EP3263511B1 - Method for controlling an industrial truck - Google Patents
Method for controlling an industrial truck Download PDFInfo
- Publication number
- EP3263511B1 EP3263511B1 EP17174238.0A EP17174238A EP3263511B1 EP 3263511 B1 EP3263511 B1 EP 3263511B1 EP 17174238 A EP17174238 A EP 17174238A EP 3263511 B1 EP3263511 B1 EP 3263511B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- work
- industrial truck
- lifting
- data recording
- indication value
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 30
- 230000001133 acceleration Effects 0.000 claims description 15
- 239000000446 fuel Substances 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims 2
- 238000001514 detection method Methods 0.000 description 13
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000002485 combustion reaction Methods 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 238000013068 supply chain management Methods 0.000 description 1
Images
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, the industrial truck having detection means for determining a lifting height of a lifting device, detection means for determining a load weight and detection means for determining the acceleration and / or speed and / or distance covered by the industrial truck , and the indication value is determined by an acquisition computer.
- an indication value enables the performance of different industrial trucks to be assessed more objectively in comparison. This can be one parameter among others for the selection of the industrial truck that is best suited for a purpose. Such an indication value can also be used to determine whether an even further optimized use of the industrial truck is possible, for example with regard to the area of use within a company site and / or operating times.
- a clock determines the time in which, for example, a main switch of the industrial truck is activated or an internal combustion engine is in operation.
- a method for recording usage data in an industrial truck in which usage and / or wear-relevant measured variables are recorded by recording means and transmitted by a data transmission device to a computing unit.
- Possible measured variables are vehicle speeds, directions of travel, distances traveled forwards or backwards, accelerations, load weights, lifting heights or even rotational speeds and electrical currents of the drive motors.
- the publication does not disclose any indication value for the efficiency of the industrial truck.
- finding a cost factor is known as a sum of weighted activities, each activity representing a period of time during which the corresponding activity is performed.
- the present invention is based on the object of providing a method for determining an indication value for the efficiency of an industrial truck which avoids the aforementioned disadvantages and with which the efficiency of deployment and use of the industrial truck can be better determined and evaluated.
- the Industrial truck has detection means for determining a lifting height of a lifting device, detection means for determining a load weight and detection means for determining the acceleration and / or speed and / or distance covered by the industrial truck, and the indication value is determined by a detection computer, the detection computer determines the indication value from the sum a lifting work and a transport work determined over a measurement period, the lifting work corresponding to the product of the load weight and the raised lifting height and the transport work corresponding to the energy required to move the load weight.
- the actual loads on the industrial truck are taken into account in an automated manner and, on a statistical average, realistic and easily comparable values for the work performance of the industrial truck result over a large number of measurement periods or a long measurement period.
- the load weight alone is taken into account in the sense of the weight of a picked-up load, since the work done by moving the load alone is a useful output that directly influences the handling capacity of the industrial truck.
- the energy that is transferred to the load weight in order to move it is thus taken into account as relevant.
- time intervals for example, such as a work shift, a day, a month or other cycles. It is also possible to provide an option by means of which an operator, for example a driver, can reset the time interval. For example, it can be provided that the beginning and the end of a time interval are determined by an operator. This enables a specific desired working cycle to be selected and recorded for the indication value.
- a factor for an acceleration resistance can be taken into account for the lifting work.
- the lifting work essentially consists of the energy required to increase the potential energy of a load, thus lifting it, for example according to the formula m ⁇ g ⁇ h with the load weight m, the acceleration due to gravity g and the sum of all positive lifting movements h. Regeneration or recovery of energy when releasing a load can be taken into account, but the essential work performed is the lifting work.
- 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 fast or slow acceleration occurs at the start of the lifting movement. A consideration of the different resistances take place with fast lifting movements or slow lifting movements.
- the transport work advantageously includes the sum of the kinetic energy gained in the measurement period.
- the transport work thus contains the sum of all positively gained kinetic energies over time, for example if the vehicle accelerates twice to a speed V1 and V2 from standstill and brakes in between to standstill with the kinetic energy corresponding to these speeds that has to be applied for the load weight corresponding to m * v 2/2.
- the transport work can include the acceleration work performed in the measurement period.
- the transport work comprises the work required to overcome a rolling resistance related to the load weight.
- the air resistance which has a quadratic effect, is negligible in the case of industrial trucks in their speed ranges.
- the essential driving resistance is therefore the rolling resistance, which can be related to the payload or the load weight and which can be determined primarily independently of the speed according to the formula m ⁇ g ⁇ cr, with the load weight m, the acceleration due to gravity g and the Rolling resistance coefficient cr.
- the detection computer can divide the indication value by the energy consumption of the industrial truck.
- a useful work (kilojoules) based on the kilograms of gas used (kJ / kg), cubic meters of gas (kJ / m 3 ) or liters of fuel (kJ / l) are specified and a corresponding classification is made.
- 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 lifting correction factor and / or the transport work is multiplied by a transport correction factor by the acquisition computer.
- the acquisition computer can be a control computer of the industrial truck.
- the corresponding sensors are already in place to measure the required values such as accelerations and speeds of the travel drive or a lifting height of a lifting device, which in particular is Can be the mast of a forklift, or to record a load weight.
- the method according to the invention can then advantageously be implemented purely by software.
- the indication value can be displayed for an operator via a display device, for example a display, or can be provided for querying via a data connection.
- a data transmission link for example a wireless radio link in a data network
- a recording computer for example in a server in a network as part of fleet management software
- the load weight it can 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 parameters mentioned by a control device based on other secondary parameters or a calculation model, for example at speeds of the travel drive from a converter control.
- Examples of the detection of a lift height are direct lift height sensors that determine the height of a load handling device in relation to the ground or the calculation of the lift height from the signals of an operating element, such as a joystick.
- Accelerations and travel speeds of the industrial truck can be recorded in addition to the already described determination via values from a control of a converter by wheel speed sensors, but also by a satellite-based navigation system (GPS sensor).
- GPS sensor satellite-based navigation system
- Options for recording the energy consumption of the industrial truck include querying the battery voltage and the current from the vehicle control system for battery-electric industrial trucks.
- an injection quantity can often be taken from an engine control unit.
- Tank level sensors are also conceivable.
- the method according to the invention makes it possible to implement a usage-oriented service / payment model via the indication value.
- the wear intensity can be taken into account, which can be determined much more precisely by the indication value and better advance planning of maintenance work becomes possible.
- the indication value is formed as an efficiency
- the test conditions, optimized driving routes, reduced steering movement etc. have less influence in the method according to the invention than when determining a consumption value, for example after a standardized work cycle.
- the forklift efficiency in the form of this indication value therefore depends more on the industrial truck than on the test conditions, and there is greater realism and comparability.
- the four values of the work performed on the load weight in a time interval, the efficiency with regard to the energy consumption of the industrial truck, the lifting work and the transport work are determined. From these four values, direct statements can be made about the quality of the use of an industrial truck, since empty trips, idle times and long distances have an effect on these four parameters.
- the Fig. 1 shows schematically the method according to the invention.
- the consumption 3 of the industrial truck driven by an internal combustion engine in the present example is entered into a vehicle control 1, which serves as a detection computer 2.
- a pressure value 4 of a lifting device for determining a load weight on it, a lifting height 5 and a speed value 6 of a drive wheel are sent to the vehicle control 1. From these values, the vehicle control 1 determines the work done on the load weight, 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 a legal value.
- the high value relates to various parameters.
- the course of the lifting height 7 and the load weight 8 on it are entered over a period of 270 seconds.
- the travel speed 9 is shown in its course t, which can also assume negative values for reverse travel, and an energy consumption 10 of the industrial truck, which is shown here only moved to a value of a maximum of approx. 20 on the scale shown.
- the increasing total transport work 11 and the total resulting lifting work 12 are plotted.
- the useful work on the load weight is related to the energy consumed, for example fuel consumption, an indication value can be determined as an efficiency of 1632 kJ / liter or, taking into account the energy content of the fuel as a percentage, a value of 12% . In the present example, 44% of the useful work is done by lifting work and 56% by 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)
Description
Die Erfindung betrifft ein Verfahren zur Steuerung eines Flurförderzeugs. Insbesondere betrifft die Erfindung ein Verfahren zur Bestimmung eines Indikationswertes für die Effizienz eines Flurförderzeugs, wobei das Flurförderzeug Erfassungsmittel zur Bestimmung einer Hubhöhe einer Hubvorrichtung, Erfassungsmittel zur Bestimmung eines Lastgewichtes und Erfassungsmittel zur Bestimmung der Beschleunigung und/oder Geschwindigkeit und/oder zurückgelegten Fahrstrecke des Flurförderzeugs aufweist, und durch einen Erfassungsrechner der Indikationswert bestimmt wird.The invention relates to a method for controlling an industrial truck. In particular, the invention relates to a method for determining an indication value for the efficiency of an industrial truck, the industrial truck having detection means for determining a lifting height of a lifting device, detection means for determining a load weight and detection means for determining the acceleration and / or speed and / or distance covered by the industrial truck , and the indication value is determined by an acquisition computer.
Bei Flurförderzeugen, zu denen beispielsweise Gegengewichtsgabelstapler Schubmaststapler und Lagertechnikgeräte gehören, besteht oft das Bedürfnis, die Effizienz des Einsatzes und der Verwendung des Flurförderzeugs festzustellen.In the case of industrial trucks, which include, for example, counterbalanced forklifts, reach trucks and warehouse equipment, there is often a need to determine the efficiency of the deployment and use of the industrial truck.
Durch einen Anzeige- oder Indikationswert für die Effizienz kann der Einsatz optimiert werden. Beispielsweise ermöglicht ein Indikationswert es, die Leistungsfähigkeit verschiedener Flurförderzeuge objektiver im Vergleich zu beurteilen. Dies kann ein Parameter unter weiteren sein für die Auswahl des am besten für einen Einsatzzweck geeigneten Flurförderzeugs. Auch kann anhand eines solchen Indikationswertes bestimmt werden, ob ein noch weiter optimierter Einsatz des Flurförderzeugs möglich ist, beispielsweise im Hinblick auf den Einsatzbereich innerhalb eines Betriebsgeländes und/oder Einsatzzeiten.Use can be optimized through a display or indication value for efficiency. For example, an indication value enables the performance of different industrial trucks to be assessed more objectively in comparison. This can be one parameter among others for the selection of the industrial truck that is best suited for a purpose. Such an indication value can also be used to determine whether an even further optimized use of the industrial truck is possible, for example with regard to the area of use within a company site and / or operating times.
Ebenso wird es etwa auch möglich, bei batterieelektrisch betriebenen Flurförderzeugen die Anzahl der Nachladevorgänge bzw. die Anordnung von Ladestation wie auch die Größe der Traktionsbatterie zu optimieren. Bei verbrennungsmotorisch angetriebenen Flurförderzeugen, etwa durch einen Verbrennungsmotor angetriebenen Gegengewichtsgabelstaplern, kann die Anzahl der Tankvorgänge optimiert werden oder des Wechsels einer Gasflasche.It is also possible, for example, to optimize the number of recharging processes or the arrangement of the charging station as well as the size of the traction battery in battery-powered industrial trucks. In the case of industrial trucks driven by an internal combustion engine, for example counterbalanced forklifts driven by an internal combustion engine, the number of refueling processes or the changing of a gas bottle can be optimized.
Auch können durch eine solche Feststellung der Effizienz der Nutzung des Flurförderzeugs die Wartung sowie der Austausch von Verschleißteilen besser geplant und optimiert werden.By determining the efficiency of the use of the industrial truck in this way, maintenance and the replacement of wear parts can also be better planned and be optimized.
Es ist seit langem bekannt, bei Arbeitsmaschinen und insbesondere bei Flurförderzeugen die Betriebsstunden zu zählen. Dabei wird durch eine Uhr die Zeitdauer bestimmt, in der beispielsweise ein Hauptschalter des Flurförderzeugs aktiviert oder etwa ein Verbrennungsmotor in Betrieb ist.It has been known for a long time to count the operating hours of work machines and in particular of industrial trucks. A clock determines the time in which, for example, a main switch of the industrial truck is activated or an internal combustion engine is in operation.
Nachteilig an diesem Stand der Technik ist, dass jedoch keinerlei Unterscheidung erfolgt, wie stark das Flurförderzeug belastet ist und auf welche Art und Weise. Auch bei einem Betrieb im Leerlauf bzw. wenn ein batterieelektrisch betriebener Stapler mit aktiviertem Hauptschalter steht, läuft eine solche Zeitmessung der Betriebsstunden weiter und ergibt denselben Belastungswert, als wenn mit maximaler Geschwindigkeit gefahren und/oder die Leistungsfähigkeit einer Hubvorrichtung maximal ausgenutzt würde.The disadvantage of this prior art is that, however, no distinction is made as to how heavily the industrial truck is loaded and in what way. Even when idling or when a battery-powered forklift truck is stopped with the main switch activated, such a time measurement of the operating hours continues and results in the same load value as when driving at maximum speed and / or using the capacity of a lifting device to the maximum.
Es ist weiterhin bekannt bei Flurförderzeugen mit einem Verbrennungsmotor, insbesondere einem Dieselmotor eine Maßeinheit des Kraftstoffverbrauchs von Liter pro Betriebsstunde (I/Bh) zu verwenden, ebenso bei einem Flurförderzeug mit einem Gasmotor eine solche von Kilogramm pro Stunde (Kg/Bh) bzw. Kubikmeter pro Stunde (m3/Bh) sowie bei Fahrzeugen, die batterieelektrisch angetrieben werden, den Verbrauch an Batteriekapazität pro Betriebsstunde, somit (Kilo-)Wattstunden pro Betriebsstunde (KWh/Bh). Für Vergleichszwecke zwischen verschiedenen Flurförderzeugen, etwa verschiedener Hersteller, werden solche Werte ermittelt, indem ein standardisiertes Arbeitsspiel von dem Flurförderzeug durchgeführt wird, etwa ein durch Normierung festgelegtes, wie etwa in der Norm VDI 2198.It is also known to use a unit of fuel consumption of liters per operating hour (I / Bh) in industrial trucks with an internal combustion engine, in particular a diesel engine, as well as kilograms per hour (kg / Bh) or cubic meters in the case of an industrial truck with a gas engine per hour (m 3 / Bh) as well as for vehicles that are battery-powered, the consumption of battery capacity per operating hour, thus (kilo-) watt-hours per operating hour (KWh / Bh). For purposes of comparison between different industrial trucks, for example different manufacturers, such values are determined in that a standardized work cycle is carried out by the industrial truck, for example one established by standardization, such as in the VDI 2198 standard.
Nachteilig an diesem Stand der Technik einer Bewertung anhand des Energiebedarfs pro Betriebsstunde ist, dass diese Maßeinheit nicht die tatsächlich geleistete Arbeit widerspiegelt. Der Energieverbrauch pro Stunde kann sehr günstig ausfallen, wenn das Flurförderzeug eine Betriebsstunde lang im Leerlauf betrieben wird, ohne dass dabei überhaupt effektive Arbeit geleistet wird. Umgekehrt fällt der Wert sehr hoch aus, wenn das Flurförderzeug permanent an seinen Leistungsgrenzen betrieben wird. In der Praxis ergeben sich daher teilweise erhebliche Abweichungen zwischen den durch normierte Arbeitsspiele ermittelten Werten, die in Datenblättern angegeben werden, und den tatsächlich in der Praxis auftretenden Werten.A disadvantage of this prior art of an assessment based on the energy requirement per operating hour is that this unit of measurement does not reflect the work actually performed. The energy consumption per hour can be very low if the industrial truck is idling for an hour without actually doing any effective work. Conversely, the value turns out to be very high if the industrial truck is permanently operated at its performance limits. In practice, there are sometimes considerable deviations between the values determined by standardized work cycles that are specified in data sheets. and the values actually occurring in practice.
Aus der
Aus
Aus der
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Bestimmung eines Indikationswerts für die Effizienz eines Flurförderzeugs zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeidet und mit dem die Effizienz des Einsatzes und der Verwendung des Flurförderzeugs besser festgestellt und bewertet werden kann.The present invention is based on the object of providing a method for determining an indication value for the efficiency of an industrial truck which avoids the aforementioned disadvantages and with which the efficiency of deployment and use of the industrial truck can be better determined and evaluated.
Diese Aufgabe wird durch ein Verfahren zur Bestimmung eines Indikationswertes für die Effizienz eines Flurförderzeugs mit den Merkmalen des unabhängigen Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by a method for determining an indication value for the efficiency of an industrial truck with the features of independent claim 1. Advantageous further developments of the invention are specified in the subclaims.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einem Verfahren zur Bestimmung eines Indikationswertes für die Effizienz eines Flurförderzeugs, wobei das Flurförderzeug Erfassungsmittel zur Bestimmung einer Hubhöhe einer Hubvorrichtung, Erfassungsmittel zur Bestimmung eines Lastgewichtes und Erfassungsmittel zur Bestimmung der Beschleunigung und/oder Geschwindigkeit und/oder zurückgelegten Fahrstrecke des Flurförderzeugs aufweist, und durch einen Erfassungsrechner der Indikationswert bestimmt wird, der Erfassungsrechner den Indikationswert aus der Summe aus einer Hubarbeit und einer Transportarbeit über einen Messzeitraum bestimmt, wobei die Hubarbeit dem Produkt aus Lastgewicht und angehobener Hubhöhe entspricht und die Transportarbeit der für die Bewegung des Lastgewichts erforderlichen Energie entspricht.The object is achieved according to the invention in that in a method for determining an indication value for the efficiency of an industrial truck, the Industrial truck has detection means for determining a lifting height of a lifting device, detection means for determining a load weight and detection means for determining the acceleration and / or speed and / or distance covered by the industrial truck, and the indication value is determined by a detection computer, the detection computer determines the indication value from the sum a lifting work and a transport work determined over a measurement period, the lifting work corresponding to the product of the load weight and the raised lifting height and the transport work corresponding to the energy required to move the load weight.
Vorteilhaft erfolgt dadurch automatisiert eine Berücksichtigung der tatsächlichen Belastungen des Flurförderzeugs und ergeben sich im statistischen Mittel über eine Vielzahl von Messzeiträumen oder einen langen Messzeitraum realistische und gut vergleichbare Werte für die Arbeitsleistung des Flurförderzeugs. Dabei wird im Regelfall das Lastgewicht im Sinne eines Gewichtes einer aufgenommenen Last allein berücksichtigt, da allein die durch die Bewegung der Last geleistete Arbeit eine Nutzleistung ist, die direkt die Umschlagsleistung des Flurförderzeugs beeinflusst. Es wird somit als relevant die Energie berücksichtigt, die auf das Lastgewicht abgegeben wird, um dieses zu bewegen. Es kann jedoch auch sinnvoll sein, unter Lastgewicht nicht nur die eigentliche Last allein sondern auch bestimmte Teile der Fahrzeugmasse zu berücksichtigen. Dies ist etwa denkbar, wenn bestimmte Anbaugeräte eingesetzt werden, die sozusagen auch einen Teil einer Nutzlast darstellen. Aber auch in anderen Fällen kann eine solche Berücksichtigung von Teilen der Fahrzeugmasse als Teil des Lastgewichts sinnvoll sein. Als Zeitintervalle können beispielsweise verschiedene Werte herangezogen werden, wie etwa eine Arbeitsschicht, ein Tag, einen Monat oder sonstige Zyklen. Es ist auch möglich eine Option vorzusehen, durch die eine Bedienperson, beispielsweise einen Fahrer, das Zeitintervall zurückgesetzt werden kann. So kann beispielsweise vorgesehen werden, dass durch eine Bedienperson der Anfang und das Ende eines Zeitintervalls festgelegt werden. Dies ermöglicht einen bestimmten gewünschten Arbeitszyklus für den Indikationswert auszuwählen und zu erfassen.Advantageously, the actual loads on the industrial truck are taken into account in an automated manner and, on a statistical average, realistic and easily comparable values for the work performance of the industrial truck result over a large number of measurement periods or a long measurement period. As a rule, the load weight alone is taken into account in the sense of the weight of a picked-up load, since the work done by moving the load alone is a useful output that directly influences the handling capacity of the industrial truck. The energy that is transferred to the load weight in order to move it is thus taken into account as relevant. However, it can also be useful to consider not only the actual load alone but also certain parts of the vehicle mass under load weight. This is conceivable, for example, when certain attachments are used which, so to speak, also represent part of a payload. In other cases, however, such consideration of parts of the vehicle mass as part of the load weight can be useful. Various values can be used as time intervals, for example, such as a work shift, a day, a month or other cycles. It is also possible to provide an option by means of which an operator, for example a driver, can reset the time interval. For example, it can be provided that the beginning and the end of a time interval are determined by an operator. This enables a specific desired working cycle to be selected and recorded for the indication value.
Bei der Hubarbeit kann ein Faktor für einen Beschleunigungswiderstand berücksichtigt werden.A factor for an acceleration resistance can be taken into account for the lifting work.
Die Hubarbeit besteht im Wesentlichen aus der aufzuwendende Energie, um eine Last in ihrer potentiellen Energie zu erhöhen, somit anzuheben, etwa nach der Formel m ∗ g ∗ h mit dem Lastgewicht m, der Erdbeschleunigung g und der Summe aller positiven Hubbewegungen h. Es kann zwar eine Regeneration oder Zurückgewinnung von Energie beim Ablassen einer Last berücksichtigt werden, jedoch besteht die wesentliche aufgebrachte Arbeitsleistung in der Hubarbeit. Dabei kann die Genauigkeit der Erfassung der Hubarbeit weiter erhöht werden, wenn der Beschleunigungswiderstand berücksichtigt wird und somit die unterschiedliche aufzuwendende Energie, wenn beim Beginn der Hubbewegung eine schnelle oder langsame Beschleunigung erfolgt. Ebenso kann eine Berücksichtigung der unterschiedlichen Widerstände bei schnellen Hubbewegungen oder langsamen Hubbewegung erfolgen.The lifting work essentially consists of the energy required to increase the potential energy of a load, thus lifting it, for example according to the formula m ∗ g ∗ h with the load weight m, the acceleration due to gravity g and the sum of all positive lifting movements h. Regeneration or recovery of energy when releasing a load can be taken into account, but the essential work performed is the lifting work. 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 fast or slow acceleration occurs at the start of the lifting movement. A consideration of the different resistances take place with fast lifting movements or slow lifting movements.
Vorteilhaft umfasst die Transportarbeit die Summe der in dem Messzeitraum hinzugewonnenen kinetischen Energie.The transport work advantageously includes the sum of the kinetic energy gained in the measurement period.
Die Transportarbeit enthält somit über die Zeit die Summe aller positiv hinzugewonnen kinetischen Energien, beispielsweise wenn zweimal auf eine Geschwindigkeit V1 und V2 beschleunigt wird aus dem Stand und dazwischen abgebremst wird bis zum Stand die diesen Geschwindigkeiten entsprechende kinetische Energie, die für das Lastgewicht aufgebracht werden muss, entsprechend m ∗ v2 /2.The transport work thus contains the sum of all positively gained kinetic energies over time, for example if the vehicle accelerates twice to a speed V1 and V2 from standstill and brakes in between to standstill with the kinetic energy corresponding to these speeds that has to be applied for the load weight corresponding to m * v 2/2.
Die Transportarbeit kann die in dem Messzeitraum geleistete Beschleunigungsarbeit umfassen.The transport work can include the acceleration work performed in the measurement period.
Soweit Verluste vernachlässigt werden können, ergibt sich aus der Beschleunigungsarbeit direkt die kinetische Energie.As far as losses can be neglected, the kinetic energy results directly from the acceleration work.
In einer günstigen Ausgestaltung des Verfahrens umfasst die Transportarbeit die zur Überwindung eines auf das Lastgewicht bezogenen Rollwiderstands erforderliche Arbeit.In a favorable embodiment of the method, the transport work comprises the work required to overcome a rolling resistance related to the load weight.
Der sich quadratisch auswirkende Luftwiderstand ist bei Flurförderzeugen in deren Geschwindigkeitsbereichen vernachlässigbar. Als wesentlicher Fahrwiderstand ergibt sich daher der Rollwiderstand, der auf die Nutzlast bzw. das Lastgewicht bezogen werden kann und in erster Ordnung unabhängig von der Geschwindigkeit bestimmt werden kann nach der Formel m ∗ g ∗ cr, mit dem Lastgewicht m, der Erdbeschleunigung g und dem Rollwiderstandskoeffizienten cr.The air resistance, which has a quadratic effect, is negligible in the case of industrial trucks in their speed ranges. The essential driving resistance is therefore the rolling resistance, which can be related to the payload or the load weight and which can be determined primarily independently of the speed according to the formula m ∗ g ∗ cr, with the load weight m, the acceleration due to gravity g and the Rolling resistance coefficient cr.
Der Indikationswert kann von dem Erfassungsrechner durch die Energieaufnahme des Flurförderzeugs dividiert werden.The detection computer can divide the indication value by the energy consumption of the industrial truck.
Dadurch ergibt sich der Indikationswert als Wirkungsgrad entsprechend der als Nutzenergie auf das Lastgewicht abgegebene Energie, die dividiert wird durch die von dem Flurförderzeug aufgenommene Energie.This results in the indication value as an efficiency corresponding to the energy released as useful energy on the load weight, which is divided by that of Energy absorbed by the truck.
Vorteilhaft ist als Energieaufnahme ein Brennstoffverbrauch und/oder ein Stromverbrauch des Flurförderzeugs zu verwenden.It is advantageous to use a fuel consumption and / or an electricity consumption of the industrial truck as the energy consumption.
Es ist dabei denkbar, einen solchen Indikationswert sowohl als Wirkungsgrad wie auch allgemein als Wert für die geleistete Arbeit des Flurförderzeugs auf ein genormtes Arbeitsspiel zu beziehen, wie es oben beispielsweise als VDI-Arbeitsspiel erwähnt wurde. Dies kann erfolgen, indem ein Prozentwert in Bezug auf das genormte Arbeitsspiel angegeben wird. Wenn ein Referenzwert definiert wird, ist es auch denkbar hier eine Einteilung in Energieeffizienzklassen für Flurförderzeuge entsprechend dem Indikationswert als Wirkungsgrad vorzunehmen. Bei den zuvor beispielhaft geschilderten Möglichkeiten von mit Verbrennungsmotoren und einem Flüssigtreibstoff oder Gas betriebenen Flurförderzeugen, kann dann beispielsweise eine Nutzarbeit (Kilojoule) bezogen auf eingesetzte Kilogramm Gas (kJ/Kg), Kubikmeter Gas (kJ/m3) oder Liter Treibstoff (kJ/l) angegeben werden, und eine entsprechende Klasseneinteilung erfolgen. Gleiches gilt für batterieelektrisch betriebene Flurförderzeuge für die Nutzarbeit pro eingesetzte Amperestunde der Batterieladung (kJ/Ah).It is conceivable to relate such an indication value both as efficiency and generally as a value for the work done by the industrial truck to a standardized work cycle, as mentioned above, for example, as the VDI work cycle. This can be done by specifying a percentage value in relation to the standardized work cycle. If a reference value is defined, it is also conceivable to make a classification into energy efficiency classes for industrial trucks according to the indication value as the degree of efficiency. In the case of the previously exemplified possibilities of industrial trucks operated with internal combustion engines and a liquid fuel or gas, a useful work (kilojoules) based on the kilograms of gas used (kJ / kg), cubic meters of gas (kJ / m 3 ) or liters of fuel (kJ / l) are specified and a corresponding classification is made. The same applies to battery-powered industrial trucks for the useful work per ampere-hour of battery charge (kJ / Ah).
Der Indikationswert kann von dem Erfassungsrechner auf einen Messzeitraum von einer Betriebsstunde normiert werden.The indication value can be normalized by the acquisition computer to a measurement period of one operating hour.
In einer Weiterbildung des Verfahrens werden die Hubarbeit mit einem Hubkorrekturfaktor und/oder die Transportarbeit mit einem Transportkorrekturfaktor von dem Erfassungsrechner multipliziert.In a further development of the method, the lifting work is multiplied by a lifting correction factor and / or the transport work is multiplied by a transport correction factor by the acquisition computer.
Die Berücksichtigung von beispielsweise empirisch ermittelten Faktoren kann sinnvoll sein, um eine Gewichtung von Hub- zu Transportarbeit zu ermöglichen.Taking into account empirically determined factors, for example, can be useful to enable a weighting of lifting and transport work.
Der Erfassungsrechner kann ein Steuerungsrechner des Flurförderzeugs sein.The acquisition computer can be a control computer of the industrial truck.
Bei einer Vielzahl von Flurförderzeugen sind die entsprechenden Sensoren bereits vorhanden, um die erforderlichen Werte wie Beschleunigungen und Geschwindigkeiten des Fahrantriebs oder eine Hubhöhe einer Hubvorrichtung, die insbesondere ein Hubmast eines Gabelstaplers sein kann, oder ein Lastgewicht zu erfassen. Vorteilhaft kann das erfindungsgemäße Verfahren dann rein durch Software umgesetzt werden. Dabei kann insbesondere der Indikationswert über eine Anzeigevorrichtung, beispielsweise ein Display, für eine Bedienperson angezeigt werden, oder zur Abfrage über eine Datenverbindung bereitgestellt werden.In the case of a large number of industrial trucks, the corresponding sensors are already in place to measure the required values such as accelerations and speeds of the travel drive or a lifting height of a lifting device, which in particular is Can be the mast of a forklift, or to record a load weight. The method according to the invention can then advantageously be implemented purely by software. In particular, the indication value can be displayed for an operator via a display device, for example a display, or can be provided for querying via a data connection.
Alternativ ist eine Übertragung der Daten über eine Datenübertragungsstrecke, beispielsweise eine drahtlose Funkverbindung in ein Datennetz, denkbar und eine Bestimmung des Indikationswert außerhalb des Flurförderzeugs in einem separat zu diesem bestehenden Erfassungsrechner, zum Beispiel in einem Server in einem Netzwerk im Rahmen einer Flottenverwaltungssoftware.Alternatively, it is conceivable to transmit the data via a data transmission link, for example a wireless radio link in a data network, and to determine the indication value outside of the industrial truck in a recording computer that is separate from it, for example in a server in a network as part of fleet management software.
Zur Erfassung des Lastgewichts kann es sich beispielsweise um Drucksensoren des Hydrauliksystems der Hubvorrichtung handeln aber auch um direkte Lastmesssensoren, wie Dehnmessstreifen. Auch jede andere Art der Erfassung ist denkbar, so eine Berechnung des Lastgewichts oder eines der genannten Parameter durch eine Steuerungsvorrichtung aufgrund anderer sekundärer Parameter oder eines Berechnungsmodells, beispielsweise bei Drehzahlen des Fahrantriebs aus einer Umrichtersteuerung.To detect the load weight, it can 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 parameters mentioned by a control device based on other secondary parameters or a calculation model, for example at speeds of the travel drive from a converter control.
Beispiele für die Erfassung einer Hubhöhe sind direkte Hubhöhensensoren, die die Höhe einer Lastaufnahmevorrichtung gegenüber dem Untergrund bestimmen oder die Berechnung der Hubhöhe aus den Signalen eines Bedienelements, etwa eines Joysticks.Examples of the detection of a lift height are direct lift height sensors that determine the height of a load handling device in relation to the ground or the calculation of the lift height from the signals of an operating element, such as a joystick.
Beschleunigungen und Fahrgeschwindigkeiten des Flurförderzeugs können neben der bereits geschilderten Bestimmung über Werte aus einer Steuerung eines Umrichters durch Raddrehzahlsensoren erfasst werden, aber auch durch ein satellitengestütztes Navigationssystem (GPS Sensor).Accelerations and travel speeds of the industrial truck can be recorded in addition to the already described determination via values from a control of a converter by wheel speed sensors, but also by a satellite-based navigation system (GPS sensor).
Möglichkeiten der Erfassung der Energieaufnahme des Flurförderzeugs sind bei batterieelektrischen Flurförderzeugen die Abfrage der Batteriespannung und des Stroms aus der Fahrzeugsteuerung. Bei verbrennungsmotorisch betriebenen Flurförderzeugen kann oftmals eine Einspritzmenge einem Motorsteuergerät entnommen werden. Ebenso sind auch Tankfüllstandsensoren denkbar.Options for recording the energy consumption of the industrial truck include querying the battery voltage and the current from the vehicle control system for battery-electric industrial trucks. In the case of industrial trucks operated by internal combustion engines, an injection quantity can often be taken from an engine control unit. Tank level sensors are also conceivable.
Durch das erfindungsgemäße Verfahren wird es möglich, über den Indikationswert ein nutzungsorientiertes Service- /Bezahlmodell umzusetzen. Für verschiedene Serviceleistungen wie auch für die Anpassung eines Preises bei einer Mietnutzung eines Flurförderzeugs kann die Verschleißintensität berücksichtigt werden, die sich sehr viel genauer durch den Indikationswert bestimmen lässt und es wird eine bessere Vorausplanung von Wartungsarbeiten möglich.The method according to the invention makes it possible to implement a usage-oriented service / payment model via the indication value. For various services as well as for the adjustment of a price when renting an industrial truck, the wear intensity can be taken into account, which can be determined much more precisely by the indication value and better advance planning of maintenance work becomes possible.
Bei der Bestimmung einer Staplereffizienz, insbesondere falls der Indikationswert als Wirkungsgrad gebildet wird, haben bei dem erfindungsgemäßen Verfahren die Testbedingungen, optimierte Fahrstrecken, reduzierte Lenkbewegung etc. weniger Einfluss als bei der Bestimmung eines Verbrauchswertes etwa nach einem normierten Arbeitsspiel. Die Staplereffizienz in Form dieses Indikationswertes hängt demnach mehr vom Flurförderzeug, als von den Testbedingungen ab und es ergibt sich eine größere Realitätsnähe und Vergleichbarkeit.When determining a truck efficiency, in particular if the indication value is formed as an efficiency, the test conditions, optimized driving routes, reduced steering movement etc. have less influence in the method according to the invention than when determining a consumption value, for example after a standardized work cycle. The forklift efficiency in the form of this indication value therefore depends more on the industrial truck than on the test conditions, and there is greater realism and comparability.
Bei dem erfindungsgemäßen Verfahren werden grundsätzlich die vier Werte der an dem Lastgewicht geleisteten Arbeit in einem Zeitintervall, des Wirkungsgrades in Bezug auf die Energieaufnahme des Flurförderzeugs, der Hubarbeit und der Transportarbeit bestimmt. Aus diesen vier Werten lassen sich direkte Aussagen über die Qualität des Einsatzes eines Flurförderzeugs treffen, da Leerfahrten, Standzeiten und weite Fahrstrecken sich in diesen vier Parametern auswirken.In the method according to the invention, the four values of the work performed on the load weight in a time interval, the efficiency with regard to the energy consumption of the industrial truck, the lifting work and the transport work are determined. From these four values, direct statements can be made about the quality of the use of an industrial truck, since empty trips, idle times and long distances have an effect on these four parameters.
Es ist denkbar, diese vier Werte als Wissensbasis für ein Expertensystem, beispielsweise eine Fuzzy-Logic, zu nutzen, um Empfehlungen für Fahrer, den Einsatz oder Servicepersonal zu geben. Dabei kann eine Plausibilisierung der Nutzung des Flurförderzeugs erfolgen. Wenn etwa eine Last ohne Transportweg nur gehoben wird, stellt dies keinen sinnvollen Arbeitsablauf dar und kann ausgeblendet werden bei der Bestimmung des Indikationswerts. Darauf aufbauend kann eine Bruttoarbeit mit solchen Vorgängen wie eine Nettoarbeit bestimmt werden mit der sich die Einsatzart und die Bedienung etwa eines Gabelstaplers als Beispiel eines Flurförderzeugs durch einen Fahrer bewerten lassen.It is conceivable to use these four values as a knowledge base for an expert system, for example fuzzy logic, in order to make recommendations for drivers, the deployment or service personnel. A plausibility check of the use of the industrial truck can be carried out. If, for example, a load is only lifted without a transport route, this does not represent a meaningful workflow and can be hidden when determining the indication value. Building on this, gross work with processes such as net work can be determined with which the type of use and operation of a forklift, for example, as an example of an industrial truck, can be assessed by a driver.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigt
- Fig. 1
- schematisch das erfindungsgemäße Verfahren und
- Fig. 2
- in einem Diagramm verschiedene Parameterwerte des erfindungsgemäßen Verfahrens über der Zeit.
- Fig. 1
- schematically the inventive method and
- Fig. 2
- various parameter values of the method according to the invention over time in a diagram.
Die
Die
In dem vorliegenden Beispiel aus einem 800 Stundentest ergeben sich nach 270 Sekunden 960 kJ Hubarbeit und 785 kJ Transportarbeit bei einer Gesamtenergieaufnahme von 22418 kJ durch die Nutzung des Staplers. Wird in dem vorliegenden Beispiel die Nutzarbeit an dem Lastgewicht in Relation zur aufgenommene Energie, beispielsweise einen Kraftstoffverbrauch, gesetzt, so lässt sich ein Indikationswert als Wirkungsgrad zu 1632 kJ/Liter bestimmen bzw. unter Berücksichtigung des Energiegehalts des Kraftstoffs als Prozentangabe eine solche von 12 %. In dem vorliegenden Beispiel entfallen 44 % der Nutzarbeit auf die Hubarbeit und 56 % auf die Transportarbeit.In the present example from an 800 hour test, 960 kJ of lifting work and 785 kJ of transport work result after 270 seconds with a total energy consumption of 22418 kJ through the use of the forklift. If, in the present example, the useful work on the load weight is related to the energy consumed, for example fuel consumption, an indication value can be determined as an efficiency of 1632 kJ / liter or, taking into account the energy content of the fuel as a percentage, a value of 12% . In the present example, 44% of the useful work is done by lifting work and 56% by transport work.
Claims (10)
- Method for determining an indication value for the efficiency of an industrial truck, wherein the industrial truck has data recording means for determining a lifting height (5) of a lifting device, data recording means for determining a load weight and data recording means for determining the acceleration and/or speed and/or distance travelled by the industrial truck, and the indication value is determined by a data recording computer (2),
characterized
in that the data recording computer (2) determines the indication value from the sum of lifting work (12) and transportation work (11) over a measuring time period, wherein the lifting work (12) corresponds to the product of the load weight and raised lifting height (5), and the transportation work (11) corresponds to the energy necessary to move the load weight. - Method according to Claim 1,
characterized
in that a factor for an acceleration resistance is taken into account in the lifting work (12). - Method according to Claim 1 or 2,
characterized
in that the transportation work (11) comprises the sum of the kinetic energy which is additionally acquired in the measuring time period. - Method according to one of Claims 1 to 3,
characterized
in that the transportation work (11) comprises the acceleration work performed in the measuring time period. - Method according to one of Claims 1 to 4,
characterized
in that the transportation work (11) comprises the work which is necessary to overcome a rolling resistance relating to the load weight. - Method according to one of Claims 1 to 5,
characterized
in that the indication value is divided by the energy absorption of the industrial truck by the data recording computer (2). - Method according to Claim 6,
characterized
in that the energy absorption is a fuel consumption value and/or power consumption value of the industrial truck. - Method according to one of Claims 1 to 7,
characterized
in that the indication value is standardized to a measuring time period of one operational hour by the data recording computer (2). - Method according to one of Claims 1 to 8,
characterized
in that the lifting work (12) is multiplied by a lifting correction factor and/or the transportation work (11) is multiplied by a transportation correction factor by the data recording computer (2). - Method according to one of Claims 1 to 9,
characterized
in that the data recording computer (2) is a control computer (1) of the industrial truck.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016112006.5A DE102016112006A1 (en) | 2016-06-30 | 2016-06-30 | Method for controlling an industrial truck |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3263511A1 EP3263511A1 (en) | 2018-01-03 |
EP3263511B1 true EP3263511B1 (en) | 2020-12-30 |
Family
ID=58992746
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17174238.0A Active EP3263511B1 (en) | 2016-06-30 | 2017-06-02 | Method for controlling an industrial truck |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3263511B1 (en) |
DE (1) | DE102016112006A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11969882B2 (en) | 2019-11-21 | 2024-04-30 | The Raymond Corporation | Material handling vehicle behavior modification based on task classification |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011018803A1 (en) | 2011-04-27 | 2012-10-31 | Still Gmbh | Method for the usage data acquisition of a truck |
EP2973437A1 (en) * | 2013-03-15 | 2016-01-20 | Crown Equipment Corporation | Normalizing performance data across industrial vehicles |
-
2016
- 2016-06-30 DE DE102016112006.5A patent/DE102016112006A1/en not_active Withdrawn
-
2017
- 2017-06-02 EP EP17174238.0A patent/EP3263511B1/en active Active
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
DE102016112006A1 (en) | 2018-01-04 |
EP3263511A1 (en) | 2018-01-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102017119453A1 (en) | Energy-optimized vehicle route selection | |
DE112016003213T5 (en) | MATERIAL TRANSPORT OPERATING SYSTEM FOR COLD MILLING | |
DE112008002728T5 (en) | Systems and methods for improving delivery lane conditions | |
DE112006003516T5 (en) | System for evaluation and improvement of mileage and fuel efficiency | |
DE112008002716T5 (en) | System and method for performance based payload management | |
DE102016006351A1 (en) | Cold milling machine with a transport payload monitoring system | |
EP3494017A1 (en) | System and method for vehicle care, and use of a system of this type | |
WO2010136343A2 (en) | Computer-supported monitoring of an energy consumption of a means of transportation | |
WO2011128235A1 (en) | Method for an electrically driven vehicle, electrically driven vehicle, and system consisting of an electrically driven vehicle and a unit outside the vehicle | |
DE102009001341A1 (en) | Method for preparing or drawing route from starting point to target in information or navigation system in motor vehicle i.e. car, involves computing route guided to one of filling stations to preset target | |
EP3263511B1 (en) | Method for controlling an industrial truck | |
EP3667237B1 (en) | Determination of a further test route during a test drive of a vehicle | |
DE102016216701A1 (en) | A method for operating a support system for avoiding a stoppage of a motor vehicle and motor vehicle | |
EP2631663A1 (en) | Method for continuously monitoring battery ageing | |
WO2008101650A2 (en) | Logistics vehicle comprising a hybrid drive | |
DE19610483A1 (en) | Operating data acquisition device for an industrial truck | |
EP4026722B1 (en) | Method and range determination device for determining the expected range of a vehicle in trailer operation | |
EP3388988A1 (en) | Method for operating a transportation system and corresponding transportation system | |
DE102021132754A1 (en) | Truck measurement of a milling machine | |
DE102017219478A1 (en) | Method and system for reducing the absorption of pollutants from the ambient air | |
DE102020213402A1 (en) | Method for determining the consumption of a vehicle fleet of motor vehicles in terms of an energy source and/or electrical energy, and system therefor | |
EP1486371B1 (en) | Industrial truck | |
AT526096B1 (en) | Method for controlling emptying vehicles for emptying recycling containers | |
DE102019207650A1 (en) | Load carrier for conveyed or stored goods, method for operating such a load carrier and system consisting of load carrier and shelf and / or conveyor system | |
DE102016119317A1 (en) | Method for operating a motor vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20180629 |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20190129 |
|
APBK | Appeal reference recorded |
Free format text: ORIGINAL CODE: EPIDOSNREFNE |
|
APBN | Date of receipt of notice of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA2E |
|
APBR | Date of receipt of statement of grounds of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA3E |
|
APAF | Appeal reference modified |
Free format text: ORIGINAL CODE: EPIDOSCREFNE |
|
APBT | Appeal procedure closed |
Free format text: ORIGINAL CODE: EPIDOSNNOA9E |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20200914 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE PATENT HAS BEEN GRANTED |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: REF Ref document number: 1349759 Country of ref document: AT Kind code of ref document: T Effective date: 20210115 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 502017008809 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210330 Ref country code: RS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210331 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210330 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: MP Effective date: 20201230 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG9D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210430 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210430 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 502017008809 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: AL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
26N | No opposition filed |
Effective date: 20211001 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
REG | Reference to a national code |
Ref country code: BE Ref legal event code: MM Effective date: 20210630 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210602 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210630 Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210602 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210630 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20210430 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210630 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20170602 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230507 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20201230 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SM Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20230621 Year of fee payment: 7 Ref country code: DE Payment date: 20230620 Year of fee payment: 7 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 1349759 Country of ref document: AT Kind code of ref document: T Effective date: 20220602 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20220602 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20230622 Year of fee payment: 7 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20201230 |