CN110498371A - Vehicle for positioning the method supported and being supported with positioning - Google Patents

Vehicle for positioning the method supported and being supported with positioning Download PDF

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Publication number
CN110498371A
CN110498371A CN201910408826.4A CN201910408826A CN110498371A CN 110498371 A CN110498371 A CN 110498371A CN 201910408826 A CN201910408826 A CN 201910408826A CN 110498371 A CN110498371 A CN 110498371A
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CN
China
Prior art keywords
vehicle
load
opposite
theoretical value
parameter
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.)
Pending
Application number
CN201910408826.4A
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Chinese (zh)
Inventor
M·韦克
F·沙普夫尔
H·菲施巴赫
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Jungheinrich AG
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Jungheinrich AG
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Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of CN110498371A publication Critical patent/CN110498371A/en
Pending legal-status Critical Current

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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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • 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
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/082—Masts; Guides; Chains inclinable
    • 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

Abstract

The present invention relates to a kind of methods for carrying out positioning support to vehicle, the vehicle includes lift lever, at least height-adjustable load-carrying mechanism and control/regulating mechanism on lift lever, control/the regulating mechanism is structured to manipulate or adjust the scheduled theoretical value of at least one adjustable parameter, adjustable parameter is selected from following three parameters, and the parameter respectively refers to the fixed coordinate system of vehicle: opposite hoisting depth, opposite bar inclination and opposite loading end inclination；Scheduled theoretical value is related with scheduled reference load weight, and this method comprises the following steps: (a) quality for the load that detection is carried by load-carrying mechanism；(b) according to quality detected, reference load weight and the scheduled theoretical value for being adapted to according to vehicle vehicle data stored in memory at least one adjustable parameter；(c) theoretical value of adaptation is manipulated or adjusted by means of control/regulating mechanism.

Description

Vehicle for positioning the method supported and being supported with positioning
Technical field
The present invention is related to a kind of for being at least adjusted highly to lift lever and on lift lever according to first aspect Load-carrying mechanism the vehicle method that carries out positioning support, and be related to as one kind according to second aspect Vehicle.
Background technique
In especially height stacking and when de-stacking higher, often very difficult for operator is estimation load The correct position of load carrier.The position shifted to first must be often corrected again before shelf, this is each It is taken considerable time during stacking and de-stacking, but it is necessary, because of may lead in the case where shifting to height in mistake Cause load or shelf damage.
Current be used as remedies the following system of offer, and fixed storage mentions before the system supports operator to shift to herein Rise.
Summary of the invention
More accurately, the present invention is related to a kind of method that the positioning for vehicle is supported according to first aspect, The vehicle includes lift lever, at least height-adjustable load-carrying mechanism and control/adjusting machine on lift lever Structure, the control/regulating mechanism are structured to manipulate or adjust the scheduled theoretical value of at least one relative adjustment parameter, phase Following three parameters are selected to adjustable parameter, the parameter respectively refers to the fixed coordinate system of vehicle: opposite mentions Rise, the opposite hoisting depth are the height of the reference point in load-carrying mechanism；Opposite bar inclination, the phase Pair bar inclination be lift lever or the pitch angle of its component；And opposite loading end inclination, the opposite loading end inclination It is the pitch angle of the loading end of load-carrying mechanism.Loading end is face, the face for example as follows applied by load, and load is put It sets on it or hangs on it.
The fixed coordinate system of vehicle is following coordinate system herein, fixedly with the component of vehicle Connection is for example contacted with the preceding bridge or walking mechanism or vehicle frame of vehicle.
It is possible that the coordinate system that different relative adjustment parameters is fixed referring to different vehicles.For example, ground Means of transport fixed coordinate system in face can fixedly be associated for opposite hoisting depth with lift lever or its component, and ground The fixed coordinate system of face means of transport opposite bar can be tilted fixedly with the preceding bridge or vehicle with walking machine of vehicle Structure fixation is associated.In this case, the fixed coordinate system of vehicle will be for opposite in the inclined situation of bar Hoisting depth correspondingly tilts.It on the other hand should not exclude as follows, i.e., multiple or all relative adjustment parameters are referring to identically The fixed coordinate system of face means of transport.
Adjective " opposite " indicates herein: each parameter coordinate system fixed relative to corresponding vehicle is said It is bright.
In addition, the present invention is related to a kind of corresponding vehicle, the vehicle packet according to second aspect Include lift lever, at least height-adjustable load-carrying mechanism and control/regulating mechanism on lift lever, the control/adjusting Mechanism is constituted as described in for method.
Such method and such vehicle are for example as known to 2439165 B1 of document EP.In known side It can be with automatic moving to the hoisting depth of fixed storage before or the hoisting depth of one group of fixed storage in method.
In addition, the vehicle using 2439165 B1 of EP can also be identified by means of load cell: load is It is no to be located in load-carrying mechanism, therefore be to be related to deposit process to also relate to taking-up process.
In practice herein it has been proved that known method can only when in following situation just meaningfully for giving Vehicle, that is, when that should be stored in or take out in most cases similar load weight.
The not only tire of vehicle but also lifting bracket can be according to the load weight and knot of vehicle Practical necessary opposite hoisting depth or opposite bar and/or loading end inclination are bent to structure mode varying strength and change, It is used to load and is deposited into scheduled shelf or is taken out.It is particularly significant that asking in counterweight loading-unloading vehicle as follows Topic, loads that center of gravity is located at except wheel support face and the flexibility of system is especially high and especially by force in the counterweight loading-unloading vehicle It is related with load.
In the known process, although operator therefore also must be often again according to negative in the case where positioning and supporting Loading capacity corrects hoisting depth and bar inclination.Exactly this fine-tunes the hig diligence for taking considerable time and needing operator Power.If extremely different loads must be stored in and be taken out, actually therefore known method is disabled.
Under the background of the prior art, therefore task of the invention lies in preferably when being stored in and taking out different loads It supports operator and so that process is more rapidly and safer.
The task is solved according to the present invention by a kind of method of feature with claim 1.
According to the present invention, the scheduled theoretical value is related with scheduled reference load weight, and this method includes such as Lower step:
(a) quality of the load currently carried by load-carrying mechanism preferably by means of load cell detection；
(b) according at least to quality detected, reference load weight and according to ground transport stored in memory Tool vehicle data is adapted to the scheduled theoretical value of at least one relative adjustment parameter；And
(c) theoretical value of adaptation is manipulated or adjusted by means of control/regulating mechanism.
Each scheduled theoretical value can for example be calculated by means of the vehicle data and quality detected of storage herein It is out and mobile for the suitable opposite hoisting depth of present load and/or suitable inclination angle.The influence of different loads weight So automatically derive compensation.
With the load-carrying mechanism that can hydraulically adjust height and/or can hydraulically inclined bar or/and can be hydraulic In the case where the vehicle of the inclined fork in ground, cylinder can adjusted by setting accordingly in a simple manner herein The upper or alignment sensor that is integrated in determines the current value of each relative adjustment parameter, such as in document EP 3070342 As described in B1.
Quality can be detected particularly simply by the load cell being arranged on vehicle, but also not It should exclude as follows, i.e., the quality of present load weight is inputted by input unit by operator, may also be only to be suitble to Quality type (light-duty, medium-sized, heavy or the like), especially when mainly processing limited quantity different loads weight when and When which type each load clearly visible for operator belong to.
Preferably, at least one described relative adjustment parameter is opposite hoisting depth.
The vehicle data or vehicle parameter that are stored illustrate: vehicle load-carrying mechanism different location and How to react to different loads in posture.Such as can be related to hoisting depth and the related vehicle flexibility of load or/ Or about load weight pitch angle variation or/or with load related tire flexure or/and about hoisting depth and load Bar flexibility.These data can first pass through test in advance and find out or by calculating the scheduled characteristic parameters production by vehicle It is raw.
Adaptation for one or more of theoretical values calculate can by means of arbitrarily complicated property suitable function or Multi-dimensional spreadsheet carries out, which is correspondingly interpolated.
According to a preferred embodiment, the control/regulating mechanism is respectively structured as manipulating or/and adjusting aforementioned three The scheduled theoretical value of two or three relative adjustment parameters in a relative adjustment parameter, preferably for example opposite hoisting depth It is tilted with opposite bar, wherein according at least to the vehicle of quality detected, reference load weight and storage in step (b) All predetermined theoretical values of data adaptation the two or three adjustable parameters, and manipulation or adjusted all in step (c) The theoretical value of adaptation.
As follows, the i.e. reference load weight weight that is zero or empty goods plate should not be excluded in principle, and for example opposite is mentioned The theoretical value of rise is the actual height of each shelf on ground.
Preferably, persistently using before vehicle but in determining environment, with one group of given deposit and Extracting position (such as in storage rack with scheduled grid) implements calibration or reference measure, wherein operator will have Having the suitable load of reference load weight for each given deposit position, manually so positioning is primary first, so that institute Load is stated to be located at correctly height and also be located at when necessary for being stored in correctly inclination and then for example will be current opposite Hoisting depth or/or current opposite bar inclination angle stored together with reference load weight as theoretical value.Corresponding school Quasi- or reference measure can also be implemented the given extracting position for accommodating reference load.
The reference load weight for example can be the maximum allowable load weight for corresponding vehicle One third.
In particular, if implementing such calibration or reference to find out the predetermined theoretical value of at least two adjustable parameters Measurement, then it is preferred that it can be stated that in step (b) at least one of described two or three relative adjustment parameters, Preferably for each relative adjustment parameter, theoretical value in step (b) also according in described two or three adjustable parameters extremely Lack another theoretical value to be adapted to, is preferably fitted according to each other theoretical value in described two or three relative adjustment parameters Match.
In following vehicle, wherein such as not only opposite hoisting depth but also inclination of opposite bar is adjustable Section, therefore can particularly preferably it provide, in addition to (that is, the inclination of reference measure of the inclined predetermined theoretical value of opposite bar Angle), the load weight of current detection, reference load weight and storage vehicle data except, opposite hoisting depth it is predetermined Theoretical value that is, the opposite hoisting depth of reference measure also allow for the calculating of inclined the be adapted to theoretical value of opposite bar In.This is favourable, because the bendability of lift lever can influence actual bar inclination and usually have bigger hoisting depth Bendability more strongly have an impact.
On the other hand, usually the correction of opposite hoisting depth or adaptation can be with the inclinations angle of reference measure that is, opposite The inclined predetermined theoretical value of bar independently realize.
In other words it is preferably, the inclined predetermined theoretical value of opposite bar does not consider the adaptation of opposite hoisting depth In the calculating of theoretical value.In principle but should not exclude it is as follows, i.e., in addition to the predetermined theoretical value of opposite hoisting depth, current inspection The opposite inclined scheduled theoretical value of bar is also examined except the load weight of survey, reference load weight and the vehicle data that is stored In the calculating for considering the theoretical value of the adaptation of opposite hoisting depth.
For the inclination angle of the loading end of lift lever or load-carrying mechanism, also using for surveying in vehicle The inclinometer for measuring absolute tilt, preferably can additionally use in the method according to the invention.
Preferably so be additionally provided on vehicle in the additional absolute adjustable parameter of following two at least The sensor of one adjustable parameter, additional absolute adjustable parameter respectively refer to the fixed coordinate system of environment to illustrate: absolute Bar inclination, is lift lever or the pitch angle of its component；And absolute loading end inclination, it is the carrying of load-carrying mechanism The pitch angle in face, wherein the control/regulating mechanism is preferably configured as that described at least one is additional absolutely for manipulating or adjusting To the scheduled theoretical value of adjustable parameter, and wherein, this method further includes following steps: (d) is by means of control/regulating mechanism Manipulate or adjust the scheduled theoretical value of at least one additional adjustable parameter.
The fixed coordinate system of environment is following coordinate system, is fixedly associated with the part of environment, vehicle In the environment.Different absolute adjustable parameters is referred to the fixed coordinate system of different environment or identical environment is fixed Coordinate system.
In order to save the time, step overlappingly and is particularly preferably simultaneously preferably executed in time with step (c) (d)。
Normally, the method or the system are executed as householder method or auxiliary system, that is, support operator, Its mode is that the stopping by movement is that operator is indicated to reach desired position with signal.But the motion itself must It must be caused by operator, such as by operating lifting motion or/and inclined corresponding tune for load-carrying mechanism Pole and cause.For security reasons it can be stated that stopping load movement anyway in release lever.
According to a preferred embodiment, thus step (c) and when necessary step (d) started by operator and It can interrupt or stop at any time by operator during execution.
If the confirmation in the step (a): quality detected is located under predetermined threshold, can be based on it is as follows, i.e., Load-carrying mechanism is empty, then therefore current adjustment process is related to de-stacking process to maximum probability.In such a case it is possible to The predetermined theoretical value of opposite hoisting depth is reduced to before adaptation determining numerical value (such as 150 millimeters), class in step (b) As described in 2439165 B1 of document EP.Naturally, this can be corrected again by operator at any time, such as when answering heap When stack goods plate.
Vehicle is frequently used for a variety of duplicate Standard Tasks, such as loads or/and unload given shelf system System, or standard truck on a predetermined position will be stopped and load or/and be unloaded in determining shelf from determining shelf.
Therefore it is preferably to simplify work, it can be with automatic identification: it whether is carrying out such Standard Task, and And the method according to the invention can adapt to the requirement of identified Standard Task.
According to a preferred embodiment, therefore this method further includes following steps:
(e) detect and record the driving pattern of vehicle；And
(f) confirm: the driving pattern that is recorded or in which a part whether with driving pattern one stored in memory It causes.
Term " driving pattern " is therefore understands that in time for the numerical value of the travel speed of vehicle or/and direction Development, preferably supplement above-mentioned opposite or/and absolutely adjustable parameter temporal development.
The detection of driving pattern and record herein can according to operator requirement at regular intervals or continuously Ground carries out.
In order to time-optimized especially it can be stated that if it have been confirmed that the driving pattern or in which a part that are recorded and institute The driving pattern of storage is consistent, then according to the time flow of the driving pattern stored at least adaptation step (c).
Also it can be stated that operator records traveling or/or divertical motion and preferred promotion or/and adjusts working as movement Preceding order and storage is in memory as new Standard Task (traveling or operation recycle).
According to the above-mentioned task of second aspect also by a kind of ground transport of feature with independent device claim Tool solves.
Preferably, which includes load cell, and the load cell is structured to detection by bearing Carry the quality of the load on loading end that is that load carrier carries and being preferably positioned at load-carrying mechanism.
In terms of the above-mentioned explanation for illustrating the method according to the invention also includes device, thus in order to illustrate according to this hair Bright vehicle and referring specifically to the above description for method.
A kind of computer program is finally also sought protection, the computer program includes order, and the order causes: such as existing Vehicle according to the invention described in one of device claim is implemented according to one of claim to a method The method according to the invention, furthermore also seek protection a kind of computer-readable medium, be stored on the computer program The computer program.
Detailed description of the invention
The present invention is illustrated below according to preferred embodiment, which illustrates in fig 1 and 2.Attached drawing is shown:
Fig. 1 shows the vehicle of one embodiment according to the invention, wherein sub- attached drawing a) is illustrated for preparing The calibration method of the method according to the invention, sub- attached drawing b) illustrates problem of the prior art and sub- attached drawing c) is illustrated according to this The method of invention；And
Fig. 2 shows the important component parts of the vehicle according to Fig. 1, especially for illustrating control/adjusting Mechanism.
Specific embodiment
It is pointed out here that all attached drawings are related to the schematic diagram extremely simplified, the principle of the present invention should be only illustrated.
Fig. 1 shows the schematic side elevation of the vehicle 10 of a preferred embodiment according to the invention.
Vehicle 10 (being fork lift truck in this example) includes vehicle frame 12 and the walking mechanism with preceding bridge 9 8, wherein tilting ground transport work applied and being shown in the accompanying drawings for opposite hoisting depth and opposite bar herein The fixed coordinate system of tool is fixedly associated with preceding bridge 9 with axis x, y and z.Here, axis x is along the traveling side of vehicle 10 To before direction, axis y is looked by operator is directed toward a left side, and in axis z direction.Coordinate origin is located in the illustrated example for negative It carries on the minimum possible position of load carrier 16.Be equipped on preceding bridge 9 can hydraulically inclined lift lever 14, in this as showing Example is the dual bar for including external rod-type material 14.1 and internal rod-type material 14.2, and the rod-type material 14.1 of the outside is around y-axis 9 Before being tiltably set on bridge, internal rod-type material 14.2 is mounted on vertically adjustablely on external rod-type material 14.1.
The load-carrying mechanism to load fork-shaped formula is equipped on internal rod-type material 14.2 on lift lever 14, at this 16, with height-adjustable loading end 16f.Reference point P (illustrating opposite hoisting depth about reference point P) for example may be used To be located on loading end 16f as close possible to lift lever.
Height adjustment of the load-carrying mechanism 16 on lift lever 14, internal rod-type material 14.2 are in external rod-type material Height adjustment and lift lever 14 on 14.1 preferably can be carried out hydraulically relative to the inclination of preceding bridge 9 or vehicle frame 12, wherein Each adjusting cylinder is not shown for the reason of clarity in the accompanying drawings.
In order to support operator not shown here, vehicle 10 includes control/regulating mechanism 18, control/ Regulating mechanism 18 is structured to manipulate or adjust the scheduled theoretical value of two adjustable parameters in this example, the adjusting ginseng Amount respectively refers to the fixed coordinate system of the vehicle shown, that is, is in this example opposite hoisting depth h and phase Pair bar tilt alpha.
Shown in the accompanying drawings, alternatively it can be stated that the vehicle of opposite hoisting depth was fixed Coordinate system is associated fixedly with the component of lift lever 14, preferably with external rod-type material 14.1, and opposite bar is inclinedly Means of transport fixed coordinate system in face is fixedly associated with preceding bridge 9.In this case, the ground transport of opposite hoisting depth The fixed coordinate system of tool will tilt together with lift lever.
Sub- attached drawing 1a) it illustrates for determining the theoretical value h for being used for opposite hoisting depth h and opposite bar tilt alpha0And α0 Calibration method or reference measure, the opposite hoisting depth and the inclination of opposite bar are used in method according to the present embodiment In.
For the environment of the deposit position with predetermined group, for example including such as three shelf planes as deposit position 15.1,15.2 and 15.3 shelf 15, operator is herein preferably for each deposit position that should then use with ginseng Examine load weight mrefReference load 17 so adjust opposite bar in the load-carrying mechanism 16 of vehicle 10 and incline Oblique α and opposite hoisting depth h so that it is suitable on the deposit position selected respectively (showing 15.2) deposit with reference to negative Carry 17.
Then, operator causes these current values by opposite hoisting depth h and opposite bar tilt alpha to be stored as using In the theoretical value h of the shelf plane 15.2 of selection0And α0.As shown in sub- attached drawing a), the inclined theory of bar opposite in this example Value is zero.
These theoretical values h0 and α 0 then with reference load weight mrefIt is stored in corresponding deposit position matching possession suitable In the memory of conjunction, the memory for example can be used as memory device and be integrated into control/regulating mechanism 18.But it does not also answer Exclusion is as follows, i.e., these values is stored in external memory, and control/regulating mechanism 18 can be by means of suitable communication device (WLAN or the like) accesses to it.In this case, (they have other vehicles of fleet Suitable communication device is for calling data from external memory) it can receive theoretical value, without itself carrying out with reference to survey Amount.
Sub- attached drawing 1b) following problem is illustrated, which generates in the case where there, i.e., if attempting to move with other loads 19 To the theoretical value stored before, wherein the quality m of other loads 19 is noticeably greater than reference load weight m in this exampleref。
Because internal rod-type material 14.2 is compared in sub- attached drawing 1a in the case where vehicle 10 shown) The case where significantly turned forward compared to external rod-type material 14.1 due to the load 19 of more weight, so the theoretical value stored before h0And α0It is no longer appropriate for, and opposite hoisting depth or/and opposite bar inclination must be corrected again manually by operator, with Just damage load 19 or/or shelf 15 when that should be stacked in load 19 on deposit position 15.2 are avoided.
Sub- attached drawing 1c) it illustrates, how to pass through the method for the embodiment shown or vehicle solves the problems, such as this.
It can be stated that operator must activate positioning to support in a suitable manner first, so as to execute according to this The method of invention, such as switched accordingly on the operated device of vehicle 10 by pressing, but also it can be stated that Vehicle 10 so set, make implements the method according to the invention according to standard and preferably can be with desired It is deactivated.
It is detected currently using the load cell 13.1 being arranged on vehicle 10 in load-carrying mechanism herein The quality for the load 19 placed on 16 loading end 16f.
Then it is adapted to or in other words corrects scheduled theoretical value, that is, according at least to quality m detected, reference load weight Measure mrefAnd it is corrected in other words according to 10 vehicle data of vehicle stored in memory to be adapted to.
In the present case, inclination of the internal rod-type material 14.2 compared to external rod-type material 14.1 can pass through such as lower section Formula compensation, that is, entire lift lever 14 has tilted backwards angle α around y-axiskorr, and opposite hoisting depth is compared to theoretical value h0At most Slightly it is adapted to (hkorr≈h0)。
It can be stated that the adaptation implements all deposit positions, exist in memory for the deposit position The theoretical value of adjustable parameter, but also it can be stated that adaptation is implemented only for current deposit position, this is currently stored in position example It is such as selected by operator or is identified as the deposit position currently to be shifted to by vehicle, such as in predetermined group Be stored in position, the deposit position at the time of determining closest to the position that currently measures, such as when promoted speed drop to it is predetermined When under threshold value, as described in 2439165 B1 of document EP.
Calculating for the theoretical value of adaptation physical characteristic by suitable formula based on vehicle or can pass through It is preferred that the interpolation of multi-dimensional spreadsheet determined by experiment is realized.
If it is intended to the operator for shifting to determining deposit position is for example lifted by operating corresponding adjusting rod now Load 19, opposite hoisting depth h of the control/regulating mechanism 18 in adaptationkorrIn the case where cause lifting motion stop and it is excellent Choosing while the opposite inclined angle alpha for adjusting adaptationkorr。
Operator usually will load 19 be moved into shelf 15 before check again for its position, however in ideal situation Under must no longer be adapted to the value of opposite hoisting depth and opposite inclination angle.
In the case where vehicle 10 shown, based on load 19 under the hoisting depth shown substantially only Internal rod-type material 14.2 turns forward, however, it is clear that in the case where other loads or other vehicles It can lead to other variations, such as bending, the flexure of front-wheel 20v or the flexure of front-wheel 20v and rear-wheel 20h of lift lever 14, Or/and entire lift lever 14 is tilted about preceding bridge 9 or vehicle frame 12.
Such variation should then be compensated according to suitable mode respectively, and the uniform flexure of all wheels is for example substantially It is compensated by the adaptation of opposite hoisting depth, and relative tilt angle need not or only must be slightly adapted in this case.
Fig. 2 is according to the basic component part of the vehicle 10 of Fig. 1 and especially for illustrating control/adjusting Mechanism 18.
Control/regulating mechanism 18 includes arithmetic element 18.1, storage unit 18.2 and control/adjusting list in the present embodiment Member 18.3, wherein term " unit " only indicate the different function of each corresponding units and should not imply it is as follows, that is, there must be on State the separation of each unit in space and/or structurally.
Control/regulating mechanism 18 is provided for being communicated by means of operated device 11 with operator.Such as it can pass through Adjusting rod 11.1 starts and stops the lifting motion of load-carrying mechanism, and data can pass through function key 11.2 or/and text number Word key 11.3 inputs, and can be for example preferably behaviour by current hoisting depth or/and the deposit to be manipulated position It is shown on display screen 11.4 as personnel.
In addition, control/regulating mechanism 18 is provided for the measured value of receiving sensor device 13, the sensor device It especially may include load cell 13.1.The current measurement value of opposite hoisting depth h and opposite bar tilt alpha for example may be used To be supplied to by position sensor 13.2 and 13.3 for being promoted or for the inclined corresponding adjusting cylinder of bar.
Scheme preferably is further expanded according to one, can also be equipped on vehicle and be used for load-carrying machine The absolute tilt β of structureabsInclination sensor 13.4, especially if on vehicle load-carrying mechanism it is absolute If inclination is also adjustable.However inclination sensor 13.4 can also be saved.
Measured value m, h, α of sensor device 13 and when necessary βabsWith data inputted by operated device 11, such as The deposit position currently to be driven towards is transferred to the arithmetic element 18.1 of control/regulating mechanism 18.
Furthermore arithmetic element 18.1 is structured to access storage unit 18.2, for each in the storage unit 18.2 Scheduled deposit position is stored with negative for opposite hoisting depth and the opposite inclined theoretical value of bar and affiliated reference Loading capacity determines theoretical value for the reference load weight for example in such alignment method.
Furthermore the vehicle data that corresponding vehicle can also be stored in storage unit 18.2, by the vehicle Data are learnt: which kind of reaction vehicle makes to different load weights for scheduled deposit position.Storage unit Also it can have exterior section, arithmetic element 18.1 can be by means of the communication unit not shown here of control/regulating mechanism 18 Member accesses the exterior section.
Arithmetic element 18.1 is configured to, by passing through the data and storing that sensor device 13 and operated device 11 input The data stored in unit 18.2 are so adapted to scheduled theoretical value for scheduled deposit position, so that in scheduled deposit position Load 19 can be without damage stored in by setting.
The theoretical value of adaptation is α in the casekorrAnd hkorrControl/adjusting unit is transferred to by arithmetic element 18.1 18.3, determine that is be suitble to controls or regulates order by the theoretical value being adapted to, to cause the driving member of vehicle 10 Corresponding driving element (such as adjusting cylinder) manipulation of part device 24 or the theoretical value α for adjusting adaptationkorrAnd hkorr。
Arithmetic element 18.1 can be adapted for being determined according to the quality detected of the load currently carried: be the presence of deposit Still there is taking-up process in process, such as described in 2439165 B1 of document EP.
The present invention can apply in the vehicle for almost arbitrarily having lifting bracket, be provided with for loading Weight and the measurement for being at least used for above-mentioned relative adjustment parameter (being preferred for opposite hoisting depth and opposite bar inclination) Sensing device.Such vehicle for example can be real by the suitable software upgrading of control/regulating mechanism The method according to the invention is applied, operator is thus preferably supported when being stored in and taking out load and can be improved work safety Property and operating rate.

Claims (13)

1. for vehicle (10) carry out positioning support method, the vehicle include lift lever (14), At least height-adjustable load-carrying mechanism (16) and control/regulating mechanism (18), the control/tune on lift lever (14) Section mechanism is structured to manipulate or adjust the scheduled theoretical value (h of at least one relative adjustment parameter0、α0), the opposite tune It saves parameter and is selected from following three parameters, the parameter respectively refers to the fixed coordinate system of vehicle:
Opposite hoisting depth (h), the opposite hoisting depth are the reference points (P) on load-carrying mechanism (16) Highly；
Opposite bar tilts (α), and the opposite bar inclination is lift lever (14) or the pitch angle of its component；And
Opposite loading end tilts (β), and the opposite loading end inclination is the loading end (16f) of load-carrying mechanism (16) Pitch angle；
Wherein, the scheduled theoretical value and scheduled reference load weight (mref) related, and this method includes following step It is rapid:
(a) quality of the load (19) carried preferably by means of load cell (13.1) detection by load-carrying mechanism (16) (m)；
(b) according at least to quality (m) detected, reference load weight (mref) and according to being stored in memory (18.2) Vehicle (10) vehicle data be adapted to the scheduled theoretical value (h of at least one opposite adjustable parameter0、 α0)；And
(c) theoretical value (h of adaptation is manipulated or adjusted by means of control/regulating mechanism (18)korr、αkorr)。
2. the method according to claim 1, wherein at least one described relative adjustment parameter is opposite promotion Highly (h).
3. according to claim 1 to method described in one of 2, which is characterized in that the control/regulating mechanism (18) respectively constitutes For the scheduled theoretical value for manipulating and/or adjusting two or three relative adjustment parameters, the relative adjustment parameter is selected from Opposite hoisting depth (h), opposite bar inclination (α) and opposite loading end tilt (β), wherein at least root in step (b) According to quality (m) detected, reference load weight (mref) and save vehicle data come be adapted to it is described two or three adjusting All scheduled theoretical value (h of parameter0、α0), and in the middle theoretical value (h for manipulating or adjusting all adaptations of step (c)korr、 αkorr)。
4. according to the method described in claim 3, it is characterized in that, for described two or three opposite tune in step (b) Save at least one of parameter, preferably for each relative adjustment parameter, scheduled theoretical value (h0、α0) the also root in step (b) According to the scheduled theoretical value (α of at least another relative adjustment parameter in described two or three relative adjustment parameters0、h0) come Adaptation, preferably according to the scheduled theoretical value of other relative adjustment parameter each in described two or three relative adjustment parameters (α0、h0) be adapted to.
5. method according to claim 1 to 4, which is characterized in that be additionally provided with use on vehicle (10) The sensor of at least one absolute adjustable parameter in the additional absolute adjustable parameter of following two, the additional absolute adjusting Parameter respectively refers to the fixed coordinate system of environment to illustrate:
Absolute bar inclination, the absolute bar inclination is lift lever (14) or the pitch angle of its component；And
Absolute loading end tilts (βabs), the absolute loading end inclination is the loading end of load-carrying mechanism (16) The pitch angle of (16f),
Wherein, the control/regulating mechanism (18) is structured to manipulate or adjust at least one described additional absolute adjusting The scheduled theoretical value of parameter, and this method further includes following steps:
(d) the predetermined of at least one additional absolute adjustable parameter is manipulated or adjusted by means of control/regulating mechanism (18) Theoretical value,
Wherein, overlappingly and particularly preferably simultaneously step (d) preferably is executed in time with step (c).
6. method according to one of the above claims, which is characterized in that step (c) is started and held by operator It can interrupt or stop at any time by operator between the departure date.
7. method according to one of the above claims, which is characterized in that at least one described relative adjustment parameter is phase Pair hoisting depth (h), wherein before step (b), if quality (m) detected is located under predetermined threshold, will The scheduled theoretical value of opposite hoisting depth reduces fixed numerical value.
8. method according to one of the above claims, which is characterized in that this method further includes following steps:
(e) detect and record the driving pattern of vehicle；And
(f) confirm: the driving pattern that is recorded or in which a part whether with the driving pattern that is stored in memory (18.2) Unanimously.
9. according to the method described in claim 8, it is characterized in that, if it have been confirmed that the driving pattern recorded or in which one It is point consistent with the driving pattern stored, then according to the time flow of the driving pattern stored at least adaptation step (c).
10. vehicle (10), including lift lever (14), at least height-adjustable load-carrying on lift lever (14) Mechanism (16) and control/regulating mechanism (18), the control/regulating mechanism are structured to manipulate or adjust at least one relatively Scheduled theoretical value (the h of adjustable parameter0、α0), the relative adjustment parameter is selected from following three parameters, and the parameter is joined respectively Illustrate according to the fixed coordinate system of vehicle:
Opposite hoisting depth (h), the opposite hoisting depth are the height of the reference point of load-carrying mechanism (16)；
Opposite bar tilts (α), and the opposite bar inclination is lift lever (14) or the pitch angle of its component；And
Opposite loading end inclination, the opposite loading end inclination are the loading ends (16f) of load-carrying mechanism (16) Pitch angle；
It is characterized in that, the vehicle (10) further includes following mechanism, which is structured to execute according to upper State method described in one of claim.
11. vehicle (10) according to claim 10, which is characterized in that the vehicle further includes Load cell (13.1), the load cell are structured to that detection is carried by load-carrying mechanism (16) and preferred put Set the quality (m) of the load on the loading end (16f) of load-carrying mechanism (16).
12. computer program, including order, the order cause vehicle described in 0 or 11 according to claim 1 (10) implement according to claim 1 to method described in one of 9.
13. computer-readable medium is stored with meter according to claim 12 on the computer-readable medium Calculation machine program.
CN201910408826.4A 2018-05-16 2019-05-16 Vehicle for positioning the method supported and being supported with positioning Pending CN110498371A (en)

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DE102018207672.3 2018-05-16

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DE102022205669A1 (en) 2022-06-02 2023-12-07 Zf Friedrichshafen Ag Controlling an industrial truck

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GB2097959B (en) * 1981-03-31 1984-09-12 Toyoda Automatic Loom Works Fork lift control system
SE449989B (en) * 1985-10-15 1987-06-01 Mecanum Ab VIEW AT VEHICLES WITH A LIFTING COMPENSATION COMPENSATING DIFFERENCES BY THE DOCTOR OF THE LIFTING DEVICE IN CONDITION TO THE VEHICLE SUBSTANCE
DE102007015485A1 (en) * 2007-03-30 2008-10-02 Linde Material Handling Gmbh Reach truck for picking object located in region of pallet has electronic control apparatus designed to drive actuating element so that lifting mast moves automatically in direction of side facing away from load while load is picked up
DE102015101201A1 (en) * 2014-12-16 2016-06-16 Still Gmbh Method for detecting the inclination of a load handling device

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