Crown Equipment Corporation

Joe K. Hammer

Christopher M. Killian

David A. Meyer

Robert Lankin

Joe K Hammer

Stephen Mangette

Mark E Addison

Brent A Barnhart

Karl L Dammeyer

Walter Conley, Iii

Robert Gordon Lankin

Christopher M Killian

Daniel L Sherman

Michael P Kovach

Ronald L Ziegler

David A Meyer

Walter Conley

Stephen T Mangette

Walter Iii Conley

Controlling a maximum vehicle speed for an industrial vehicle includes determining, by a processor of the industrial vehicle, a torque applied to the traction wheel of the industrial vehicle; converting the torque to an equivalent force value; and determining an acceleration of the industrial vehicle while the torque is applied to the traction wheel. Additional steps include calculating a load being moved by the industrial vehicle, based at least in part on the acceleration and the equivalent force value; and controlling the maximum speed of the industrial vehicle based on the calculated load being moved by the industrial vehicle.

System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

A module capable of operating on one of first and second vehicles includes an input table having a superset of input elements, with a first subset of input elements related to a first set of hardware devices on the first vehicle and a second subset related to a second set of hardware devices on the second vehicle. The module includes at least one configuration table with configuration elements corresponding to ones of the superset of input elements, wherein each configuration element has data related to transforming a value associated with an input element. The module includes vehicle function input elements related to function inputs utilized on the vehicles; and structure for determining a value of an input element corresponding to a function input element, transforming the value to a transformed value and linking the transformed value with the corresponding function input element.

Vehicle control module with signal switchboard and input tables

A traction application executing on a vehicle control module receives a traction speed control input to control a traction wheel of the vehicle. Based on the traction speed control input, the traction application determines a first setpoint value of a control attribute related to the traction wheel. A first diagnostic supervisor receives a measured value of the control attribute related to the traction wheel, and the first setpoint value from the traction application. The first diagnostic supervisor comprises a first model of a traction system of the vehicle. Based on the first setpoint value and the first model, the first diagnostic supervisor calculates a first virtual value of the control attribute related to the traction wheel. Based on the first virtual value and the measured value of the control attribute, the first diagnostic supervisor determines a first operating condition of the traction system of the vehicle.

Model based diagnostics based on traction model

A control module capable of operating on one of first and second vehicles can include a) a module output table comprising a superset of module output elements comprising a first subset of module output elements related to a first set of hardware devices provided on the first vehicle and a second subset of module output elements related to a second set of hardware devices provided on the second vehicle; b) vehicle function output elements related to vehicle function outputs utilized on the first and second vehicles; and c) a configuration table comprising configuration elements corresponding to the module output elements. The module can also include computer-based structure for determining a value of a vehicle function output element corresponding to a module output element of the module output table, transforming the value to the transformed value, and storing the transformed value based on the corresponding module output element.

Vehicle control module with signal switchboard and output tables

Based on a steering control input, a measured value of the steering control attribute and a measured value of the traction control attribute received by a steering application, determining: a first setpoint value of the steering control attribute; a target steering angle of the steered wheel of the vehicle. Based on receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application, determining, by the traction application: a second setpoint value of the traction control attribute.

Steering and traction applications for determining a steering control attribute and a traction control attribute

A steering application executing on a vehicle control module receives a steering control input to control a steered wheel of a vehicle. Based on the steering control input, the steering application determines a traction threshold value associated with a traction control attribute related to a traction wheel of the vehicle. A first diagnostic supervisor executing on the vehicle control module receives a measured value of the traction control attribute and the traction threshold value. When the measured value of the traction control attribute exceeds the traction threshold value, the first diagnostic supervisor repeatedly calculates a respective difference between the traction threshold value and the measured value of the traction control attribute to generate a set comprising a plurality of the respective differences. Based on the plurality of respective differences, the first diagnostic supervisor determines a first operating condition of a traction system of the vehicle.

Diagnostic supervisor to determine if a traction system is in a fault condition

A plurality of industrial vehicle operating parameters are observed and evaluated to monitor drivetrain(s) of the vehicle to determine whether a traction motor has become decoupled from its drivetrain, i.e., a dynamic gearbox failure. If a dynamic gearbox failure is detected, a static test is performed while the vehicle is stopped to confirm the failure. Drive capabilities of the vehicle are restricted if the dynamic gearbox failure is confirmed by the static test while full drive capabilities are enabled if not. A parking brake test is performed by applying each mechanical brake that is attached to a traction motor or a driving wheel and then individually controlling the traction motors in accordance with an operator's travel request such that each motor produces enough torque to rotate the motor if the brake its respective drive wheel is functionally degraded. The torque is applied in the direction of the operator's travel request so that any movement of the vehicle due to inadequate mechanical braking will not be unexpected by the operator.

System and method for monitoring state of function of a materials handling vehicle

A braking system for a lift truck performs all service braking using truck traction drive motors. Mechanical, spring applied, electrically released brakes are coupled to wheels on opposite sides of the truck with the mechanical brakes applying unequal braking forces to the wheels. The mechanical brakes perform park braking and, in the event an electrical system problem arises, backup braking as well that can be modulated by an operator of the truck regardless of the operating condition of the truck.

Braking system for a lift truck

A microprocessor based control system generates optimal field and armature currents for a separately excited DC motor. The current levels for the field and armature coils are set by feedback control. Armature and field current setpoints are established in accordance with tabulated values selected for providing a required torque and speed in an optimal fashion. A table of corresponding values of armature voltage is also maintained. If the actual armature voltage is below the calculated value, then the field current setpoint is boosted by an amount sufficient to optimize output torque.

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St. Marys, OH, United States of America

Joe K Hammer