FR3089968A1 - Handling machine, loadable and unloadable relative to a carrier vehicle, corresponding system and method - Google Patents

Abstract

The invention relates to a handling machine (2) comprising a handling system and a steering system (200) with identifiers (IDV1, IDV2) of carrier vehicle, and command sequences (SC1, SC2) of the handling system. handling associated with these identifiers (IDV1, IDV2) of carrier vehicles. The control system (200) is configured to transmit to a terminal (1) the identifiers (IDV1, IDV2) of the carrier vehicle, receive a request to select one of the command sequences, and receive a request for loading or unloading and execute the sequence of commands selected according to the loading or unloading request. Figure for the abstract: Fig. 1

Description

Description

Title of the invention: Handling machine, loadable and unloadable compared to a carrier vehicle, corresponding system and method

Technical area

The present invention relates generally to a handling machine, in particular a forklift truck, embeddable at the rear of a carrier vehicle, in particular of a truck trailer.

Prior art

It is known from the prior art to take on a forklift truck at the rear of a truck trailer by engaging the forks of the truck in housing, called sleeves, present in the rear of the trailer.

The driver of the carriage controls the movement of the forks in the direction of bringing the front wheels of the carriage closer (control for lowering the forks), so that the forks being taken in the housings at the rear of the trailer , such a movement control of the forks causes the lifting of the handling carriage relative to the ground.

The industrial truck is then lifted to a given height overhanging the trailer.

However, it appears that with the known solutions of the state of the art the loading or unloading operation of the handling machine relative to the carrier vehicle is tedious for the operator and can also be prove dangerous.

The present invention aims to overcome all or part of the problems described above.

Summary of the invention

To this end, the invention relates to a handling machine, such as a handling cart, said handling machine comprising a handling system, such as a lifting arm equipped with a tool holder provided with forks, said handling machine comprising a control system which comprises:

- a handling system actuation system, such as jacks and a hydraulic circuit;

- a control unit, such as a processor, to control the actuation system;

- a radio communication module;

characterized in that the control system further comprises a memory in which are stored:

- carrier vehicle identifiers, such as carrier vehicle license plate numbers, and

- sequences of commands from the handling system associated with these carrier vehicle identifiers, and in that the steering system is configured to:

- transmit the identifiers of carrier vehicles to a terminal, and

- receive a request to select one of said command sequences associated with one of said carrier vehicle identifiers,

- receive a loading or unloading request from the handling machine and execute the sequence of commands selected according to said loading or unloading request.

Such an association of machine handling system command sequence with carrier vehicle identifiers allows the operator to easily and reliably control the loading or unloading of the handling machine with respect to different carrier vehicles.

In particular, such an association makes it possible to benefit from a reliable and repeatable positioning of the handling machine relative to the carrier vehicle chosen both for its loading and for its unloading.

The sequence of commands being adapted to the carrier vehicle with which it is associated, the risk of error or malfunction is reduced, which limits the need for intervention by the operator and therefore promotes its safety.

Thanks to the terminal, the operator can control the execution of a sequence of commands outside the handling machine.

The terminal makes it possible to control the loading and unloading of the handling machine with respect to different carrier vehicles, and this for different handling machines, without the need to provide a terminal for each handling machine which is desired. order loading or unloading.

In addition, as explained below, the execution of the command sequence can be conditioned by the distance between the terminal and the machine to improve operator safety.

In particular, the terminal can be implemented in the form of a smart phone and a computer application executed by a processor of said smart phone.

The use of the communication terminal allows the operator to stay away from the handling machine. The operator does not need to get on or off the handling machine to lower it (unload) relative to the carrier vehicle to which it is coupled, or to raise it (load).

The handling machine can also include one or more of the following characteristics taken from any technically admissible combination.

According to an advantageous characteristic of the invention, the handling machine comprises a connection element containing a set of data, for example in the form of a code, such as a QR code, applied to the outside of the handling machine, the data of which is accessible by a communication terminal, said data set comprising a data item identifying the handling machine and connection data allowing the terminal to connect to the control system of the handling machine handling, and the control system is configured to accept the connection with a terminal, such as a smart phone, when the connection request received from the terminal comprises connection data corresponding to that of said connection element.

According to an advantageous characteristic of the invention, the handling system comprising a lifting arm pivotally mounted relative to the chassis of the handling machine, and a tool holder provided with forks and articulated to the lifting arm, each sequence command comprises a series of commands including: - a pivoting command of the tool holder; and / or - a pivoting control of the lifting arm; and or

- an arm retract or exit command, when the lifting arm is a telescopic arm.

According to an advantageous characteristic of the invention, the control system is configured for:

- determine information representative of the distance between the terminal and the handling machine, and

- authorize or not the execution of all or part of the sequence of commands selected according to the determined distance information.

According to an advantageous characteristic of the invention, the terminal having two control elements, for example of the button type, making it possible, by pressing the user on one or the other of said control buttons, to transmit to the system of control of the handling machine a request for loading or unloading of the handling machine, the control system of the handling machine is also configured to detect that the user has released the support on one of said control elements loading or unloading, and following this detection interrupt the execution of the corresponding sequence of commands for loading or unloading of the handling machine.

According to an advantageous characteristic of the invention, the handling machine comprising a handling system control interface, such as a joystick, the control system comprises a learning module configured to record actions performed by a operator on the command interface as a sequence of commands associated with a given carrier-vehicle identifier.

According to an advantageous characteristic of the invention, the control system is configured to detect the end of loading or unloading of the handling machine:

- by a sensor system positioned on the handling machine and / or on the carrier vehicle, and connected to said control system, or

- automatically when the control system does not receive a loading or unloading instruction for a given period.

The invention also relates to a non-transient computer program product comprising program code instructions for the execution of the steps of a control method of a handling machine which comprises a control system, when said program is executed by a processor of a communication terminal, such as a smart phone, said communication terminal also comprising a radio communication module, characterized in that said method comprises the following steps: - acquisition of a code, such a QR Code, - recovery from the acquired code, of data allowing the terminal to connect to the control system of the handling machine,

- in the connected state of the terminal to the handling machine control system, recovery of carrier vehicle identifiers, such as carrier vehicle license plate numbers,

- selection, by user action on the terminal, of one of the identifiers of carrier vehicles recovered by the terminal;

- transmission to the control system of the handling machine of a request so that the control system selects, from among several command sequences, a given command sequence associated with the selected carrier vehicle identifier;

- transmission by the terminal to the control system of the handling machine of a loading or unloading request for the execution, by the control system of the handling machine, of the sequence of commands selected according to the loading request or unloading.

According to an advantageous characteristic of the invention, said method comprises the following steps:

- acquisition of a new identifier for a carrier vehicle, other than the identifiers received by communication with the steering system,

transmission of a request to an external data server containing an identification number of the handling machine with which the terminal communicates, as well as the new carrier vehicle identifier, said external data server containing an associated sequence of commands said identification number of the handling machine and said new identifier of this carrier vehicle,

- Preferably, recovery by the terminal of said sequence of commands and transmission to the control system of the handling machine;

- update of the carrier vehicle identifiers received by the terminal from the control system of the selection machine, to display the new carrier vehicle identifier,

- selection, by user action on the terminal, of said new carrier vehicle identifier;

- transmission to the control system of the handling machine of an instruction so that the control system selects a sequence of commands from the handling machine associated with the selected carrier vehicle identifier.

According to an advantageous characteristic of the invention, said method comprises the display of two control elements, for example of the button type, allowing the terminal by pressing the user on one or the other of said elements. command to transmit to the control system of the handling machine a request to load or unload the handling machine.

The invention also relates to a system for loading and unloading a handling machine with respect to a carrier vehicle, characterized in that said system comprises:

a handling machine as described above, and a computer program product as described above.

According to an advantageous characteristic of the invention, the system further comprises an external data server which comprises a sequence of commands from the handling system associated with another identifier of the carrier vehicle and an identifier of the handling machine .

The invention also relates to a method for controlling a handling machine for its loading or unloading with respect to a carrier vehicle, characterized in that the method comprises the following steps:

- acceptance of a connection from a terminal, such as a smart phone, to a handling machine control system;

- in the state connected from the terminal to the piloting system, transmission to the terminal by the piloting system, of identifiers of carrier vehicles, such as license plate numbers of the vehicles stored in said piloting system, and

- reception by the handling machine control system of a selection request to select a sequence of commands from the handling machine associated with the selected carrier vehicle identifier,

- reception by the handling machine control system of a loading or unloading request from the handling machine, and execution by the handling machine control system of the sequence of commands selected according to the loading request or unloading.

Brief description of the drawings

Other characteristics and advantages of the invention will also emerge from the description which follows, which is purely illustrative and not limiting and should be read with reference to the appended drawings, in which:

[Fig.l] is a partial schematic view in accordance with an embodiment of the invention, of a handling machine comprising forks engaged in sheaths present at the rear of a carrier vehicle, a machine control system communicating with a communication terminal outside the machine;

[Fig-2] is a partial schematic view in accordance with an embodiment of the invention, of a communication terminal, such as that of Figure 1, displaying identification information of carrier vehicles by report to which a material handling machine can be loaded or unloaded;

[Fig.3] is a partial schematic view in accordance with an embodiment of the invention, illustrating an external data server with which a communication terminal, such as that of Figure 1 or 2, can communicate;

[Fig.4] is a partial schematic view in accordance with an embodiment of the invention, which uses the handling machine, the carrier vehicle and the terminal of Figure 1, with additional sequence data carrier vehicle identifier and commands stored in the handling machine, each carrier vehicle identifier associated with a sequence of commands and the corresponding handling machine being displayed on the terminal;

[Fig.5] is a partial schematic view in accordance with an embodiment of the invention, of a communication terminal, such as that of Figure 1, displaying a control interface of a communication machine to control the execution of a given sequence of commands;

[Fig.6a] is a partial schematic view in accordance with an embodiment of the invention, illustrating a step of a loading sequence of a handling machine at the rear of a carrier vehicle;

[Fig.6b] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig.6c] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig.6d] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig.6e] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig.6f] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig.6g] is a partial schematic view in accordance with an embodiment of the invention, illustrating another step of a loading sequence of a handling machine at the rear of a carrier vehicle ;

[Fig-7] is an example of a flowchart according to an embodiment of the invention.

Description of embodiment (s)

The concept of the invention is described more fully below with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for the sake of clarity. Similar numbers refer to similar elements in all of the drawings. However, this concept of the invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set out here. Instead, these embodiments are offered so that this description is complete, and communicates the scope of the concept of the invention to those skilled in the art. The following embodiments are examined, for the sake of simplification, in relation to the terminology and structure of a forklift truck.

A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention . Thus, the appearance of the phrase "in one embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. Additionally, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

A handling machine is provided which includes a handling system, as well as a handling system control system which allows it to be loaded or unloaded relative to different carrier vehicles by cooperation of the handling system. of the handling machine with a given carrier vehicle.

In particular, the handling machine is a forklift which are engaged in sheaths at the rear of the carrier vehicle so that, in the loaded state of the handling machine, the machine is carried by the carrier vehicle cantilevered from the rear of said carrier vehicle.

Drawers coupled to the carrier vehicle can be positioned under the handling machine in the loaded state of the handling machine at the rear of the carrier vehicle.

In the unloaded position of the handling machine, the wheels of the machine touch the ground and the forks are in a position away from the front wheels by comparison with the loading (loaded) position of the handling machine. In fact, in the loading (loaded) position of the handling machine, the forks are in the close position relative to the front wheels of the handling machine.

In a particular aspect, the handling machine control system is energized, for its supply by the battery of the handling machine, for example using the ignition key of the handling machine.

The handling machine comprises a load handling system, and a control system configured to allow a sequence of commands from the handling system to be executed, which is chosen from several sequences of commands, depending on the carrier vehicle. with respect to which the handling machine should be loaded or unloaded.

A sequence of commands from the handling system, which is associated with a carrier vehicle, makes it possible to load or unload the corresponding handling machine with respect to this carrier vehicle.

In the example detailed in the figures, the handling machine is a handling carriage 2 with telescopic arm. Alternatively, it can be provided that the arm is not telescopic. It is also possible to provide for the handling trolley to be a mast trolley provided with forks which can be moved up and down along the mast.

Handling system

In the example illustrated more particularly in Figures 1, 4 and 6a to 6f, the handling system comprises an arm 25 of telescopic lifting equipped with a tool holder 26 provided with forks 27. The forks 27 are suitable for be engaged in sleeves 36 present at the rear of the carrier vehicle 3, which can be a truck trailer.

In the example illustrated in the figures, the telescopic arm 25 comprises a main section 25A pivotally mounted relative to the chassis of the industrial truck, and a secondary section 25B equipped, at its end opposite to the main section 25A, of the holder tool 26 provided with forks 27. The arm 25 can thus be pivoted between a so-called lowered position close to the front wheels of the carriage and a so-called raised position more distant from the front wheels of the carriage. The tool holder 26 provided with forks 27 is articulated to the lifting arm 25, in particular to the secondary section 25B.

The secondary section 25B is slidably mounted relative to the main section 25A between a so-called retracted position, corresponding to a given arm length 25, and a so-called extended position corresponding to a greater arm length 25. According to a particular aspect , the secondary section 25B partly extends inside the main section 25A.

An actuating system 24 makes it possible to move the secondary section 25B relative to the main section 25A, to pivot the arm 25 by a given angle relative to the chassis of the carriage and to rotate the tool holder 26 provided of forks 27 relative to the lifting arm 25. The actuation system 24 usually comprises a hydraulic circuit provided with a pump, jacks connected to the elements to be moved, and a system of valves, preferably of solenoid valves, making it possible to manage the supply of cylinders associated with the elements of the handling system to be moved.

In particular, the pivoting of the lifting arm 25 is controllable using a jack (not shown). The length of the telescopic arm 25, by sliding the secondary section 25B relative to the main section 25A, can also be controlled by a jack (not shown). The pivoting of the tool holder 26 can also be controlled using a jack 28.

A control unit 21, which for example comprises a processor (such as a microprocessor or microcontroller), makes it possible to control the actuation system 24. It is thus possible to provide that the processor is configured for, according to the instructions received, transmit control signals to the solenoid valves of the actuation system 24 to actuate the corresponding cylinders in order to execute the sequences of commands presented below.

According to a particular aspect, the control unit comprises program code instructions, preferably recorded in a non-volatile memory, for the execution of the steps of a method making it possible to communicate with a terminal 1 outside the carriage (presented below) and to control the handling system according to a given sequence of commands.

According to a particular aspect, the carriage comprises a radio communication module 22, such as a WIFI chip, making it possible to communicate with the communication terminal 1.

We can consider that the control unit 21, the memory 23 presented below, the actuation system 24 and the communication module 22 are part of the control system 200 of the industrial truck.

Connection of a terminal to the industrial truck

In the example illustrated in the figures, the handling trolley 2 is provided with a connection element 9 which contains a set of data. According to a particular aspect, the connection element 9 is in the form of a code, such as a QR code, preferably applied to the exterior of the handling truck 2. The connection element 9 can thus be applied for example to the bodywork, the windshield or a window.

The data of this connection element 9 are accessible by a communication terminal 1. According to one embodiment, the terminal 1 is configured to acquire the image of the QR code and decrypt the data contained. Alternatively, the code can be contained in an RFID tag and the terminal can be equipped with an RFID reader.

Said data set includes connection data allowing the terminal 1 to connect to the control system 200 of the industrial truck 2.

Said data set can include the following data:

- a communication network identifier associated with the handling cart (for example a network name such as the SSID for a WIFI network or a Bluetooth network identifier);

- a password to connect to said communication network.

According to a particular aspect, said data set also includes data identifying the industrial truck 2, such as a serial number. We can predict that this identification data will be formed by the network identifier itself.

The control system 200 of the carriage is configured to accept the connection with the terminal 1 when the connection request received from the terminal 1 comprises connection data corresponding to those of said connection element 9.

In the example illustrated in the figures, the terminal 1 comprises a control unit 10, such as a processor, and a computer application 11 executable by said control unit 10. The terminal also comprises a radio communication module 12 , for example according to the WIFI and / or Bluetooth protocol, to communicate with the radio communication module 22 of the truck. Provision may be made for the radio communication module or another module of the terminal to communicate with an external data server 4 presented below. In particular, the terminal 1 can be a smart phone (smartphone in English) which executes the computer application 11.

In the following description when operations are performed by the computer application executed by the terminal 1, it will be considered for simplicity that these operations are performed by the terminal 1.

Carrier identifiers and command sequences

A memory 23 present in the handling cart contains identifiers IDV1, IDV2 of the carrier vehicle. These identifiers are, for example, license plate numbers of carrier vehicles.

The memory 23 also contains sequences of commands SCI, SC2 of the trolley handling system, associated with these identifiers IDV1, IDV2 of carrier vehicles.

In other words, the carriage 2 has in memory identifiers IDV1, IDV2 of carrier vehicle 3 with respect to which it can be loaded or unloaded, as well as the sequences of commands SCI, SC2 of its handling system which make it possible to carry out its loading or unloading.

As explained below in connection with FIG. 4, it is also possible to add a carrier vehicle (with a corresponding identifier IDV3) which would not yet be stored in the carriage as well as a sequence command (SC3) loading or unloading with respect to this added carrier vehicle.

It is also possible, as explained below, to implement a learning process for a given command sequence associated with a given carrier vehicle, according to which the operator controls the handling system in order to load or unload the trolley with respect to the carrier vehicle according to a sequence of commands which is then recorded with the identifier of the corresponding carrier vehicle, so that it can be repeated later.

The control system 200 transmits by the communication module 22 to the terminal 1, the identifiers IDV1, IDV2 of the carrier vehicles present in the memory 23 of the carriage 2 to allow the operator to determine the carrier vehicles compatible with loading / unloading of the industrial truck and for which there are associated command sequences.

The operator can then select on the terminal 1, the carrier vehicle (via a displayed identifier IDV1, corresponding IDV2) with respect to which he wishes to unload or load the industrial truck.

Following the selection by the operator on the terminal 1 of a given carrier vehicle, provision can be made for the control system 200 of the carriage, in particular the control unit 21, to be received from terminal 1 and via the communication module 22 a request (for example comprising the identifier of the selected carrier vehicle) to select a sequence of commands associated with the selected carrier vehicle.

Each sequence of commands associated with a carrier vehicle may include a sub-sequence of loading commands and a sub-sequence of unloading commands. It can also be provided that a sequence of commands corresponds to a loading sequence when it is executed in one direction and corresponds to an unloading sequence when it is executed in the opposite direction.

In a particular aspect, each sequence of commands includes a series of commands including a pivoting command of the tool holder 26; and / or a control for pivoting the lifting arm 25. The series of controls can also include a control for re-entering or leaving the arm 25, when the lifting arm 25 is a telescopic arm.

Each sequence of commands can comprise a combination of these commands, in different orders, with or without repetition of one or more commands, and according to given ranges of pivoting or sliding values.

It is thus understood that, depending on the carriage and / or the carrier vehicle, the associated command sequences may be different. Thus, a first command sequence may involve a combination of arm movements within given ranges of values, while a second sequence of commands may involve a combination or not of these movements according to another range of given values.

An example of a sequence of commands executed for loading a industrial truck is illustrated in Figures 6a to 6f explained below. It is understood that the execution in reverse of the commands makes it possible to proceed with the loading of the carriage.

The end of a process of loading or unloading the handling cart can be detected by a sensor system (not shown) positioned on the handling cart 2 and / or on the carrier vehicle 3, and connected to said control system 200. In particular, it is possible to provide a contact sensor configured to detect the contact of one or more rear wheels of the industrial truck with the ground, which can then be interpreted by the control system 200 as an end of unloading sequence.

The end of a loading or unloading process can also be detected automatically when the control system 200 no longer receives a loading or unloading instruction for a given period of time. The terminal 1 can then display information relating to the fact that the loading or unloading maneuver has been completed.

According to a particular aspect, it can be provided that the end of the loading or unloading maneuver is indicated by the operator who orders the sending of end of maneuver validation information from the terminal 1 to the system piloting 200 of the handling trolley (which then interprets said information as validation of the end of the maneuver).

Distance control

According to a particular embodiment, it is expected that the control system 200 conditions the execution of all or part of a sequence of commands as a function of the distance between the terminal 1 and the industrial truck 2.

This distance determination can be carried out by measuring the power of the radio signal exchanged (for example according to the Bluetooth or WIFI protocol) between the terminal 1 and the control system 200 of the industrial truck.

One can also provide that it is the terminal 1 which determines said distance and / or which conditions the execution of the sequence of commands at this distance.

Terminal control interface

Terminal 1 allows the operator who has selected the carrier vehicle with respect to which the trolley is to be loaded or unloaded, to order the loading or unloading of said trolley.

To this end, the terminal 1 has two control elements Cl, Dl, for example of the button type, making it possible, by pressing the operator on one or the other of said control buttons, to transmit to the system of control 200 of the handling trolley 2 a command for loading or unloading the trolley. It is thus possible to provide that pressing, preferably maintained, on the button Cl, respectively on the button Dl, results in the execution by the truck of a sequence of commands (associated with the carrier vehicle previously selected) in the direction of 'loading, respectively in the direction of unloading. In particular, provision can be made for pressing the C1 button to execute a sub-sequence corresponding to a loading and for pressing the Dl button to execute a sub-sequence corresponding to an unloading. Provision may be made for the piloting system to be configured to determine and / or memorize where in the sequence of commands corresponds the current configuration of the handling system of the trolley with respect to the carrier vehicle, in order, if possible, to continue the sequence of commands from this location, in one direction for a loading instruction, and in the opposite direction for an unloading instruction.

The control buttons can be obtained by displaying graphic elements on the terminal 1, or by assigning functions corresponding to physical buttons of the terminal 1.

The control system 200 of the handling trolley 2 is also configured to detect that the user has released the support on one of said control elements Cl, Dl for loading or unloading, and following this detection interrupt execution of the corresponding instruction for loading or unloading the carriage 2.

In other words, the fact that the pressing of the button Cl, respectively Dl is maintained, may be a condition for proceeding or continuing the loading, respectively the unloading, of the carriage 2 relative to the carrier vehicle 3.

External data server

According to one embodiment, an external data server is provided which includes a sequence of commands SC3 which is associated with another identifier IDV3 of the carrier vehicle and with an IDM identifier of the carriage 2. The external data server can of course include several sequences of commands associated with different identifiers of carrier vehicles, and this for one or more industrial trucks.

Advantageously, the external data server also contains the sequences of commands and identifiers of the carrier vehicle stored in each handling trolley. The external data server 4 can thus serve as a central server for storing the sequence data of commands SCI, SC2, SC3, and identifiers of carrier vehicles IDV1, IDV2, IDV3 and handling carriages 2, if necessary to update the memory of a handling trolley 2 with the corresponding data.

In the case where, after the terminal 1 has connected to the carriage 2, the identifier of the carrier vehicle IDV3 with respect to which the operator wishes to load or unload the carriage, does not appear, it can be provided that the terminal 1 connects to the external data server 4 to download, if it is present, a sequence of commands SC3 associated with the desired carrier vehicle 3. It can be provided that this sequence of commands SC3 is then loaded into the memory 23 of the carriage 2, for example by means of the terminal 1 which then serves as a gateway between the server 4 and the handling carriage 2, being associated with the IDV3 identifier of the desired carrier vehicle.

It can also be provided that a sequence of loading or unloading commands with regard to a given carrier vehicle is the subject of training as explained below.

[0104] Learning

According to a particular aspect, the control system 200, in particular the control unit 21, comprises a learning module configured to record in the memory 23 of the carriage actions performed by an operator on a control interface of the trolley, as a sequence of SC3 commands associated with a given carrier IDV3 identifier.

The carrier vehicle identifier with which the sequence of commands must be associated can be provided by the operator who performs the maneuver, via a data entry interface of the handling truck and / or via the terminal 1 which can be used as a data entry interface user to supply said carrier vehicle identifier to the control system 200 of the industrial truck.

Preferably, once learned, this sequence of commands, as well as the associated carrier vehicle identifier, is also transmitted to the external server 4 so that it saves it in association with the IDM cart identifier.

The handling system control interface is for example a trolley control joystick, usually used by an operator inside the trolley to control the handling system. It is also possible to provide for the command interface to be formed by a command module for the application 11 of the terminal 1 which is connected with the control system 200 of the carriage.

Method

The handling trolley, the terminal and the carrier vehicle presented above make it possible to implement different methods of loading and unloading the trolley relative to the carrier vehicle.

An example of the loading method is presented below in connection with FIGS. 6a to 6f and the flow diagram of FIG. 7.

[0112] In step 701, the operator uses terminal 1 to acquire (flash) a QR code present on the cart. To this end, the terminal 1 runs a computer application 11 previously installed on the terminal or executed remotely.

The access or download link for this application can be provided for example in the instructions for use of the carriage 2. According to a particular aspect, the execution of the application is secured by an authorization system, such as access by username and password.

In step 703, the acquired QR code is decrypted by the terminal 1 to extract connection data allowing the terminal 1 to connect to the control system 200 of the trolley.

In the connected state of the terminal 1 to the control system 200 of the carriage 2 (step 705), the terminal 1 recovers in step 707 identifiers IDV1, IDV2 of carrier vehicle, such as plate numbers d registration of carrier vehicles, stored in memory 23 of truck 2.

The terminal 1 displays in step 707A the identifiers IDV1, IDV2 recovered, which allows the operator, in step 707B, to determine whether it finds or not among these identifiers that of the carrier vehicle 3 relative to which he wishes to be able to load or unload the carriage 2.

If the identifier of the carrier vehicle 3 which interests the operator is displayed, the operator then selects it in step 709. The carriage thus receives from terminal 1 a request containing the identifier selected by the operator . The control system 200, in particular the control unit 21, of the carriage can then, in step 711, select in the memory 23 of the carriage the sequence of commands associated with the identifier of the carrier vehicle 3 which has been selected by the operator in order to execute a loading sub-sequence or a loading sub-sequence according to the instructions to come from the terminal.

The terminal 1 displays a control interface with for example a button C1 for loading control and a button D1 for unloading control. The operator can then order in step 715 by pressing and holding the button C1, respectively Dl, the execution of the sequence of commands in the direction of a loading (or loading sub-sequence), respectively in the direction unloading (or unloading sub-sequence).

An example of a sequence of commands in the direction of loading is illustrated in FIGS. 6a to 6f. Unloading can be obtained by executing orders in the opposite direction.

In Figure 6a, the forks of the carriage 2 are engaged in the sleeves of the carrier vehicle 3. The wheels of the carriage 2 rest on the ground.

In FIG. 6b, the command executed corresponds to a relative pivoting of the tool holder of the carriage 2 relative to the arm 25 in the direction of a lifting of the forks. The forks of the carriage 2 remain engaged in the sleeves of the carrier vehicle 3 so that it is the rest of the carriage 2, and therefore the arm 25, which pivots while rising. The wheels of the carriage 2 are thus raised relative to the ground.

In FIG. 6c, the relative pivoting between the tool holder of the carriage 2 and the arm 25 continues in a direction corresponding to a control for raising the forks. The forks remain engaged with the carrier vehicle so that it is the rest of the carriage 2 which continues to be pivoted in the direction of lifting its rear wheels.

FIG. 6d illustrates the retraction movement of the telescopic arm 25 of the carriage 2, with a relative movement of approximation of the section 25A and of the section 25B, so that, the forks remaining engaged with the carrier vehicle 3, the chassis of the carriage 2 is brought closer to the carrier vehicle (by sliding) along the end portion of the telescopic arm.

In Figure 6e, the tool holder 26 of the carriage 2 is controlled in the direction of an approximation of the arm relative to the front wheels of the carriage, so that it is the rest of the carriage 2 which pivots while raising the front wheels to the forks.

The retraction movement of the telescopic arm of the carriage 2 continues as illustrated in FIG. 6f, for example until it comes to the end of its travel, the chassis of the carriage 2 being still close to the carrier vehicle.

In FIG. 6g, the telescopic arm 25 of the carriage 2 is pivoted in the direction of approximation of said arm relative to the front wheels of the carriage, and, the telescopic arm 25 being engaged with the carrier vehicle by intermediate of the forks, it is the rest of the carriage 2 which pivots in the direction of lifting of its front wheels.

In this example, the loading steps illustrated in FIGS. 6a to 6g are obtained by holding down the Cl button. The reverse unloading operation can be carried out by holding down the Dl button.

In the event of interruption of the pressing of the button Cl or Dl hitherto requested, the control unit 21 of the carriage interrupts the loading or unloading operation, and possibly issues an alert (step 713B). The process then returns to a step 713 presented below.

Furthermore, according to a particular embodiment, it is provided that before authorizing the execution of a sequence of commands for loading or unloading the carriage, the control unit 21 checks in step 713 that the distance between the terminal 1 and the carriage is greater than a given safety threshold value or within a given range of values.

If the distance condition is respected, then the execution of the command sequence as presented in step 715 is authorized.

[0131] Otherwise, the execution of the sequence is interrupted and / or an alert message is sent (step 713A), and the process then returns to step 713.

The execution of the sequence of commands following the pressing of the button Cl for loading or the button Dl for unloading (step 715) continues with step 717 where the state of end of maneuver is checked. If the end-of-maneuver state is not detected (step 713C), for example because the command sequence is not completed and the press on the Nail button Dl is maintained, then the unit of piloting 21 returns to step 713 of verification of distance.

If the end of maneuver state is detected, for example because the last command in the sequence is executed and / or a limit switch has issued a corresponding end of maneuver signal, then the corresponding loading or unloading process is considered to be completed in step 719.

According to a particular aspect, if in step 707B, the operator realizes that the identifier IDV3 of the desired carrier vehicle is not present among the identifiers displayed on the terminal, the operator informs the step 721 in the application 11 of the terminal 1 the identifier of the desired carrier vehicle, for example the identifier IDV3.

The terminal 1 then interrogates in step 723 the external data server 4 to determine whether a sequence of commands SC3, associated with this carrier vehicle identifier and with the IDM identifier of the carriage 2, is recorded in this server 4 .

If so, the sequence of commands SC3 is then transmitted to the carriage 2 (step 733), preferably via the terminal 1 (step 731), which stores it in its memory 23 in association with said IDV3 identifier of the desired carrier vehicle.

The identifiers of carrier vehicles compatible with the carriage 2 which are displayed by the terminal 1 are then updated (step 735) so as to reveal the identifier IDV3 of the desired carrier vehicle whose command sequence SC3 associated has been recorded in the cart 2. The operator can then select from his terminal 1 this identifier IDV3 of the desired carrier vehicle, which corresponds to step 709. The operations which follow this step 709 can be implemented as explained above.

If in step 723, it turns out that the server 4 does not contain a sequence of commands associated with this desired carrier vehicle identifier and with the identifier of the carriage 2, then the operator can trigger a learning function in step 791 according to which the operator controls from the terminal 1 or from the very interface for controlling the carriage the loading or unloading of the carriage according to commands which are stored by the control system 200 in the memory 23 as a sequence of commands in association with the identifier of the desired carrier vehicle.

In particular, the operator can then perform with the truck a series of operations corresponding to the control of the actuation system which are recorded as a sequence of commands associated with the new carrier vehicle in the memory of the truck. The start of recording can be controlled by a specific user operation, for example by pressing a specific button on the control interface of the truck such as a button on the control joystick. The end of the recording sequence and therefore of the learning mode can be defined in a similar way by a particular operation of the operator on the control interface.

The terminal 1 and / or carriage 2 control unit is for example in the form of a microprocessor and a data memory in which computer instructions executable by said processor are stored, or alternatively under the shape of a microcontroller.

When it is specified that the unit or means or module of said unit are configured to perform a given operation, this means that the unit includes computer instructions and the corresponding execution means which make it possible to carry out said operation. operation and / or that the unit includes corresponding electronic components.

The functions and steps described can thus be implemented in the form of a computer program or via hardware components (eg networks of programmable doors). In particular, the functions and steps operated by a control unit or its modules can be carried out by sets of instructions or computer modules implemented in a microprocessor or microcontroller or be carried out by dedicated electronic components or components of the EPGA or ASIC type. . It is also possible to combine computer parts and electronic parts.

The invention is not limited to the embodiments illustrated in the drawings.

In addition, the term "comprising" does not exclude other elements or steps. In addition, features or steps which have been described with reference to one of the embodiments set out above can also be used in combination with other features or steps of other embodiments set out above.

Claims (1)

[Claim 1] [Claim 2] Claims Handling machine (2), such as a handling cart, said handling machine (2) comprising a handling system, such as a lifting arm (25) equipped with a tool holder (26) provided with forks (27), said handling machine (2) comprising a control system (200) which comprises: - an actuating system (24) of the handling system, such as jacks and a hydraulic circuit; - a control unit (21), such as a processor, for controlling the actuation system (24); - a radio communication module (22); characterized in that the control system (200) further comprises a memory (23) in which are stored: - identifiers (IDV1, IDV2) of carrier vehicles, such as license plate numbers of carrier vehicles, and - order sequences (SCI, SC2) of the handling system associated with these identifiers (IDV1, IDV2 ) carrier vehicles, and in that the control system (200) is configured to: - transmit (707) to a terminal (1) the identifiers (IDV1, IDV2) of carrier vehicles, and - receive a request to select (711) one of said command sequences (SCI, SC2) associated with one of said identifiers (IDV1, IDV2) of carrier vehicles, - receiving (715) a loading or unloading request from the handling machine and executing the sequence of commands selected as a function of said loading or unloading request. Handling machine (2) according to claim 1, characterized in that the handling machine (2) comprises a connection element (9) containing a set of data, for example in the form of a code, such as a QR code, applied to the exterior of the handling machine (2), the data of which is accessible (701, 703) by a communication terminal (1), said set of data comprising data identifying the processing machine handling (2) and connection data allowing the terminal (1) to connect to the control system (200) of the handling machine (2), and in that the control system (200) is configured to accept the connection (705) with a terminal (1), such as a smart phone, when the connection request received from the terminal (1) comprises data of connection corresponding to those of said connection element (9). [Claim 3] Handling machine (2) according to one of the preceding claims, characterized in that the handling system comprising a lifting arm (25) pivotally mounted relative to the chassis of the handling machine (2), and a holder tool (26) provided with forks (27) and articulated to the lifting arm (25), each sequence of commands (SCI, SC2) includes a series of commands including: - a pivoting control of the tool holder (26); and or - a pivoting control of the lifting arm (25); and or - A retract or exit control of the arm (25), when the lifting arm (25) is a telescopic arm. [Claim 4] Handling machine (2) according to one of the preceding claims, characterized in that the control system (200) is configured to: - determine (713) information representative of the distance between the terminal (1) and the handling (2), and - authorize or not (713A) the execution of all or part of the sequence of commands selected according to the determined distance information. [Claim 5] Handling machine according to one of the preceding claims, characterized in that, the terminal (1) having two control elements (Cl, C2), for example of the button type, allowing, by pressing the user on one or the other of said control buttons to transmit to the control system (200) of the handling machine (2) a request for loading or unloading of the handling machine, the control system (200) of the handling machine ( 2) is also configured to detect that the user has released the press on one of said control elements (Cl, C2) for loading or unloading, and following this detection interrupt (713B) the execution of the sequence corresponding controls for loading or unloading the handling machine (2). [Claim 6] Handling machine according to one of the preceding claims, characterized in that the handling machine (2) comprising a handling system control interface, such as a joystick, the control system (200) includes a learning module configured to record (791) actions performed by an operator on the control interface as a sequence of commands (SC3) associated with a given carrier vehicle identifier (IDV3). [Claim 7] Handling machine according to one of the preceding claims, characterized in that the control system (200) is configured to detect the end of loading or unloading of the handling machine: - by a sensor system positioned on the handling machine (2) and / or on the carrier vehicle (3), and connected to said control system (200), or - automatically when the control system (200) does not receive a loading or unloading instruction for a given period. [Claim 8] Non-transient computer program product comprising program code instructions for executing the steps of a method for controlling a handling machine (2), when said program is executed by a processor of a terminal (1) communication, such as a smart phone, said communication terminal (1) also comprising a radio communication module (12), said handling machine (2) being a handling machine according to claim 1, characterized in that said process comprises the following steps: - acquisition (701) of a code (9), such as a QR Code, - recovery (703) from data (9) acquired, allowing the terminal (1) to be connect (705) to the control system (200) of the handling machine (2), - in the connected state of the terminal (1) to the control system (200) of the handling machine (2), recovery (707 ) identifiers (IDV1, IDV2) of carrier vehicles, such as license plate numbers culation of carrier vehicles, - selection (709), by user action on the terminal (1), of one of the identifiers (IDV1, IDV2) of carrier vehicles recovered by the terminal (1); - transmission to the control system (200) of the handling machine (2) of a request so that the control system (200) selects (711), from among several sequences of commands (SCI, SC2), a sequence of given commands associated with the selected carrier vehicle identifier; - Transmission (715) by the terminal (1) to the control system (200) of the handling machine (2) of a loading or unloading request for execution, by the control system (200) of the handling machine (2), of the sequence of commands selected according to the loading or unloading request. [Claim 9] Product according to claim 8, characterized in that said method comprises the following steps: - acquisition (721) of a new identifier (IDV3) of a carrier vehicle, other than the identifiers (IDV1, IDV2) received by communication with the control system (200), - transmission (723) to a server (4) of external data of a request containing an identification number (IDM) of the handling machine (2) with which the terminal (1) communicates, as well as the new identifier of carrier vehicle (IDV3), said external data server (4) containing a sequence of commands (SC3) associated with said identification number (IDM) of the handling machine (2) and said new identifier of this carrier vehicle (IDV3) , - Preferably, recovery (731) by the terminal (1) of said sequence of commands (SC3) and transmission (733) to the control system (200) of the handling machine (2); - updating (735) of the carrier vehicle identifiers received by the terminal from the control system (200) of the selection machine, to display the new carrier vehicle identifier (IDV3) (IDV3), - selection ( 709), by action of the user on the terminal (1), of said new identifier (IDV3) of carrier vehicle; - Transmission to the control system (200) of the handling machine (2) of an instruction so that the control system (200) selects (711) a sequence of commands (SC3) from the associated handling machine (2) to the identifier (IDV3) of the selected carrier vehicle. [Claim 10] Product according to claim 8 or 9, characterized in that said method comprises the display of two control elements (Cl, Dl), for example of the button type, allowing the terminal (1) by pressing the user on the one or the other of said control elements (Cl, Dl) to transmit to the control system (200) of the machine nutention (2) a request to load or unload the handling machine. [Claim 11] System for loading and unloading a handling machine (2) with respect to a carrier vehicle (3), characterized in that said system comprises: a handling machine (2) according to one of claims 1 to 7, and a computer program product according to one of claims 8 to 10. [Claim 12] System according to claim 11, characterized in that the system further comprises an external data server (4) which comprises a sequence of commands (SC3) from the handling system associated with another identifier (IDV3) of carrier vehicle and a handling machine identifier (IDM). [Claim 13] Method for controlling a handling machine (2) for loading or unloading with respect to a carrier vehicle (3), said handling machine (2) being a handling machine according to claim 1, characterized in that the method comprises the following steps: - acceptance of a connection (705) from a terminal (1), such as a smart phone, to the control system (200) of the handling machine (2); - in the connected state of the terminal (1) to the control system (200), transmission (707) to the terminal (1) by the control system (200), of identifiers (IDV1, IDV2) of carrier vehicles, such as license plate numbers of vehicles stored in said control system (200), and - reception by the control system (200) of the handling machine (2) of a selection request to select (711) a sequence of commands from the handling machine associated with the vehicle identifier (IDV1, IDV2) carrier selected, reception (715) by the control system (200) of the handling machine (2) of a request for loading or unloading of the handling machine (2), and execution by the control system (200) of the handling machine (2) of the sequence of commands selected according to the loading or unloading request. 1/5