EP3263511A1 - Procédé de commande d'un chariot de manutention - Google Patents

Procédé de commande d'un chariot de manutention Download PDF

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Publication number
EP3263511A1
EP3263511A1 EP17174238.0A EP17174238A EP3263511A1 EP 3263511 A1 EP3263511 A1 EP 3263511A1 EP 17174238 A EP17174238 A EP 17174238A EP 3263511 A1 EP3263511 A1 EP 3263511A1
Authority
EP
European Patent Office
Prior art keywords
work
truck
lifting
indication value
determining
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.)
Granted
Application number
EP17174238.0A
Other languages
German (de)
English (en)
Other versions
EP3263511B1 (fr
Inventor
Matthias Haunold
Dr. Stefan Habenicht
Frank Lidle
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.)
Linde Material Handling GmbH
Original Assignee
Linde Material Handling 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 Linde Material Handling GmbH filed Critical Linde Material Handling GmbH
Publication of EP3263511A1 publication Critical patent/EP3263511A1/fr
Application granted granted Critical
Publication of EP3263511B1 publication Critical patent/EP3263511B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • 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

  • the invention relates to a method for controlling an industrial truck.
  • the invention relates to a method for determining an indication value for the efficiency of an industrial truck, wherein the truck has detection means for determining a lifting height of a lifting device, detecting means for determining a load weight and detecting means for determining the acceleration and / or speed and / or traveled distance of the truck , and by an acquisition computer, the indication value is determined.
  • an indication value makes it possible to judge the performance of different industrial trucks more objectively in comparison. This can be a parameter among others for the selection of the most suitable for a purpose truck. It can also be determined on the basis of such an indication value whether an even further optimized use of the industrial truck is possible, for example with regard to the area of use within a company premises and / or operating times.
  • the time period is determined by a clock in which, for example, activated a main switch of the truck or about an internal combustion engine is in operation.
  • a disadvantage of this prior art assessment based on the energy requirement per hour of operation is that this unit of measurement does not reflect the actual work done.
  • the energy consumption per hour can be very favorable if the truck is operated for one hour of operation at idle, without doing any effective work at all.
  • the value is very high if the truck is permanently operated at its performance limits. In practice, therefore, there are sometimes significant deviations between the values determined by normalized cycles, which are specified in data sheets. and the values actually occurring in practice.
  • the present invention has for its object to provide a method for determining an indication value for the efficiency of a truck, which avoids the aforementioned disadvantages and with the efficiency of the use and the use of the truck can be better detected and evaluated.
  • the object is achieved in that in a method for determining an indication value for the efficiency of an industrial truck, wherein the truck detection means for determining a lifting height of a lifting device, detecting means for determining a load weight and detecting means for determining the acceleration and / or speed and / or Having covered driving distance of the truck, and is determined by a detection computer, the indication value, the acquisition calculator determines the indication value of the sum of a lifting and a transport work over a measurement period, the lifting corresponds to the product of load and lifted lifting height and the transport work for the Movement of the load weight required energy corresponds.
  • this automatically takes account of the actual loads on the industrial truck and results in statistical average over a large number of measurement periods or a long measurement period realistic and easily comparable values for the performance of the truck.
  • the load weight is taken into account in the sense of a weight of an absorbed load alone, since only the work performed by the movement of the load is a net power which directly influences the handling capacity of the industrial truck. It is thus considered as relevant the energy that is delivered to the load weight to move this.
  • time intervals for example, different values can be used, such as a working shift, a day, a month or other cycles. It is also possible to provide an option by which an operator, for example a driver, can reset the time interval. For example, it may be provided that the beginning and the end of a time interval are determined by an operator. This allows a certain desired duty cycle to be selected and recorded for the indication value.
  • the lifting work consists essentially of the energy to be expended to increase a load in its potential energy, thus to raise, for example, according to the formula m * g * h with the load weight m, the gravitational acceleration g and the sum of all positive strokes h. While regeneration or recovery of energy may be considered when dumping a load, the main workload involved is the lifting work. In this case, the accuracy of the detection of the lifting work can be further increased if the acceleration resistance is taken into account and thus the different energy to be expended if a rapid or slow acceleration occurs at the beginning of the lifting movement. Likewise, a consideration of the different resistances occur during fast strokes or slow stroke movement.
  • the transport work comprises the sum of the kinetic energy gained in the measurement period.
  • the transport work contains the sum of all positively gained kinetic energies, for example, when accelerating twice to a velocity V1 and V2 from rest and decelerating between them to the state the kinetic energy corresponding to those velocities which must be applied to the load weight corresponding to m * v 2/2.
  • the transport work may include the acceleration work done in the measurement period.
  • the transport work comprises the work required to overcome a rolling resistance related to the load weight.
  • the quadratic air resistance is negligible in industrial trucks in their speed ranges. Therefore, the rolling resistance, which can be related to the payload or the load weight and can be determined in the first order regardless of the speed according to the formula m * g * cr, with the load weight m, the gravitational acceleration g and the Rolling resistance coefficient cr.
  • the indication value can be divided by the acquisition computer by the energy consumption of the truck.
  • the indication value can be normalized by the acquisition computer to a measurement period of one operating hour.
  • the lifting work is multiplied by a stroke correction factor and / or the transport work by a transport correction factor by the acquisition computer.
  • the acquisition computer can be a control computer of the truck.
  • the corresponding sensors are already present in order to obtain the required values, such as accelerations and speeds of the travel drive or a lifting height of a lifting device, in particular Lifting mast of a forklift may be or to detect a load weight.
  • the inventive method can then be implemented purely by software.
  • the indication value can be displayed to an operator via a display device, for example a display, or can be made available for interrogation via a data connection.
  • a data transmission path for example a wireless radio link to a data network
  • a separate acquisition computer for example in a server in a network as part of a fleet management software
  • the load weight may be, for example, pressure sensors of the hydraulic system of the lifting device but also direct load measuring sensors, such as strain gauges. Any other type of detection is also conceivable, such as a calculation of the load weight or one of the mentioned parameters by a control device on the basis of other secondary parameters or a calculation model, for example at speeds of the traction drive from a converter control.
  • Examples of the detection of a lifting height are direct lifting height sensors, which determine the height of a load-receiving device relative to the ground or the calculation of the lifting height from the signals of a control element, such as a joystick.
  • Accelerations and travel speeds of the truck can be recorded in addition to the already described determination of values from a controller of an inverter by wheel speed sensors, but also by a satellite-based navigation system (GPS sensor).
  • GPS sensor satellite-based navigation system
  • Possibilities of detecting the energy consumption of the truck are in battery electric forklifts, the query of the battery voltage and the current from the vehicle control. In internal combustion engine operated trucks can often be taken from an engine control unit an injection quantity. Likewise, tank level sensors are conceivable.
  • the method according to the invention makes it possible to implement a usage-oriented service / payment model using the indication value.
  • the wear intensity can be taken into account, which can be determined much more accurately by the indication value and it is possible a better advance planning of maintenance work.
  • the test conditions, optimized routes, reduced steering movement, etc. have less influence than in the determination of a consumption value approximately after a normalized work cycle.
  • the forklift efficiency in terms of this indication value therefore depends more on the truck than on the test conditions and results in a greater realism and comparability.
  • the efficiency with respect to the energy consumption of the truck, the lifting work and the transport work are determined. From these four values, it is possible to make direct statements about the quality of the use of an industrial truck, since empty runs, service lives and long distances have an impact on these four parameters.
  • the Fig. 1 schematically shows the inventive method.
  • a vehicle controller 1 which serves as a recording computer 2
  • the consumption of 3 of the internal combustion engine driven in the present example truck is entered.
  • a pressure value 4 of a lifting device for determining a resting load weight, a lifting height 5 and a rotational speed value 6 of a driving wheel are passed to the vehicle control system 1. From these values, the work performance at the load weight is determined by the vehicle controller 1 and from this an indication value.
  • the Fig. 2 shows in a diagram various parameter values of the method according to the invention over time in seconds as the right value.
  • the high value refers to different parameters.
  • the course of the lifting height 7 is entered and the load weight lying 8.
  • the travel speed 9 in its course t which can also assume negative values for reversing, and energy consumption 10 of the truck shown here only in a value of the illustrated scale of a maximum of about 20 moves.
  • the increasing total transport work 11 and the overall resulting lifting work 12 is applied.
  • an indication value can be determined as efficiency at 1632 kJ / liter or, taking the energy content of the fuel as a percentage, 12% , In the present example, 44% of the useful work accounts for the lifting work and 56% for the transport work.

Landscapes

  • 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)
  • Forklifts And Lifting Vehicles (AREA)
EP17174238.0A 2016-06-30 2017-06-02 Procédé de commande d'un chariot de manutention Active EP3263511B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016112006.5A DE102016112006A1 (de) 2016-06-30 2016-06-30 Verfahren zur Steuerung eines Flurförderzeugs

Publications (2)

Publication Number Publication Date
EP3263511A1 true EP3263511A1 (fr) 2018-01-03
EP3263511B1 EP3263511B1 (fr) 2020-12-30

Family

ID=58992746

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17174238.0A Active EP3263511B1 (fr) 2016-06-30 2017-06-02 Procédé de commande d'un chariot de manutention

Country Status (2)

Country Link
EP (1) EP3263511B1 (fr)
DE (1) DE102016112006A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3825275A1 (fr) * 2019-11-21 2021-05-26 The Raymond Corporation Modification du comportement d'un véhicule de manipulation de matériau à base de classification de tâche

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011018803A1 (de) 2011-04-27 2012-10-31 Still Gmbh Verfahren zur Benutzungsdatenerfassung eines Flurförderzeugs
US20140278823A1 (en) * 2013-03-15 2014-09-18 Crown Equipment Corporation Normalizing performance data across industrial vehicles

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011018803A1 (de) 2011-04-27 2012-10-31 Still Gmbh Verfahren zur Benutzungsdatenerfassung eines Flurförderzeugs
US20140278823A1 (en) * 2013-03-15 2014-09-18 Crown Equipment Corporation Normalizing performance data across industrial vehicles

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PAWEL ZAJAC ED - GOLINSKA ET AL: "Model of Forklift Truck Work Efficiency in Logistic Warehouse System", 1 January 2014, LOGISTICS OPERATIONS, SUPPLY CHAIN MANAGEMENT AND SUSTAINABILITY, SPRINGER, CH, ISBN: 978-3-319-07286-9, pages: 467 - 479, XP009501156 *
PAWEL ZAJAC: "The idea of the model of evaluation of logistics warehouse systems with taking their energy consumption under consideration", ARCHIVES OF CIVIL AND MECHANICAL ENGINEERING, vol. 11, no. 2, 2011, pages 479 - 492, XP002775299, Retrieved from the Internet <URL:https://ac.els-cdn.com/S1644966512601575/1-s2.0-S1644966512601575-main.pdf?_tid=88491e70-c096-11e7-96af-00000aacb361&acdnat=1509714022_f7a7c5403a73099a56faa7e6c0c04998> [retrieved on 20171103], DOI: 10.1016/S1644-9665(12)60157-5 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3825275A1 (fr) * 2019-11-21 2021-05-26 The Raymond Corporation Modification du comportement d'un véhicule de manipulation de matériau à base de classification de tâche
US11969882B2 (en) 2019-11-21 2024-04-30 The Raymond Corporation Material handling vehicle behavior modification based on task classification

Also Published As

Publication number Publication date
EP3263511B1 (fr) 2020-12-30
DE102016112006A1 (de) 2018-01-04

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