is stated above, to execute a method comprising the steps of: receiving a signal from the digital on/off input element operated by the operator; determining what mode is indicated based on the signal from the digital on/off input element, transmitting a command signal indicating determined mode to the lift mechanism control unit of the control system.
  • the invention provides a control for a lift mechanism that is cost efficient as well as facilitates the operation of the lift mechanism.
  • the truck comprises a digital on/off input element of a human machine interface (HMI) 10 which is operated by an operator 5 of the truck.
  • the interface may be an operator panel or the like (see figure 2 ).
  • the truck further comprises a main control unit 20, such as a CPU or the like, arranged to receive an operator signal from the HMI 10 and to send a control command to a lift mechanism control unit 30,40, which is controlling a lift mechanism component 53, 55, for example by feeding an electrical current to the lift mechanism.
  • the lift mechanism is a hydraulic system, however, any type of lift mechanism may be used, such as electromechanical, pneumatic or the like.
  • the lift components of the system may be an electric motor running a pump of a hydraulic system, a valve controlling the lowering (or lifting) of the lift mechanism or the like.
  • a function is implemented into the control system of the industrial truck.
  • the function enables the operator to indicate and set the operation of the lift mechanism in a normal mode and a slow mode. That is, the main control unit detects that the operator has indicated a mode change and sends a control message over a network, such as a CAN-network, to the lift mechanism control unit indicating that the lift mechanism control unit should be set in, for example, the slow mode resulting in that the lift mechanism control unit is feeding a lower power to lift mechanism components slowing down the lifting /lowering/laterally movement of the lift to a predetermined velocity level lower than the velocity level of the normal mode.
  • a network such as a CAN-network
  • the operator indicates that the lift mechanism of the truck should be run in a slow mode.
  • this is indicated by double clicking the digital indicator of the HMI 10.
  • this may be indicated by pressing a turtle button, that is, a button that indicates when a truck should be run in a slow mode.
  • the double click function is used, which is a function that is cost efficient and easy to use/implement by merely implementing program code into the main control unit.
  • the operator 5 of the industrial truck indicates a slow mode lifting operation, for example, by double clicking an input element.
  • the input element of the interface 10 sends a signal to the main control unit 20 each time it is pressed down.
  • the indication of slow mode operation is detected by the main control unit 20, that is, the main control unit 20 detects that a double click operation has been performed by using a timer function in the main control unit.
  • the main control unit 20 detects that the digital input element is pressed down indicating that the lift mechanism should be raised in a normal mode.
  • the main control unit 20 detects that a double click operation has been performed, that is, the main control unit 20 measures/detects/determines the time interval between the release of the digital input element and when the digital input element is pressed down again and compares to a predetermined interval.
  • the time interval set to detect a double click may be set at the manufacturing of an industrial truck as well as adjustable by the operator.
  • the main control unit 20 may be separated from the human machine interface 10 just as it may be a part of a same unit as indicated by the dashed lines.
  • the main control unit 20 sends a control command to the lift mechanism control unit, in the example a pump motor controller unit 30, indicating for example, a predetermined percentage of the normal speed that should be used as the operator has indicated that the slow mode should be used.
  • the pump motor controller unit 30 When the pump motor controller unit 30 receives the control command, such as a packet/message indicating over a CAN network, indicating a slow mode (for example, a percentage of the normal speed) the pump motor controller unit 30 feeds a pump motor 53 of the hydraulic system 50 with a predetermined power at a level generating a low rotation speed (the indicated percentage) of the pump motor 53.
  • the low rotation speed is lower than upper rotation speed of the normal mode.
  • the level of power generating normal/slow velocity may be pre set at the manufacturing of the industrial truck or adjustable by the operator under settings of the control program or the like.
  • the slow lift mode can also be realized through by controlling valves affecting the pump flow, such as a valve which opens to lead a part of the pump flow to a reservoir instead of to the lift cylinder.
  • This valve can be a dedicated valve or a valve also used to control the lowering movement.
  • the lift mechanism control unit 30, 40 would in this case receive a command/s to open up the dedicated valve/or lowering valve to a certain level or any combination of a reduced speed of the pump motor and an amount of open valve.
  • the main control unit 20 sends a control command to a valve control unit 40 that slow mode of the lift mechanism is indicated and the valve control unit 40 sends a signal opening a valve 55 of the hydraulic system 50 a predetermined amount in order to lower the lift mechanism in slow mode.
  • the signal may be a current or the like based on the type of valve used.
  • pump motor controller unit 30 and the valve control unit 40 may be separate units or a one piece unit as indicated by the dashed lines.
  • the control command may be generated at a traction motor control unit or a main control unit.
  • FIG 2 a schematic overview of a human machine interface (HMI) 10 is shown.
  • the HMI 10 comprises a lifting input element 12 and lowering input element 14.
  • an operator of the HMI 10 indicates a slow mode of the lift mechanism by double clicking the lifting input element 12 or the lowering input element 14.
  • the slow mode may be indicated by pressing a separate slow button setting the lift mechanism in a slow mode (illustrated as a dashed line button 19) as well as a motor driving a traction wheel on the ground.
  • the HMI 10 further comprises two steering handle grips 15, 16 to facilitate the steering of the truck when operating the truck.
  • a visual indication arranged on the human machine interface that the lift mechanism is set in a slow mode is used to visually indicate to the operator the mode of the lift mechanism, such as illumination of input elements in a certain colour, a symbol of a display is activated or the like.
  • FIG 3 a schematic diagram of an operation of a control system is shown.
  • the lift mechanism is initially run in a normal lift mode, for example, by pressing and holding down the lifting input element 12 of figure 2 . This results in that the lift mechanism is raised at a preset maximum velocity v(liftmax). Then, when the operator releases the lifting input element 12 and depresses the lifting input element 12 the lift velocity of the lift mechanism is lowered to a predetermined lower level v(liftslow). It should be noted that the velocity will not drop instantaneously but rather as indicated by the dashed line.
  • FIG 4 a schematic block diagram of a method of operating a lift mechanism into a slow mode is shown.
  • an operator of an industrial truck such as a pallet stacker, order picker truck or the like, indicates by, for example, double clicking an input element, such as the lowering input element 14 in figure 2 , that the lift mechanism should be run in a slow mode. This may be the case, as stated above, when a pallet loaded with fragile material is carried by the forks or like of the lift mechanism and is to be set down onto the ground or the like.
  • a main control unit detects that a double click has been performed by receiving a signal set to "one” from the digital on/off input element followed by a "zero” (no signal) and again a signal set to "one” within a predetermined time set in logic arranged in the main control unit.
  • the signal scheme may be arranged the other way around, that is, generating a logic true signal (a "one” signal) when the input element is not activated and a logic false signal (a "zero” signal) when the input element is activated.
  • step 84 the main control unit sends a control command to a mechanism lift mechanism control unit indicating a certain output from a mechanism lift mechanism control unit.
  • the main control unit sends a message to a valve control unit that the lowering mechanism should be set to a slow mode. If the operator would want to perform a lifting operation the message would be sent to a pump motor controller unit or a valve control unit as stated above.
  • step 85 the lift mechanism control unit receives the control command and thereby changes its settings of its output to the lift mechanism.
  • the valve control unit may receive a command that indicates a 50 percent opening of the valve.
  • the lift mechanism control unit controls the lift mechanism by sending a main control signal to the lift mechanism.
  • the valve control unit may transmit a current to a proportional valve opening the proportional valve a smaller distance than in the normal mode.
  • the lift mechanism control unit is a variable speed unit and changes between the normal mode and the slow mode by ramping.
  • step 87 the lift mechanism will run based on the output of the lift mechanism control unit-. For example, the fluid from a lift cylinder is slowly let through the proportional valve and the lift will descend slowly.
  • a lift mechanism moves in a vertical direction.
  • the lift mechanism may also move in a horizontal direction and the slow mode function according to the present invention may in an embodiment be implemented moving the lift mechanism in the horizontal direction.
  • the movement of the lift mechanism is controlled by a double acting hydraulic cylinder.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (8)

  1. Flurförderer mit einer Steuereinheit (20) zum Steuern eines Hebemechanismus für einen Flurförderer, die dazu ausgebildet ist, eine Meldung von einem Bediener des Flurförderer zu empfangen, wobei die Steuereinheit (20) ferner dazu ausgebildet ist, die Meldung auszuwerten und auf Basis der Meldung einen vom mindestens zwei Betriebsmodi des Flurförderer zu bestimmen, dadurch gekennzeichnet, dass die mindestens zwei Modi ein erster Normalmodus und ein zweiter, langsamer Modus sind, die dazu ausgebildet sind, den Hebemechanismus bei zwei unterschiedlichen Geschwindigkeiten zu betreiben, und die Steuereinheit (20) dazu ausgebildet ist, einen Steuerbefehl, der den bestimmten Modus angibt, zu erzeugen und zu übertragen, der dazu ausgebildet ist, einen Betriebsmodus zu bestimmen, wenn die Meldung eine Doppelklickbedienung eines Eingabeelements (12, 14) des Flurförderers ist, wobei die Steuereinheit dazu ausgebildet ist, durch Ermittlung, dass ein Zeitintervall zwischen dem Freigeben des digitalen An/Aus-Eingabeelements (12, 14) und dem Reaktivieren des digitalen An/Aus-Eingabeelements (12, 14) innerhalb eines vorgegebenen Zeitintervalls liegt, festzustellen, dass ein digitales An/Aus-Eingabeelement (12, 14) einer Mensch-Maschine-Schnittstelle (10) des Flurförderers doppelgeklickt worden ist, wobei der Normalmodus erreicht wird, indem das Eingabeelement (12, 14) gedrückt und nach unten gehalten, und der langsame Modus durch die Doppelklickbedienung des Eingabeelements (12, 14) erreicht wird.
  2. Flurförderer nach Anspruch 1, der eine Hebemechanismussteuereinheit (30, 40) aufweist, bei der das digitale An/Aus-Eingabeelement dazu ausgebildet ist, wenn aktiviert, ein Bedienungssignal zu erzeugen und an die Hauptsteuereinheit (20) zu senden, und die Hauptsteuereinheit (20) dazu ausgebildet ist, das Bedienungssignal von dem digitalen An/Aus-Eingabeelement zu empfangen und als Antwort auf das Bedienungssignal einen Steuerbefehl zu erzeugen und an die Hebemechanismussteuereinheit (30, 40) zu übertragen, wobei die Hebemechanismussteuereinheit (30, 40) dazu ausgebildet ist, den Steuerbefehl zu empfangen und auf Basis des Steuerbefehls ein Steuersignal an den Hebemechanismus zu senden, das den Hebemechanismus steuert, wobei auf Basis des Bedienungssignals der Senk-/Hub- /seitliche Bewegungs-Betrieb des Hebemechanismus im ersten Normalmodus oder einem zweiten, langsamem Modus ausgeführt wird.
  3. Flurförderer nach Anspruch 2, bei dem die Hebemechanismussteuereinheit (30, 40) in dem ersten Normalmodus eine Stromzuführung bei einem ersten Leistungspegel und bei dem zweiten, langsamen Modus einen zweiten, niedrigeren Leistungspegel erzeugt.
  4. Flurförderer nach einem der Ansprüche 2 oder 3, bei dem die Hebemechanismussteuereinheit eine Pumpenmotor-Steuereinheit (30) und/oder eine Ventilsteuereinheit (40) ist.
  5. Flurförderer nach einem der Ansprüche 2-4, bei dem der Hebemechanismus einen Pumpenmotor (53) und ein Ventil (55) aufweist, die mit der Hebemechanismus Steuereinheit gesteuert werden.
  6. Verfahren zum Steuern eines Hebemechanismus eines Flurförderers nach einem der Ansprüche 1-5, bei dem die Geschwindigkeit des Hebemechanismus in einem ersten Normalmodus oder einem zweiten, langsamen Modus betrieben werden kann, welches die Schritte aufweist:
    - Angeben, dass der Hebemechanismus in dem zweiten, langsamen Modus betrieben werden soll, unter Verwendung eines digitalen An/Aus-Eingabeelements einer Mensch-Maschine-Schnittstelle (10) des Flurförderers,
    - Steuern einer Ausgabe einer Hebemechanismussteuereinheit (30, 40) des Hebemechanismus unter Verwendung eines Steuerbefehls einer Hauptsteuereinheit (20), wobei der Steuerbefehl auf der von der Mensch-Maschine-Schnittstelle empfangenen Meldung basiert ist, und
    - Betreiben des Hebemechanismus unter Verwendung der Ausgabe von der Hebemechanismussteuereinheit, und dabei Betreiben des Hebemechanismus bei einer langsamen vorgegebenen Geschwindigkeit,
    wobei eine Angabe zum Betreiben des Hebemechanismus in einem zweiten, langsamen Modus eine Doppelklickbedienung des digitalen An/Aus-Eingabeelements ist.
  7. Verfahren nach Anspruch 6, bei dem die Hebemechanismussteuereinheit (30, 40) einen Pumpenmotor, ein Ventil, oder eine Kombination davon steuert.
  8. Computerprogrammprodukt zum Steuern eines Hebemechanismus eines Flurförderers, bei dem der Hebemechanismus auf Basis einer Meldung eines Bedieners in einem ersten Normalmodus mit einer ersten Geschwindigkeit oder in einem zweiten, langsamen Modus mit einer niedrigeren Geschwindigkeit betrieben werden kann, wobei das Computerprogrammprodukt dazu ausgebildet ist, bei Ausführung auf einer Steuereinheit eines Flurförderers nach einem der Ansprüche 1-5, ein Verfahren auszuführen, das die Schritte aufweist:
    - Empfangen eines Signals von dem digitalen An/Aus-Eingabeelements (12, 14), das durch den Bediener bedient wird;
    - Ermitteln, welcher Modus angegeben wird, auf Basis des Signals von dem digitalen An/Aus-Eingabeelement,
    - Übermitteln eines Steuersignals, das den ermittelten Modus angibt, an die Hebemechanismussteuereinheit des Steuersystems.
EP07111422A 2007-06-29 2007-06-29 Steuereinheit, Verfahren und Computerprogrammprodukt zur Steuerung eines Hebemechanismus Active EP2008961B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07111422A EP2008961B1 (de) 2007-06-29 2007-06-29 Steuereinheit, Verfahren und Computerprogrammprodukt zur Steuerung eines Hebemechanismus
PCT/EP2008/057556 WO2009003833A1 (en) 2007-06-29 2008-06-16 Control unit, method and computer program product for controlling a lift mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07111422A EP2008961B1 (de) 2007-06-29 2007-06-29 Steuereinheit, Verfahren und Computerprogrammprodukt zur Steuerung eines Hebemechanismus

Publications (2)

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EP2008961A1 EP2008961A1 (de) 2008-12-31
EP2008961B1 true EP2008961B1 (de) 2013-03-27

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Publication number Priority date Publication date Assignee Title
SE0950396A1 (sv) * 2009-06-02 2010-09-21 Bt Products Ab Styrenhet, metod och datorprogram för styrning av en truck
DE102014113555A1 (de) 2014-09-19 2016-03-24 Jungheinrich Ag Verfahren zur Steuerung des Lastteils eines Flurförderzeugs
FR3030470B1 (fr) * 2014-12-17 2017-01-13 Manitou Bf Procede de conduite d'un dispositif de manutention a timon orientable et dispositif de manutention correspondant
US11081658B2 (en) 2016-10-03 2021-08-03 Universal Display Corporation Organic electroluminescent materials and devices

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Publication number Priority date Publication date Assignee Title
US5201629A (en) * 1991-04-09 1993-04-13 Clark Material Handling Company Container transporter
US5687081A (en) 1994-12-30 1997-11-11 Crown Equipment Corporation Lift truck control system
JP2001316096A (ja) * 2000-02-28 2001-11-13 Toyota Industries Corp 産業車両の油圧装置
DE10015009B4 (de) * 2000-03-20 2006-02-23 Jungheinrich Ag Flurförderzeug mit einem Anzeige-, Steuerungs- und Überwachungssystem
JP4412480B2 (ja) 2004-08-19 2010-02-10 井関農機株式会社 コンバイン
JP4835040B2 (ja) 2005-05-20 2011-12-14 株式会社豊田自動織機 産業車両の制御装置、産業車両、及び産業車両の制御方法

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EP2008961A1 (de) 2008-12-31

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