EP1371603B1 - Control system for at least one movement of an industrial truck - Google Patents
Control system for at least one movement of an industrial truck Download PDFInfo
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- EP1371603B1 EP1371603B1 EP03012622A EP03012622A EP1371603B1 EP 1371603 B1 EP1371603 B1 EP 1371603B1 EP 03012622 A EP03012622 A EP 03012622A EP 03012622 A EP03012622 A EP 03012622A EP 1371603 B1 EP1371603 B1 EP 1371603B1
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- Prior art keywords
- industrial truck
- truck
- movement
- permissible
- stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- 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
Definitions
- the invention relates to a method for controlling at least one movement of a truck according to the preamble of patent claim 1.
- the maximum travel speed is determined in these known systems regardless of the weight of the lifted load.
- a disadvantage of such a control method is that further state variables, which also influence the stability of the truck, are disregarded when determining the maximum driving speed. For this reason, the determination of the maximum driving speed with considerable safety reserves, whereby the cargo handling capacity of the truck is often limited beyond the required extent.
- From the EP 0 343 839 A2 is a method for determining the maximum permissible travel speed of a truck is known, in which the position of the current center of gravity of the truck is taken into account.
- the invention has for its object to provide a method for controlling at least one movement of an industrial truck available, which, taking into account all safety aspects, optimizes the movement of the truck in terms of handling capacity of the truck.
- the lifting height and the weight of the load are continuously and continuously measured with suitable transducers. From these two measured values, the position of the overall center of gravity of the truck is then calculated, including in this calculation, among other things, the empty weight of the truck and the center of gravity of the empty truck with. Based on the position of the overall center of gravity of the truck then the stability of the truck is calculated, preferably in the forward, backward and sideways direction. As a measure of the stability is a floor inclination in the appropriate direction, which just does not lead to a tipping over of the truck. Based on this, the permissible extent of the movement of the truck in the appropriate direction is determined. This may be, for example, the permissible driving speed, the permissible braking acceleration or the permissible lifting height.
- a particular accuracy is achieved in the calculation of the position of the overall center of gravity and thus the stability of the truck in that it takes into account a possible elastic deformation of at least one mast of the truck.
- the picking up and lifting of a load leads to elastic deformations in the force-transmitting parts of the truck, which in turn influences the position of the center of gravity.
- Elastic deformations occur, for example, in the area of the pivoting thrust fork, the Mast, vehicle frame or tires.
- the inclusion of the elastic deformation leads to a significantly improved accuracy in determining the stability of the truck.
- the inventive method is used when the movement of the truck whose permissible extent is determined, the lifting movement of a lifting device.
- the lifting height of the load handling device and thus a recorded load significantly affect the risk of tipping a truck. If the risk of tipping exceeds a permissible level, further upward movement of the lifting device can be prevented or slowed down.
- a high level of operational safety is achieved by preventing upward lifting movement of the load receiving means when the calculated stability in at least one direction is less than a required stability in the same direction. This precludes a further reduction of the stability due to an increase in the overall center of gravity of the truck.
- the required stability is defined in such a way that the stability required by the machine guidelines is ensured at all times during operation of the truck. An upward stroke movement is therefore prevented precisely if the stability prescribed by the machine guidelines would be exceeded as a result of a further lifting of the load.
- the invention is advantageously used when the movement of the truck, the permissible extent is determined, the driving speed of the truck in the forward and / or reverse direction.
- the maximum travel speed of the industrial truck can be reduced here as a function of the position of the overall center of gravity.
- the permissible travel speed in the forward and / or reverse direction is determined as a function of a physically possible braking acceleration of the industrial truck in the corresponding direction.
- the physically possible braking acceleration depends on the normal forces acting between the braked wheels and the road surface and the friction conditions. In this case, different braking accelerations may be possible in the forward and backward directions.
- the maximum driving speed is set so that the prescribed deceleration is not exceeded.
- the permissible travel speed in the forward and / or reverse direction is determined as a function of a permissible acceleration of the truck in the appropriate direction.
- the braking acceleration is classified as permissible if sufficient stability of the truck is ensured, ie there is no risk of the truck tipping over as a result of inertial forces occurring during braking.
- the permissible travel speed is then adjusted so that the required braking acceleration in the corresponding direction is achieved.
- the permissible braking acceleration of the truck is determined inter alia as a function of the stability of the truck.
- the stability and thus the risk of overturning of the truck during a braking process is largely determined by the position of the center of gravity.
- the permissible travel speed in the forward and / or reverse direction is determined as a function of a current steering angle of a steered wheel of the truck.
- the permissible travel speed is reduced with increasing steering angle.
- the permissible extent of these movements can be determined by the method according to the invention.
- a device for moving the load can be formed, for example, by a pivoting forks comprising a side thruster, a pivoting device and a 1925hubvorraum.
- the permissible extent of these movements can For example, be defined as a permissible speed or acceleration.
- the invention also relates to a truck with a control device for carrying out the method described above.
- the method is stored in the control device as software.
- the permissible values for the movements of the truck ie the maximum lifting height, the permissible braking acceleration and the maximum driving speed, are continuously determined during the operation of the truck. After activation of the respective movement by the operator, the relevant movement is then controlled by the control device, taking into account the determined permissible values.
- the truck is designed to travel with the load lifted. Even with a load that has been raised a long way, these trucks can be driven at a considerable speed. In these trucks special requirements apply to the stability, which are safely maintained with the described, realized in the control device method.
- these trucks are designed as high-bay stacker or high-level order picker.
- the driver's station is often raised together with the load handling device in these industrial trucks.
- the figure shows a designed as Hochregalkommissionierer inventive truck in side view.
- the truck is available with wheels 1 on a roadway 2, which are mounted directly or indirectly on a non-raisable vehicle frame 3.
- a driver's station 4 can be lifted along a telescopically extendable mast 6 together with a load-receiving means 5 attached to the driver's station 4.
- the truck comprises a control device 7 for controlling various movements of the truck. These movements are, for example, the driving speed, the lifting movement or braking of the Industrial truck. The permissible extent of these movements is determined as a function of the position of the overall center of gravity S of the industrial truck.
- the control device 7 calculates the position of the overall center of gravity S in the x-direction and y-direction from the basic data of the industrial truck, the current lifting height of the load-receiving device 5 and the current load weight.
- the lifting height is determined here by means of a suitable lifting height sensor whose output signal is fed to the control device 7.
- the measurement of the load weight can take place, for example, by means of a force measuring sensor arranged on a load chain, the output signal line of which is likewise connected to the control device 7.
- a force measuring sensor arranged on a load chain
- the output signal line of which is likewise connected to the control device 7.
- a further lifting of the load-receiving means 5 can be prevented, if this would affect the stability of the truck in an inadmissible manner.
- an allowable deceleration in both x-directions is determined, which is dimensioned such that the truck has sufficient stability even during a braking operation.
- the maximum permissible driving speed is then determined.
- the current steering angle of the truck can serve.
- the maximum permissible driving speed is reduced with increasing steering angle.
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for controlling at least one movement of a truck according to the preamble of patent claim 1.
Bestimmte Arten von Flurförderzeugen, insbesondere Hochregalstapler und Hochhubkommissionierer, sind zum Fahren mit angehobener Last gebaut. Für diese Flurförderzeuge gelten besondere technische Anforderungen. So müssen in Abhängigkeit vom aktuellen Betriebszustand des Flurförderzeugs die verschiedenen Bewegungen des Flurförderzeugs, beispielsweise die Fahrgeschwindigkeit oder die Hubhöhe des Flurförderzeugs, auf zulässige Werte begrenzt werden. Der zulässige Maximalwert der Fahrgeschwindigkeit verändert sich mit der Hubhöhe und dem Gewicht der angehobenen Last. Bei bekannten Flurförderzeugen erfolgt diese Anpassung der Fahrgeschwindigkeit und der Bremsbeschleunigung in Abhängigkeit von der aktuellen Hubhöhe. Üblich ist die Ermittlung der Hubhöhe mittels Positionsschaltem, mit denen festgestellt werden kann, in welchem Teilbereich des Gesamthubs sich das Lastaufnahmemittel befindet. Bekannt ist ebenfalls die Ermittlung der Hubhöhe mit kontinuierlichen Messwertgebem. Die maximale Fahrgeschwindigkeit wird bei diesen bekannten Systemen unabhängig von dem Gewicht der angehobenen Last festgelegt. Nachteilig an einem derartigen Steuerverfahren ist, dass weitere Zustandsgrößen, die die Standsicherheit des Flurförderzeugs ebenfalls beeinflussen, bei der Ermittlung der maximalen Fahrgeschwindigkeit unberücksichtigt bleiben. Aus diesem Grund erfolgt die Festlegung der maximalen Fahrgeschwindigkeit mit erheblichen Sicherheitsreserven, wodurch die Warenumschlagleistung des Flurförderzeugs häufig über das erforderliche Maß hinaus beschränkt wird.Certain types of industrial trucks, especially high lift forklifts and high lift order pickers, are built for driving with the load raised. These trucks are subject to special technical requirements. Thus, depending on the current operating state of the truck, the various movements of the truck, such as the driving speed or the lifting height of the truck, must be limited to permissible values. The permissible maximum value of the driving speed changes with the lifting height and the weight of the lifted load. In known industrial trucks, this adaptation of the driving speed and the braking acceleration takes place as a function of the current lifting height. It is customary to determine the lifting height by means of position switches, with which it can be determined in which subarea of the total stroke the load receiving means is located. Also known is the determination of the lifting height with continuous Meßwertgebem. The maximum travel speed is determined in these known systems regardless of the weight of the lifted load. A disadvantage of such a control method is that further state variables, which also influence the stability of the truck, are disregarded when determining the maximum driving speed. For this reason, the determination of the maximum driving speed with considerable safety reserves, whereby the cargo handling capacity of the truck is often limited beyond the required extent.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs zur Verfügung zu stellen, das, unter Berücksichtung aller Sicherheitsaspekte, die Bewegung des Flurförderzeugs im Hinblick auf die Umschlagleistung des Flurförderzeugs optimiert.The invention has for its object to provide a method for controlling at least one movement of an industrial truck available, which, taking into account all safety aspects, optimizes the movement of the truck in terms of handling capacity of the truck.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass das Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs, die folgenden Verfahrensschritte umfasst:
- Ermitteln der Hubhöhe eines Lastaufnahmemittels,
- Ermitteln des Gewichts einer angehobenen Last,
- Berechnen der Lage des Gesamtschwerpunkts des Flurförderzeugs,
- Berechnen einer von der Standsicherheit des Flurförderzeugs in mindestens eine Richtung abhängigen Größe,
- Bestimmen des zulässigen Umfangs der Bewegung des Flurförderzeugs,
- wobei die Berechnung der Standsicherheit und/oder der Lage des Gesamtschwerpunkts des Flurförderzeugs unter Berücksichtigung einer möglichen elastischen Verformung eines Hubgerüsts des Flurförderzeugs erfolgt.
- Determining the lifting height of a lifting device,
- Determining the weight of a lifted load,
- Calculating the position of the overall center of gravity of the truck,
- Calculating a size dependent on the stability of the truck in at least one direction,
- Determining the permissible extent of the movement of the truck,
- wherein the calculation of the stability and / or the position of the overall center of gravity of the truck takes into account a possible elastic deformation of a mast of the truck.
Die Hubhöhe und das Gewicht der Last werden mit geeigneten Messwertgebern fortlaufend und stufenlos gemessen. Aus diesen beiden Messwerten wird daraufhin die Lage des Gesamtschwerpunkts des Flurförderzeugs berechnet, wobei in diese Berechnung unter anderem auch das Leergewicht des Flurförderzeugs und die Schwerpunktslage des leeren Flurförderzeugs mit eingehen. Ausgehend von der Lage des Gesamtschwerpunkts des Flurförderzeugs wird dann die Standsicherheit des Flurförderzeugs berechnet, vorzugsweise in Vorwärts, Rückwärts und Seitwärtsrichtung. Als Maß für die Standsicherheit gilt eine Bodenneigung in die entsprechende Richtung, die gerade nicht zu einem Umkippen des Flurförderzeugs führt. Ausgehend hiervon wird der zulässige Umfang der Bewegung des Flurförderzeugs in die entsprechende Richtung bestimmt. Hierbei kann es sich beispielsweise um die zulässige Fahrgeschwindigkeit, die zulässige Bremsbeschleunigung oder die zulässige Hubhöhe handeln. Eine besondere Genauigkeit wird bei der Berechnung der Lage des Gesamtschwerpunkts und damit der Standsicherheit des Flurförderzeugs dadurch erzielt, dass diese unter Berücksichtigung einer möglichen elastischen Verformung mindestens eines Hubgerüsts des Flurförderzeugs erfolgt. Das Aufnehmen und Anheben einer Last führt in den kraftübertragenden Teilen des Flurförderzeugs zu elastischen Verformungen, was wiederum die Lage des Gesamtschwerpunkts beeinflusst. Elastische Verformungen treten beispielsweise im Bereich der Schwenkschubgabel, des Hubgerüsts, des Fahrzeugrahmens oder der Bereifung auf. Die Miteinberechnung der elastischen Verformung führt zu einer deutlich verbesserten Genauigkeit bei der Ermittlung der Standsicherheit des Flurförderzeugs.The lifting height and the weight of the load are continuously and continuously measured with suitable transducers. From these two measured values, the position of the overall center of gravity of the truck is then calculated, including in this calculation, among other things, the empty weight of the truck and the center of gravity of the empty truck with. Based on the position of the overall center of gravity of the truck then the stability of the truck is calculated, preferably in the forward, backward and sideways direction. As a measure of the stability is a floor inclination in the appropriate direction, which just does not lead to a tipping over of the truck. Based on this, the permissible extent of the movement of the truck in the appropriate direction is determined. This may be, for example, the permissible driving speed, the permissible braking acceleration or the permissible lifting height. A particular accuracy is achieved in the calculation of the position of the overall center of gravity and thus the stability of the truck in that it takes into account a possible elastic deformation of at least one mast of the truck. The picking up and lifting of a load leads to elastic deformations in the force-transmitting parts of the truck, which in turn influences the position of the center of gravity. Elastic deformations occur, for example, in the area of the pivoting thrust fork, the Mast, vehicle frame or tires. The inclusion of the elastic deformation leads to a significantly improved accuracy in determining the stability of the truck.
Mit besonderem Vorteil wird das erfindungsgemäße Verfahren eingesetzt, wenn die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Hubbewegung eines Lastaufnahmemittels ist. Die Hubhöhe des Lastaufnahmemittels und damit einer aufgenommenen Last beeinflussen die Kippgefahr eines Flurförderzeugs erheblich. Wenn die Kippgefahr ein zulässiges Maß überschreitet, kann eine weitere Aufwärtsbewegung des Lastaufnahmemittels verhindert oder verlangsamt werden.With particular advantage, the inventive method is used when the movement of the truck whose permissible extent is determined, the lifting movement of a lifting device. The lifting height of the load handling device and thus a recorded load significantly affect the risk of tipping a truck. If the risk of tipping exceeds a permissible level, further upward movement of the lifting device can be prevented or slowed down.
Eine große Betriebssicherheit wird dadurch erreicht, dass eine Aufwärts-Hubbewegung des Lastaufnahmemittels verhindert wird, wenn die berechnete Standsicherheit in mindestens einer Richtung geringer ist, als eine erforderliche Standsicherheit in die gleiche Richtung. Damit wird eine weitere Verringerung der Standsicherheit infolge eines Anhebens des Gesamtschwerpunkts des Flurförderzeugs ausgeschlossen. Die erforderliche Standsicherheit ist dabei so definiert, dass die nach den Maschinenrichtlinien vorgeschriebene Standsicherheit während des Betriebs des Flurförderzeugs jederzeit gewährleistet ist. Eine Aufwärts-Hubbewegung wird damit genau dann verhindert, wenn die nach den Maschinenrichtlinien vorgeschriebene Standsicherheit infolge eines weiteren Anhebens der Last unterschritten werden würde.A high level of operational safety is achieved by preventing upward lifting movement of the load receiving means when the calculated stability in at least one direction is less than a required stability in the same direction. This precludes a further reduction of the stability due to an increase in the overall center of gravity of the truck. The required stability is defined in such a way that the stability required by the machine guidelines is ensured at all times during operation of the truck. An upward stroke movement is therefore prevented precisely if the stability prescribed by the machine guidelines would be exceeded as a result of a further lifting of the load.
Ebenso vorteilhaft ist die Erfindung einsetzbar, wenn die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Fahrgeschwindigkeit des Flurförderzeugs in Vorwärts- und/oder Rückwärtsrichtung ist. Insbesondere kann hier die maximale Fahrgeschwindigkeit des Flurförderzeugs in Abhängigkeit von der Lage des Gesamtschwerpunkts reduziert werden.Likewise, the invention is advantageously used when the movement of the truck, the permissible extent is determined, the driving speed of the truck in the forward and / or reverse direction. In particular, the maximum travel speed of the industrial truck can be reduced here as a function of the position of the overall center of gravity.
Zweckmäßigerweise wird dabei die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einer physikalisch möglichen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt. Die physikalisch mögliche Bremsbeschleunigung ist abhängig von den zwischen den gebremsten Rädem und der Fahrbahn wirkenden Normalkräften und den Reibungsverhältnissen. Hierbei können in Vorwärts- und Rückwärtsrichtung unterschiedliche Bremsbeschleunigungen möglich sein. Die maximale Fahrgeschwindigkeit wird derart festgelegt, dass die vorgeschriebene Abbremsung nicht unterschritten wird.Expediently, the permissible travel speed in the forward and / or reverse direction is determined as a function of a physically possible braking acceleration of the industrial truck in the corresponding direction. The physically possible braking acceleration depends on the normal forces acting between the braked wheels and the road surface and the friction conditions. In this case, different braking accelerations may be possible in the forward and backward directions. The maximum driving speed is set so that the prescribed deceleration is not exceeded.
Bezüglich der Standsicherheit des Flurförderzeugs von großer Bedeutung ist es, dass die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einer zulässigen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt wird. Als zulässig wird die Bremsbeschleunigung eingestuft, wenn eine ausreichende Standsicherheit des Flurförderzeugs gewährleistet ist, also keine Gefahr eines Umkippens des Flurförderzeugs infolge der während des Bremsens auftretenden Trägheitskräfte besteht. Die zulässige Fahrgeschwindigkeit wird dann so eingestellt, dass die erforderliche Bremsbeschleunigung in die entsprechende Richtung erreicht wird.With regard to the stability of the truck is of great importance that the permissible travel speed in the forward and / or reverse direction is determined as a function of a permissible acceleration of the truck in the appropriate direction. The braking acceleration is classified as permissible if sufficient stability of the truck is ensured, ie there is no risk of the truck tipping over as a result of inertial forces occurring during braking. The permissible travel speed is then adjusted so that the required braking acceleration in the corresponding direction is achieved.
Die zulässige Bremsbeschleunigung des Flurförderzeugs wird unter anderem in Abhängigkeit von der Standsicherheit des Flurförderzeugs ermittelt. Die Standsicherheit und damit die Gefahr eines Umkippens des Flurförderzeugs während eines Bremsvorgangs wird maßgeblich von der Lage des Gesamtschwerpunkts bestimmt. Je genauer die Lage des Gesamtschwerpunkts bestimmt wird, desto genauer kann die von der Standsicherheit des Flurförderzeug abhängige Größe und damit die zulässige Bremsbeschleunigung ermittelt werden.The permissible braking acceleration of the truck is determined inter alia as a function of the stability of the truck. The stability and thus the risk of overturning of the truck during a braking process is largely determined by the position of the center of gravity. The more accurately the position of the overall center of gravity is determined, the more accurately the size dependent on the stability of the industrial truck and thus the permissible braking acceleration can be determined.
Darüber hinaus wird die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einem momentanen Lenkwinkel eines gelenkten Rades des Flurförderzeugs bestimmt. Hierbei wird die zulässige Fahrgeschwindigkeit bei steigendem Lenkwinkel reduziert.In addition, the permissible travel speed in the forward and / or reverse direction is determined as a function of a current steering angle of a steered wheel of the truck. Here, the permissible travel speed is reduced with increasing steering angle.
Bei Flurförderzeugen, die mit einer Vorrichtung zum Bewegen der Last relativ zu einem Hubgerüst ausgerüstet sind, kann auch der zulässige Umfang dieser Bewegungen nach dem erfindungsgemäßen Verfahren bestimmt werden. Eine solche Vorrichtung zum Bewegen der Last kann beispielsweise von einer Schwenkschubgabel gebildet sein, die eine Seitenschubvorrichtung, eine Schwenkvorrichtung und eine Zusatzhubvorrichtung umfasst. Der zulässige Umfang dieser Bewegungen kann beispielsweise als zulässige Geschwindigkeit oder zulässige Beschleunigung definiert werden.In industrial trucks, which are equipped with a device for moving the load relative to a mast, also the permissible extent of these movements can be determined by the method according to the invention. Such a device for moving the load can be formed, for example, by a pivoting forks comprising a side thruster, a pivoting device and a Zusatzhubvorrichtung. The permissible extent of these movements can For example, be defined as a permissible speed or acceleration.
Gegenstand der Erfindung ist ebenfalls ein Flurförderzeug mit einer Steuervorrichtung zur Durchführung des oben beschriebenen Verfahrens. Das Verfahren ist dabei in der Steuervorrichtung als Software hinterlegt. Die zulässigen Werte für die Bewegungen des Flurförderzeugs, also die maximale Hubhöhe, die zulässige Bremsbeschleunigung und die maximale Fahrgeschwindigkeit werden dabei während des Betriebs des Flurförderzeugs fortlaufend ermittelt. Nach Ansteuerung der jeweiligen Bewegung durch die Bedienperson wird die betreffende Bewegung dann durch die Steuervorrichtung unter Berücksichtigung der ermittelten zulässigen Werte gesteuert.The invention also relates to a truck with a control device for carrying out the method described above. The method is stored in the control device as software. The permissible values for the movements of the truck, ie the maximum lifting height, the permissible braking acceleration and the maximum driving speed, are continuously determined during the operation of the truck. After activation of the respective movement by the operator, the relevant movement is then controlled by the control device, taking into account the determined permissible values.
Das Flurförderzeug ist zum Fahren mit angehobener Last ausgeführt. Auch bei weit angehobener Last kann bei diesen Flurförderzeugen mit einer erheblichen Geschwindigkeit gefahren werden. Bei diesen Flurförderzeugen gelten besondere Anforderungen an die Standsicherheit, die mit den beschriebenen, in der Steuervorrichtung verwirklichten Verfahren sicher eingehalten werden.The truck is designed to travel with the load lifted. Even with a load that has been raised a long way, these trucks can be driven at a considerable speed. In these trucks special requirements apply to the stability, which are safely maintained with the described, realized in the control device method.
Üblicherweise sind diese Flurförderzeuge als Hochregalstapler oder als Hochregalkommissionierer ausgeführt. Der Fahrerstand wird bei diesen Flurförderzeugen häufig gemeinsam mit dem Lastaufnahmemittel angehoben.Usually, these trucks are designed as high-bay stacker or high-level order picker. The driver's station is often raised together with the load handling device in these industrial trucks.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert.Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figure.
Die Figur zeigt ein als Hochregalkommissionierer ausgeführtes erfindungsgemäßes Flurförderzeug in Seitenansicht. Das Flurförderzeug steht mit Rädern 1 auf einer Fahrbahn 2 auf, welche direkt oder indirekt an einem nicht anhebbaren Fahrzeugrahmen 3 gelagert sind. Ein Fahrerstand 4 kann gemeinsam mit einem an dem Fahrerstand 4 befestigten Lastaufnahmemittel 5 entlang eines teleskopisch ausfahrbaren Hubgerüsts 6 angehoben werden.The figure shows a designed as Hochregalkommissionierer inventive truck in side view. The truck is available with wheels 1 on a roadway 2, which are mounted directly or indirectly on a
Das Flurförderzeug umfasst eine Steuervorrichtung 7 zur Steuerung verschiedener Bewegungen des Flurförderzeugs. Bei diesen Bewegungen handelt es sich beispielsweise um die Fahrgeschwindigkeit, die Hubbewegung oder ein Bremsen des Flurförderzeugs. Der zulässige Umfang dieser Bewegungen wird in Abhängigkeit von der Lage des Gesamtschwerpunkts S des Flurförderzeugs ermittelt. Die Steuervorrichtung 7 berechnet die Lage des Gesamtschwerpunkts S in x-Richtung und y-Richtung aus den Grunddaten des Flurförderzeugs, der momentanen Hubhöhe des Lastaufnahmemittels 5 und dem momentanen Lastgewicht. Die Hubhöhe wird hierbei mittels eines geeigneten Hubhöhensensors ermittelt, dessen Ausgangssignal der Steuervorrichtung 7 zugeführt wird. Die Messung des Lastgewichts kann beispielsweise mittels eines an einer Lastkette angeordneten Kraftmesssensors erfolgen, dessen Ausgangssignalleitung ebenfalls mit der Steuervorrichtung 7 verbunden ist. Bei der Ermittlung der Lage des Gesamtschwerpunkts S des Flurförderzeug wird ebenfalls eine elastische Verformung des Hubgerüsts 6 infolge des Lastgewichts mit einberechnet, was die Genauigkeit der durchgeführten Berechnung deutlich verbessert.The truck comprises a
In Abhängigkeit von der Lage des Gesamtschwerpunkts S kann dann beispielsweise ein weiteres Anheben des Lastaufnahmemittels 5 verhindert werden, wenn hierdurch die Standsicherheit des Flurförderzeugs in unzulässiger Weise beeinträchtigt würde. Weiterhin wird eine zulässige Bremsbeschleunigung in beide x-Richtungen ermittelt, die derart bemessen ist, dass das Flurförderzeug auch während eines Bremsvorgangs eine ausreichende Standsicherheit aufweist. Ausgehend von der zulässigen Bremsbeschleunigung wird dann die maximal zulässige Fahrgeschwindigkeit ermittelt. Als weitere Einflussgröße für die Ermittlung der maximalen Fahrgeschwindigkeit kann der momentane Lenkwinkel des Flurförderzeugs dienen. Hierbei wird bei steigendem Lenkwinkel die maximal zulässige Fahrgeschwindigkeit verringert.Depending on the position of the overall center of gravity S, for example, a further lifting of the load-receiving means 5 can be prevented, if this would affect the stability of the truck in an inadmissible manner. Furthermore, an allowable deceleration in both x-directions is determined, which is dimensioned such that the truck has sufficient stability even during a braking operation. Based on the permissible braking acceleration, the maximum permissible driving speed is then determined. As a further influencing factor for determining the maximum driving speed, the current steering angle of the truck can serve. Here, the maximum permissible driving speed is reduced with increasing steering angle.
Claims (12)
- Method for controlling at least one movement of an industrial truck, comprising the following method steps:- determining the lifting height of a load pickup means (5),- determining the weight of a raised load,- calculating the position of the overall centre of gravity (S) of the industrial truck,- calculating a variable which is dependent on the stability of the industrial truck in at least one direction,- ascertaining the permissible range of movement of the industrial truck,characterized in that the stability and/or the position of the overall centre of gravity (S) of the industrial truck is/are calculated taking into consideration a potential elastic deformation of a mast (6) of the industrial truck.
- Method according to Claim 1, characterized in that the movement of the industrial truck for which the permissible range is ascertained is the lifting movement of a load pickup means (5).
- Method according to Claim 2, characterized in that an upward lifting movement of the load pickup means (5) is prevented if the calculated stability in at least one direction is less than a required stability in the same direction.
- Method according to one of Claims 1 to 3,
characterized in that the movement of the industrial truck for which the permissible range is ascertained is the driving speed of the industrial truck in the forward and/or rearward direction. - Method according to Claim 4, characterized in that the permissible driving speed in the forward and/or rearward direction is determined as a function of a physically possible brake acceleration of the industrial truck in the corresponding direction.
- Method according to Claim 4 or 5, characterized in that the permissible driving speed in the forward and/or rearward direction is determined as a function of a permissible brake acceleration of the industrial truck in the corresponding direction.
- Method according to one of Claims 4 to 6,
characterized in that the permissible brake acceleration of the industrial truck is determined as a function of the position of the stability of the industrial truck. - Method according to one of Claims 4 to 7,
characterized in that the permissible driving speed in the forward and/or rearward direction is ascertained as a function of an instantaneous steering angle of a steered wheel of the industrial truck. - Method according to one of Claims 1 to 8,
characterized in that the movement of the industrial truck for which the permissible range is ascertained is a movement of a load pickup means (5) relative to a mast (6) of the industrial truck. - Industrial truck with a control device for implementing a method according to one of Claims 1 to 9.
- Industrial truck according to Claim 10,
characterized in that the industrial truck is designed to be driven with a raised load. - Industrial truck according to Claim 10 or 11,
characterized in that the industrial truck is in the form of a high-bay stacker or a high-bay order picker.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10226599A DE10226599A1 (en) | 2002-06-14 | 2002-06-14 | Method for controlling at least one movement of an industrial truck |
| DE10226599 | 2002-06-14 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP1371603A2 EP1371603A2 (en) | 2003-12-17 |
| EP1371603A3 EP1371603A3 (en) | 2005-12-14 |
| EP1371603B1 true EP1371603B1 (en) | 2010-05-05 |
Family
ID=29557831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP03012622A Expired - Lifetime EP1371603B1 (en) | 2002-06-14 | 2003-06-03 | Control system for at least one movement of an industrial truck |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20040031628A1 (en) |
| EP (1) | EP1371603B1 (en) |
| AT (1) | ATE466812T1 (en) |
| DE (2) | DE10226599A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2413547B (en) * | 2004-04-07 | 2007-06-06 | Linde Ag | Industrial truck having increased static/quasi-static and dynamic tipping stability |
| DE102010039477A1 (en) * | 2010-08-18 | 2012-02-23 | Robert Bosch Gmbh | Method and device for determining a lifting height of a working machine |
| US20130338885A1 (en) | 2012-06-15 | 2013-12-19 | John B. Kirk | Management system embedded in an industrial vehicle |
| US10425128B2 (en) | 2012-06-15 | 2019-09-24 | The Raymond Corporation | Management system embedded in an industrial vehicle |
| DE102015201671A1 (en) * | 2015-01-30 | 2016-08-04 | Jungheinrich Aktiengesellschaft | Characteristic determination for industrial trucks |
| BR112018006540A2 (en) | 2015-10-20 | 2018-10-16 | Crown Equip Corp | system for tuning truck performance, and, process for evaluating truck performance. |
| US9868623B1 (en) * | 2017-01-13 | 2018-01-16 | Caterpillar Inc. | Load position display indicator for an excavation system |
| CN109264646A (en) * | 2018-11-21 | 2019-01-25 | 三帕尔菲格特种车辆装备有限公司 | A kind of speed-adjusting and control system, aerial work platform and speed regulating method |
| CN110203726B (en) * | 2019-05-31 | 2021-05-11 | 广东电网有限责任公司 | Gradient control device for automatic cargo handling device |
| CN111638673A (en) * | 2020-06-11 | 2020-09-08 | 上海外高桥造船有限公司 | Ship hanging basket anti-top-collision intelligent control system and method |
| GB2614737A (en) * | 2022-01-17 | 2023-07-19 | Bamford Excavators Ltd | A Working Machine |
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| GB1462785A (en) * | 1973-05-11 | 1977-01-26 | Pye Ltd | Crane load indicating arrangement |
| GB2095861B (en) * | 1981-03-31 | 1985-01-03 | Toyoda Automatic Loom Works | Fork lift control system |
| DE3122720C1 (en) * | 1981-06-06 | 1983-01-13 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Method of braking a stacking vehicle with an extendable load-bearing element and a lifting framework, and a stacking vehicle, in particular a high-bay stacker, for carrying out the method |
| FR2521543B1 (en) * | 1982-02-12 | 1986-02-21 | Manitou Bf | AUTOMATIC LOAD-BASED SAFETY DEVICE FOR A LIFT TRUCK |
| US4598797A (en) * | 1984-04-13 | 1986-07-08 | Clark Equipment Company | Travel/lift inhibit control |
| AT385538B (en) * | 1986-04-04 | 1988-04-11 | Voest Alpine Ag | DEVICE FOR SECURING MOVABLE CHARGERS |
| US4957408A (en) * | 1988-04-06 | 1990-09-18 | Toyota Jidosha Kabushiki Kaisha | Device for controlling a fork of a forklift |
| US4942529A (en) * | 1988-05-26 | 1990-07-17 | The Raymond Corporation | Lift truck control systems |
| DE19624308A1 (en) * | 1996-06-18 | 1998-01-02 | Still Wagner Gmbh & Co Kg | Method for operating an industrial truck and industrial truck for carrying out the method |
| TW482129U (en) * | 1997-04-23 | 2002-04-01 | Toyoda Automatic Loom Works | A rock controller for industrial vehicle body |
| DE69824412T2 (en) * | 1997-07-01 | 2005-07-28 | Dynamotive, L.L.C., Ann Arborn | ANTI ROLLOVER BRAKE SYSTEM |
| JP3129259B2 (en) * | 1997-10-31 | 2001-01-29 | 株式会社豊田自動織機製作所 | Axle swing control method and axle swing control device for industrial vehicle |
| TW522103B (en) * | 1997-11-14 | 2003-03-01 | Toyoda Automatic Loom Works | Axle tilt control apparatus for industrial vehicles |
| JP3301416B2 (en) * | 1999-08-23 | 2002-07-15 | 株式会社豊田自動織機 | Mast tilting speed control device for industrial vehicles |
| DE19958221A1 (en) * | 1999-12-02 | 2001-06-07 | Wabco Gmbh & Co Ohg | Method for preventing a vehicle from tipping over |
| JP2001261297A (en) * | 2000-03-22 | 2001-09-26 | Toyota Autom Loom Works Ltd | Measuring device for back-and-forth load moment of industrial vehicle |
| DE10054789A1 (en) * | 2000-11-04 | 2002-05-08 | Still Wagner Gmbh & Co Kg | Industrial truck with a mast and an additional movement device for a load handler |
| US6799092B2 (en) * | 2001-02-21 | 2004-09-28 | Ford Global Technologies, Llc | Rollover stability control for an automotive vehicle using rear wheel steering and brake control |
| JP2003034498A (en) * | 2001-07-23 | 2003-02-07 | Hitachi Constr Mach Co Ltd | Overload detecting device for high lift work vehicle |
-
2002
- 2002-06-14 DE DE10226599A patent/DE10226599A1/en not_active Withdrawn
-
2003
- 2003-06-03 DE DE50312686T patent/DE50312686D1/en not_active Expired - Lifetime
- 2003-06-03 EP EP03012622A patent/EP1371603B1/en not_active Expired - Lifetime
- 2003-06-03 AT AT03012622T patent/ATE466812T1/en not_active IP Right Cessation
- 2003-06-11 US US10/459,404 patent/US20040031628A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| EP1371603A3 (en) | 2005-12-14 |
| DE50312686D1 (en) | 2010-06-17 |
| EP1371603A2 (en) | 2003-12-17 |
| DE10226599A1 (en) | 2003-12-24 |
| ATE466812T1 (en) | 2010-05-15 |
| US20040031628A1 (en) | 2004-02-19 |
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