EP4339150A1 - Télémanipulateur amélioré et procédé de commande associé - Google Patents

Télémanipulateur amélioré et procédé de commande associé Download PDF

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Publication number
EP4339150A1
EP4339150A1 EP23195521.2A EP23195521A EP4339150A1 EP 4339150 A1 EP4339150 A1 EP 4339150A1 EP 23195521 A EP23195521 A EP 23195521A EP 4339150 A1 EP4339150 A1 EP 4339150A1
Authority
EP
European Patent Office
Prior art keywords
boom
iii
work vehicle
attachment
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23195521.2A
Other languages
German (de)
English (en)
Inventor
Antonio Venezia
Adolfo FORTUNATO
Gianni SANTARCANGELO
Serena ELEFANTE
Alessio Aresta
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4339150A1 publication Critical patent/EP4339150A1/fr
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
    • B66F9/065—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 non-masted
    • B66F9/0655—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 non-masted with a telescopic boom
    • 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
    • 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

Definitions

  • the present invention concerns a work vehicle and a related method of control
  • the present invention finds its preferred, although not exclusive, application in a telehandler and a control of the height of such telehandler. Reference will be made to this application by way of example below.
  • Work vehicles are usually provided with a boom that is hinged to vehicle body and is lowered and lifted in order to reach different height at its terminal portion.
  • the terminal portion is usually provided with an attachment, such as a bucket, forks or other elements, configured to provide a specific work function.
  • telehandlers are used for lifting or lowering loads via forks that are attached to the boom terminal portion.
  • a known telehandler 1' comprises a body 2' movable on ground and a boom 3' that is hinged to the body 2 and actuated by a first, lift, cylinder 4' and a second, tilt, cylinder 5'.
  • the second 5' is fluidically connected by a third, slave, cylinder 6' that provides a hydraulic compensation between the cylinders according to their operation.
  • the above configuration has high costs because of the use of a third cylinder and to the need of providing sufficient support to all the three cylinders due to the load that they have to support.
  • the parallelism of load transportation may be ensured only by using forks and not, for instance, a bucket element.
  • valve means exclusively voted to avoid the so-called "boom-drop” phenomenon.
  • Such phenomenon is a sudden fall of the boom due to a hydraulic decompensation among the aforementioned cylinders and is prevented by using a safety valve among such cylinders.
  • An aim of the present invention is to satisfy the above mentioned needs in a cost-effective and optimized manner.
  • Figure 2 discloses a work vehicle 1, in the following simply referred as "telehandler” 1, comprising a body 2 that is movable on ground e.g. by wheels 3.
  • the telehandler 1 further comprises a boom 4 that is carried in a movable way by the body 2, in particular by a hinge connection 5 realized with a first extremity 4a of the boom 4.
  • the telehandler 1 comprises attachment means 6 such as, in the disclosed figures, forks.
  • the attachment means 6 are carried by the second extremity 4b in a movable manner, in particular by a hinge connection 7.
  • the telehandler 1 further comprises a first cylinder 8, in the following called lift cylinder, configured to actuate the rotation of the boom 4 with respect to hinge connection 5 by varying its length between a first connection point carried by the boom 4 and a second connection point carried by body 2.
  • a first cylinder 8 in the following called lift cylinder, configured to actuate the rotation of the boom 4 with respect to hinge connection 5 by varying its length between a first connection point carried by the boom 4 and a second connection point carried by body 2.
  • the telehandler 1 further comprises a second cylinder 9, in the following called tilt cylinder, configured to actuate the rotation of the attachment 6 with respect to hinge connection 7 by varying its length between a first connection point carried by the boom 4 and a second connection point carried by attachment 6.
  • a second cylinder 9 in the following called tilt cylinder, configured to actuate the rotation of the attachment 6 with respect to hinge connection 7 by varying its length between a first connection point carried by the boom 4 and a second connection point carried by attachment 6.
  • the telehandler 1 further comprises a control system 10 for controlling the actuation of lift and tilt cylinder 8, 9 in function of the driver's need.
  • driver's need may be acquired by input means 11 such as a joystick that can be handled by the driver to provide a corresponding movement of the boom/attachment or by activating (e.g. by button or icon or a display) a specific automatic function.
  • input means 11 such as a joystick that can be handled by the driver to provide a corresponding movement of the boom/attachment or by activating (e.g. by button or icon or a display) a specific automatic function.
  • the control system 10 (see schematic representation in figure 6 ) essentially comprises first sensor means 12, second sensor means 13 and an electronic control unit 14 configured to receive data from the first and second sensor means 12, 13 and control consequently the lift and tilt cylinder 8, 9.
  • first and second sensor means 12, 13 are position sensor voted to detect an angular position of, respectively, boom 4 and attachment 6 with respect the base 2 and the boom 4.
  • first and second sensor means 12, 13 are magnetic sensor means.
  • the second sensor means 13 comprises at least a magnet 16, fixedly carried by attachment 6 ad a sensor 17 fixedly carried by the second portion 4b of boom 4 in proximity of magnet 16.
  • sensor 17 is carried in ad adjustable manner by second portion 4b and more preferably via a mounting bracket 19.
  • the magnet 16 is carried by a metallic cover 21 dimensioned to at least partially surround magnet 16 in order to avoid damages due to hurt with transported loads by the attachment 6.
  • the first sensor means 12 comprises at least a magnet 22, fixedly carried by attachment boom ad a sensor 23 fixedly carried by the first portion 4a of boom 4 in proximity of magnet 16.
  • sensor 23 is carried in ad adjustable manner by first portion 4a and more preferably via a mounting bracket 24.
  • the magnet 22 is carried by the first portion 4a directly in the boom main hub.
  • the electronic control unit 14 comprises elaboration means suitable for retrieving data from sensor means 12, 13, e.g. by cable connection or wireless, and provide an electronic control signal for controlling valve means 25.
  • valve means 25 are configured to regulate the fluid passage between a fluid source and reservoir of the telehandler 1 and cylinders 8, 9.
  • the electronic control unit is voted to run steps of a control method finalized to maintain the orientation of the attachment 6 constant during boom lifting or lowering.
  • control method comprises the following processes:
  • the processes may be executed in series or in parallel (e.g. in so-called concurrency one with respect to the other) .
  • process i) comprise the following steps:
  • the enabling may be realized by by setting to 1 a specific RAM variable in the controller.
  • the process further comprises the following steps:
  • the disabling of function may be acquired to set the RAM variable to 0 .
  • the reference system may be a cartesian plane wherein the origin of the cartesian plane is given by neutral joystick position and the first and second directions are y and x axis directions.
  • the second process ii) is a feed forward phase and is carried out when the aforementioned process enables the function and comprise essentially the following steps:
  • association at step ii-a) may be an association obtained by an association map or a look-up table relating the engine speed and the joystick position to provide a value of control current.
  • control current value I is dimensioned so as do be greater than the dead band value of the valves comprised in valve means 25 in order to avoid slow activation of the system.
  • the second process ii) provides a null value of control current.
  • the third process iii) is a fine tuning process of the current I provided as control current and is activated if the function is enabled and comprise essentially the following steps:
  • the aforementioned regulator is a robust optimal base approach, such as a linear quadratic gaussian regulator.
  • the digital twin model of the telehandler 1 may be a black-box model, such as a least square approximation of input-output transfer function.
  • Such black-box model memorized in electronic control unit, may be trained via provision of different control signals to valve means 25 (e.g sine, asymmetric/symmetric chirp, squared waveforms, random white noise) and control the angle variation of due to cylinders 8, 9 motions.
  • the driver may control the input means 11 to ask a lifting or lowering of boom 3. Accordingly, the electronic control unit 14 will start control method steps described above and provide lifting and raising of the boom maintaining the attachment 6 in a fixed position, i.e. in a parallel position with respect to the ground.
  • the proposed system and the related control has a lower costs because of the absence of a third cylinder and because there is no need to provide support to the additional load supported by the vehicle due to such third cylinder.
  • control system may allow motion of the boom/attachment with a sufficient precision.
  • the provided control method is rapid, robust and precise. Indeed, it allows to have a quick response by avoiding the dead band of valve means thanks to the feedforward initial control step and thanks to the regulator the precision is guaranteed within 3° of error with respect to the imparted position.
  • the provided control allows to maintain a specific angle of the attachment with respect to the boom during all the lifting/lowering of these latter, independently by the value of such angle. Therefore, telehandlers may be used also for buckets for transporting loads instead of forks.
  • the proposed mounting brackets provide a sufficient air requirement, i.e. the gap between the magnet and the sensor such as 3 mm, to allow a correct operation of sensor means.
  • sensor means may be of any typology and disposed in a different manner with respect to the disclosed one.
  • the provided regulator, map and look-up tables or theoretical vehicle model may be realized according to the specific vehicle shape and function and of any typology.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
EP23195521.2A 2022-09-13 2023-09-05 Télémanipulateur amélioré et procédé de commande associé Pending EP4339150A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT202200018717 2022-09-13

Publications (1)

Publication Number Publication Date
EP4339150A1 true EP4339150A1 (fr) 2024-03-20

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP23195521.2A Pending EP4339150A1 (fr) 2022-09-13 2023-09-05 Télémanipulateur amélioré et procédé de commande associé

Country Status (1)

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EP (1) EP4339150A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1403526A1 (fr) * 2002-09-25 2004-03-31 Husco International, Inc. Méthode de sélection d'un mode de réglage de débit pour une fonction d'un système de contrôle de vitesse
EP1988220A2 (fr) * 2007-04-30 2008-11-05 Deere & Company Contrôle automatique de bras ou fixation pour véhicule de travail sur une position prédéfinie
US8340875B1 (en) * 2011-06-16 2012-12-25 Caterpillar Inc. Lift system implementing velocity-based feedforward control
CN105804138B (zh) * 2016-05-12 2018-09-25 宁波高新区晖云电子科技有限公司 一种用于建筑机械的角度测量方法
US10781090B2 (en) * 2017-09-01 2020-09-22 Oshkosh Corporation Articulated boom telehandler

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1403526A1 (fr) * 2002-09-25 2004-03-31 Husco International, Inc. Méthode de sélection d'un mode de réglage de débit pour une fonction d'un système de contrôle de vitesse
EP1988220A2 (fr) * 2007-04-30 2008-11-05 Deere & Company Contrôle automatique de bras ou fixation pour véhicule de travail sur une position prédéfinie
US8340875B1 (en) * 2011-06-16 2012-12-25 Caterpillar Inc. Lift system implementing velocity-based feedforward control
CN105804138B (zh) * 2016-05-12 2018-09-25 宁波高新区晖云电子科技有限公司 一种用于建筑机械的角度测量方法
US10781090B2 (en) * 2017-09-01 2020-09-22 Oshkosh Corporation Articulated boom telehandler

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BING HONG XU ET AL: "Adaptive neural regulator and its application to torque control of a flexible beam", INTELLIGENT ROBOTS AND SYSTEMS '96, IROS 96, PROCEEDINGS OF THE 1996 L EEE/RSJ INTERNATIONAL CONFERENCE ON OSAKA, JAPAN 4-8 NOV. 1996, NEW YORK, NY, USA,IEEE, US, vol. 1, 4 November 1996 (1996-11-04), pages 230 - 237, XP010212384, ISBN: 978-0-7803-3213-3, DOI: 10.1109/IROS.1996.570678 *
HOLE K E: "Design of Robust Linear Quadratic Regulator", AMERICAN CONTROL CONFERENCE, 1989, IEEE, PISCATAWAY, NJ, USA, 21 June 1989 (1989-06-21), pages 929 - 930, XP031428984 *

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