FR3096979A1 - Load handling machine, mechanical excavator, bucket loader or the like and method of controlling a load handling machine - Google Patents

Abstract

Load handling machine (1) (24) comprising: - a frame (2) equipped with a driving station (15), - a load handling system (4) carried by the frame, a device (6 ) for controlling the load handling system (4), this control device (6), which can be manually operated by an operator, comprising a manual part (61) configured to be entered manually, - a control unit (5), the the control unit (5) being configured to receive control signals from said control device (6), a device (7) for activating the manually operable control device (6), the control unit (5) being configured for, in the actuated state of the activation member (7), authorizing the control of the handling system (4) as a function of at least the control signals received from the control device (6), characterized in that that the driver's station (15) is equipped with a detection system (16) for detecting the presence or absence of the operator eur to said station (15), this detection system (16) comprising at least one presence sensor (17) separate from the control device (6) and in that the control unit (5) is configured for, at the 'unactuated state of the activation member (7), after passing from the actuated state to the unactuated state of the activation member (7), prevent or allow at least the control of the system (4 ) handling with the control device (6) at least according to the state of absence or presence of the operator detected by the system (16) for detecting the presence of the operator at said station (15 ). Figure for the abstract: Fig. 1

Description

Load handling machine, mechanical digger, bucket loader or the like and method for controlling a load handling machine

The present invention relates to a load handling machine, such as a machine with a telescopic or non-telescopic lifting arm, a mechanical excavator, a bucket loader or the like, as well as a method for controlling a load handling machine. .

It relates more particularly to a load handling machine comprising:
- a rolling chassis equipped with a driving position,
- a moving drive system for the rolling frame
- a load handling system carried by the chassis,
-a control device for the load handling system, this control device, manually operable by an operator, comprising a manual part configured to be entered manually,
-a control unit, the control unit being configured to receive control signals from said control device,
- a device for activating the manually operable control device,
a control unit, the control unit being configured to, in the actuated state of the activation member, authorize the control of the handling system according to at least the control signals received from the control device.

The regulations impose, for safety reasons, the implementation of measures preventing the accidental control of the control device on the load handling machines. For example, an accidental command may be due to the fact that the operator remains attached by clothing to the control device and maneuvers it without realizing it or involuntarily. To solve this problem, load handling machines comprising an activation member of the control device to avoid accidental control using the control device have been developed as illustrated by patents EP-0,981,078 and EP -1,523,704. However, the presence of such an activation device constrains the operator. We are therefore looking for solutions to reduce the constraints imposed on the operator without compromising the safety of the operator.

An object of the invention is to provide a load handling machine of the aforementioned type, the design of which makes it possible to reduce the constraints imposed on the operator without harming the safety of the operator.

To this end, the subject of the invention is a load handling machine comprising:
- a chassis equipped with a driving position,
- a load handling system carried by the chassis,
a control device for the load handling system, this control device, manually operable by an operator, comprising a manual part configured to be entered manually,
- a control unit, the control unit being configured to receive control signals from said control device,
-an activation member of the manually operable control device, the control unit being configured to, in the actuated state of the activation member, authorize the control of the handling system as a function of at least the control signals received from the control device,
characterized in that the driving position is equipped with a detection system making it possible to detect a presence or an absence of the operator at said position, this detection system comprising at least one presence sensor distinct from the control device and in that that the control unit is configured to, in the non-actuated state of the activation member, after passing from the actuated state to the non-actuated state of the activation member, prevent or authorize piloting at least of the handling system with the control device at least as a function of the state of absence or presence of the operator detected by the system for detecting a presence of the operator at said station. The presence of such a system for detecting the absence or presence of the operator makes it possible, for example, to extend the periods during which the activation member can remain in the non-actuated state without harming the safety of the 'operator.

According to one embodiment of the invention, the handling machine comprises a sensor of a parameter representative of a movement of the machine and the control unit is configured to authorize the control of the handling system with the device control as a function at least of the parameter representative of a movement of the machine. Again, this arrangement makes it possible to limit the constraints of the operator with regard to the activation member and to improve driving comfort during the rolling phases of the machine without harming the safety of the operator.

According to one embodiment of the invention, the sensor of a parameter representative of a movement of the machine is a sensor of a parameter representative of the speed of movement of the machine, in that the machine comprises a memory for storing a predetermined speed of movement of the machine and in that the control unit is configured for, in the non-actuated state of the activation member of the control device, authorize the control of the handling system with the control device when the speed of movement of the machine supplied by the sensor of a parameter representative of the speed of movement of the machine is greater than the predetermined stored value.

According to one embodiment of the invention, the control unit is configured to, when passing from the actuated state to the non-actuated state of the activation member, start at least one so-called presence timer defining a time interval, and to prevent the control of the handling system with the control signals supplied by the control device to the control unit at the end of the elapse of the time interval defined by the time delay of presence and the control unit is configured to reset the presence timer as a function at least of the state of absence or presence of the operator detected by the system for detecting a presence of the operator at said station.

According to one embodiment of the invention, the control unit is configured to prevent a reset of the presence timer when the system for detecting the presence of the operator at said station detects an absence of the operator.

According to one embodiment of the invention, the control unit is configured to reset the presence time delay according to at least the control signals received from the control device.

According to one embodiment of the invention, the control unit is configured to reset the presence timer according to the data provided by the sensor of a parameter representative of a movement of the machine.

According to one embodiment of the invention, the control unit is configured to, when passing from the actuated state to the non-actuated state of the activation member, start at least one timer called the control timer defining a time interval, and to prevent the control of the handling system with the control device at the end of the elapse of the time interval defined by the control timer and in that the control unit is configured to reset the control timer as a function at least of the data supplied by the sensor of a parameter representative of a movement of the machine and possibly as a function at least of the control signals received from the control device.

According to one embodiment of the invention, the time interval defined by the command time delay is of greater duration than the time interval defined by the presence time delay. It is thus possible in the presence of the operator to offer improved driving comfort without compromising the safety of the operator.

According to one embodiment of the invention, the control device of the handling system is a control device comprising at least two control elements.

According to one embodiment of the invention, the machine comprises a drive system in movement of the rolling frame, in that the control device of the handling system is a multi-purpose control device and in that at least the one of the control elements is configured to control at least a part of the handling system and in that the other control element, or another of the control elements is configured to control at least a part of the drive system in movement of the machine.

According to one embodiment of the invention, the activation member is carried by the control device of the handling system.

According to one embodiment of the invention, the activation member is a sensor for detecting the presence of an operator's hand on the manual part of the control device.

According to one embodiment of the invention, the handling system comprises at least one handling arm mounted on said frame movable in rotation about a horizontal axis of rotation and at least one displacement drive actuator of said handling arm around said horizontal axis of rotation.

According to one embodiment of the invention, the driving position takes the form of a pilot's cabin inside which is arranged at least one seat on which the operator can take place, said pilot's cabin being closed through a door and in that the or at least one of the presence sensors of the system for detecting a presence of the operator at said station equips the seat.

According to one embodiment of the invention, the system for detecting the presence of the operator at said station comprises at least one sensor for detecting the opening and/or the closing of the door.

The invention also relates to a method for controlling a load handling machine comprising:
- a chassis equipped with a driving position,
- a load handling system carried by the chassis,,
a control device for the load handling system, this control device, manually operable by an operator, comprising a manual part configured to be entered manually,
- a control unit, the control unit being configured to receive control signals from said control device,
-a manually operable control device activation member, said method comprising a step of manually actuating the control device activation member to, in the actuated state of the activation member, authorize the control of the handling system as a function at least of the control signals received from the control device,
characterized in that the driving position being equipped with a detection system making it possible to detect a presence or an absence of the operator at said position, this detection system comprising at least one presence sensor distinct from the control device, the method comprises, in the non-actuated state of the activation member, after passing from the actuated state to the non-actuated state of the activation member, a step for authorizing or preventing the piloting of the system handling with the control device, at least as a function of the state of absence or presence of the operator detected by the system for detecting a presence of the operator at said station.
The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:

shows a schematic view of a load handling machine according to the invention in the raised position of the lifting arm;

shows a perspective view of a load handling machine according to the invention in the lowered position of the lifting arm;

shows a partial view of a control device taken from the activation member side;

shows a partial view of a control device taken from the side opposite the activation member;

is a schematic representation of components of the machine;

is a schematic representation of a control method that can be implemented by the handling machine of Figure 1;

is a schematic representation of a control method that can be implemented by the handling machine of Figure 1.

The inventive concept is described more fully below with reference to the accompanying drawings, in which embodiments of the inventive concept are shown. Reference throughout the specification to "an embodiment" means that a particular feature, structure, or feature 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 places throughout the specification does not necessarily refer to the same embodiment. Further, the particular functionalities, structures, or features may be combined in any suitable manner in one or more embodiments.

As mentioned above, the invention relates to a machine 1 for handling a load in accordance with that shown in FIG. 1. This machine 1 comprises a frame 2. In the example shown, this frame 2 is equipped with wheels 20 of support on the ground to form a rolling frame 2. This chassis 2 is surmounted by a driving position 15. The driving position 15 takes the form of a cockpit 151 inside which is arranged at least one seat 18 on which the operator can sit. The cockpit 151 is closed by a door 19. The machine 1 can also comprise, as in the example shown, a system 3 for driving the chassis 2 in movement by driving the wheels 20 of the wheel in rotation. machine 1. This system 3 for driving the chassis 2 comprises, in a manner known per se, a heat engine connected to the wheels 20 by a transmission. This system 3 for driving the chassis 2 in displacement is controlled in particular by means of an accelerator pedal, not shown, arranged in the cockpit 151 of the pilot.

The handling machine 1 further comprises a load handling system 4 carried by the chassis 2. This handling system 4 comprises at least one handling arm 13 mounted on said chassis 2 movable in rotation around an axis 21 of rotation horizontal and at least one drive actuator 14 for moving said arm 13 for handling around the axis 21 of horizontal rotation. The handling arm 13 is therefore a pivoting arm pivotally mounted around the horizontal axis 21, orthogonal to the longitudinal axis of the arm, for the passage of the arm 13 from a low position to a high position and vice versa. using the actuator 14, such as a hydraulic cylinder connected to a hydraulic pump by a hydraulic circuit, the pump and the circuit not being shown. The arm may be a telescopic arm of adjustable length between a retracted position and an extended position of the arm. To this end, the arm 13 can be formed of two arm sections, one of which, called the first section, is pivotally coupled to the frame 10 and the other of which, called the second section, is mounted in sliding engagement with respect to the first arm section. Alternatively, the arm may not be telescopic.

Sliding interlocking movement between the arm sections can be achieved using a second machine actuator, such as a double-acting cylinder, housed in the first arm section and fixed by its rod to the second arm section to allow relative movement of the arm sections under the effect of retraction or extension of the cylinder rod.

The load handling arm 13 can be equipped, at its free end, with an accessory 23 connected to the arm by a pivoting connection. This accessory 23 can be driven around the pivot of the pivot connection by an actuator 25 which can again be formed by a double-acting hydraulic cylinder or two single-acting parallel cylinders powered in turn.

In the example shown, this accessory 23 comprises a fork carrier and the actuator 25 allows the fork carrier to be driven in displacement between a crowding position and a dumping position by pivoting the accessory about an axis said horizontal orthogonal to the longitudinal axis of the arm 13. This pivot axis is parallel to the pivot axis 21 connecting the arm 13 to the frame 10. The dumping position corresponds to the extreme position of pivoting towards the ground of the fork carrier . The crowding position of the fork carrier corresponds to an upward pivoting position of the fork carrier and of the associated load 24 when the latter is present.

The handling machine 1 further comprises a control unit 5 configured to control the operation of the actuators 14 and 25 and possibly the telescope output actuation when it is present, which makes it possible to control the movement of the arm 13 and to accessory 23.

The control unit 5 is an electronic and/or computer unit which includes, for example, a microcontroller or a microprocessor associated with a memory. Thus, when it is specified that the unit or means of said unit are configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding means of execution which make it possible to carry out said operation and/ or corresponding electronic components.

That is, the described functions and steps can be implemented as a computer program or via hardware components (eg programmable gate arrays). In particular, the functions and steps operated by the control unit 5 can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the FPGA or ASIC type. It is also possible to combine computer parts and electronic parts.

The control unit 5 therefore controls the handling system 4 and, in particular, the movements of the arm 13 and of the accessory 23 by controlling the corresponding actuators 14 and 25 via the hydraulic circuit.

The control signals supplied by the control unit 5 generally act on organs, such as a distributor or valve, arranged on the connection between the pump and the actuators 14, 25 to allow an appropriate fluid supply to the actuators 14, 25 of known way.

The handling machine 1 also includes a device 6 for controlling the system 4 for handling the load. This control device 6 is manually actuated and makes it possible to supply control signals to the control unit 5 . These control signals are processed by the control unit 5 . The control unit 5 generates, from these control signals, control signals at least for the load handling system 4 as described above.

In the examples shown, the control device 6 of the load handling system 4 is a multipurpose control device 6 . Indeed, the control device 6 makes it possible to control, on the one hand, the handling system 4, on the other hand, the system 3 for driving the machine 1 in displacement. Alternatively, the control device 6 could have been a control device allowing only the control of the handling system 4. In what follows, it will always be considered that the control device 6 is a general-purpose control device. Thus, this device 6 for controlling the handling system 4 comprises at least two control elements. In the examples shown, one of the control elements, shown at 10 in the figures, is configured to control at least one part 4 of the handling system and another control element, shown at 11 in the figures, is configured to control at least part of the system 3 for driving the machine 1 in displacement. Other control elements, shown at 12a and 12b in the figures, are also present. This control device 6 can affect a large number of shapes.

In the example shown in Figures 1, 3 and 4, the control element 10 of the device 6 for controlling the handling system 4 is a lever or joystick that can be manipulated by hand by the driver of the machine and the other elements 11 , 12a, 12b control are carried by said lever. These other control elements are arranged at the lever knob. This lever knob corresponds to the manual part 61 of the control device 6 configured to be entered in the manually entered state of the control device in accordance with its destination.

Such a control device is well known to those versed in this art and an example of such a control device is described for example in patent FR-2,858,861.

The control lever or joystick transmits position signals from said lever to the control unit 5 in a manner known per se. These position signals can be interpreted by the control unit 5 as movement instruction signals for the arm 13 and/or the accessory 23.

According to one embodiment, the control lever can thus be moved forwards, backwards, to the left or to the right of the machine. In the example shown, this mobile control lever at least in the forward/rear direction of the machine is mounted so as to move forwards to control the lowering of the arm 13 and backwards to control of the lifting of the arm 13. The forward/backward movement of the control lever can therefore control the operation of the first actuator 14 between arm 13 and frame 2. This control lever 10 can still be mounted movable in the left/right, transverse direction to the forward/reverse direction, to the left for the control of the crowding position, and to the right for the control of the dumping position of the accessory 23. The left/right movement of the control lever therefore controls the operation of the actuator 25 between accessory 23 and arm 13. These forward/rear and left/right directions correspond to the main directions and the control lever can be driven in an infinity of directions, the movement of the control lever in any direction corresponding to a combined action proportional to the position of the control lever with respect to the main directions. As illustrated in Figure 4, the control lever can be equipped with a control element 12a, such as a knob, for controlling the telescope output actuator in the case of a telescopic arm 13. Thus, the rotation of the wheel carried by the control lever in one direction allows the extension of the arm 13 by sliding movement, in the direction of an extension of the arm 13, of the second arm section, and the rotation of the wheel carried by the lever in an opposite direction allows the retraction of the arm.

Other buttons, knobs or others, such as that shown at 12b in Figure 3, may be provided to control certain functions of the accessory. One of the control elements, shown at 11 in the figures, is configured to control at least part of the system 3 for driving the machine in displacement. This control element 11 can be formed by an inverter button with three stable positions to operate the vehicle in forward gear, stop it in neutral position or operate it in reverse gear. The transmission of the system 3 for driving the chassis 2 in displacement may comprise a gearbox and the upshift and downshift control of the gearbox can be carried out using a push button or other control device. control carried by the lever. It is understood that these control elements can therefore, in a non-limiting manner, be made in the form of a wheel, a switch, a button, a switch, a sensor, in particular a Hall effect sensor, a potentiometer or the like.

The lever and the control elements carried by the lever are operable with one hand of the operator in the positioned state of the operator's hand on the manual part 61 of the control device 6 formed here by at least part of the knob of the control lever.

The handling machine 1 further comprises a member 7 for actuating the device 6 manually operable control. This activation member 7 is carried by the device 6 for controlling the handling system 4 .

The activation member 7 is a presence sensor making it possible to detect the presence of an operator's hand on said control device 6 in the manually entered state of the control device 6 in accordance with its destination. In particular, the activation member 7 is a presence sensor arranged on the manual part 61 of the control device 6 . This activation member 7, with manual actuation, is therefore configured to pass from the non-actuated state to the actuated state in the presence of the hand on the manual part 61 of the control device 6 and vice versa from the actuated state to the non-actuated state in the absence of the hand on the manual part 61 of the control device 6 . It should be noted that the term "actuated" should be taken in its broadest sense. Actuating the activation member 7 means requesting the activation member 7. The actuation of the activation member 7 can therefore, without limitation, be effected by simple contact, by pressing or pressure, by the presence of the hand at a distance less than a predetermined distance or other without leaving the frame. of the invention.

The activation member 7 can, by way of example, be made in the form of a button of the push-button type or of a sensor of the capacitive type. The presence of the hand opposite the activation member 7, including without contact, may be sufficient to actuate the activation member 7 in the case of a capacitive type sensor.

The role of this member 7 for activating the control device 6 will be described below.

The handling machine 1 can also include a sensor 8 of a parameter representative of a movement of the machine. The control unit 5 is configured to receive the data provided by this sensor 8. The control unit is configured to authorize the control of the handling system with the control device according to at least the data provided by this sensor 8. This sensor 8 can affect a large number of shapes. Preferably, this sensor 8 of a parameter representative of a movement of the machine 1 is a sensor of a parameter representative of the speed of movement of the machine 1 and the control unit configured to authorize the control of the handling system with the control device as a function of at least one parameter representing movement of the machine is configured to authorize control of the handling system with the control device as a function of at least one parameter representing the speed of movement of the machine. This speed sensor 8 can be a sensor for measuring the speed of rotation of the wheels or of any other mechanical component representative of the speed of movement of the machine. Non-zero speed detection can also take place by detecting the drive of a transmission member in engagement with the wheels.

Finally, the machine 1 comprises, at the driving position 15, a system 16 for detecting the presence of the operator at the driving position. This detection system 16 which makes it possible to detect an absence or a presence of the operator at said station comprises at least one sensor 17 of presence. This presence sensor 17 is separate from the manual part 61 of the control device 6 . The control unit 5 is configured for, in the non-actuated state of the activation member 7, the non-actuated state of the activation member 7 resulting from the transition from the actuated state to the state not actuated of the activation member 7, preventing or authorizing the piloting at least of the handling system 4 with the control device 6 at least according to the state of absence or presence of the operator detected by the system 16 for detecting the presence of the operator at said station 15.

In the examples shown, the presence sensor 17 of the detection system 16 is a sensor fitted to the seat 18 of the operator and sensitive to the pressure of the weight exerted by the latter on the seat cushion. This sensor is in the active state and emits a signal when the operator is seated in his seat. The detection system 16 may further comprise a sensor 22 for detecting the opening/closing of the door 19 of the cabin 151. This sensor is in the active state and emits a signal when the door is in the closed state. . The detection system 16 further comprises a processing module 161 making it possible to process the signals from said sensors 17 and 22 to detect the presence or absence of the operator. This processing module 161 can be integrated into the control unit 5 . The control unit 5 is configured to, in the non-actuated state of the activation member 7, after passing from the actuated state to the non-actuated state of the activation member 7, prevent the handling system 4 is controlled with the control device 6 when the absence of the operator is detected as explained below. It should be noted that the presence of an operator is detected by the detection system 16 when the presence sensor 17 located at the level of the seat 18 is active or, when the door being detected in the closed state by the sensor 22 of detection of the opening/closing of the door 19, the presence sensor 17 located at the level of the seat is in the inactive state and has passed from the active state to the inactive state in the closed state of the door without detection of door opening. The signals from these sensors are sent to the processing module 161.

As explained below, the control unit 5 is configured to authorize or prevent the control of the machine, in particular of the handling system 4 and possibly of the system 3 for driving the rolling frame from the device 6 control.

The control unit 5 is configured to receive signals from the activation member 7 in the actuated state of the activation member 7. Thus, in the case where the activation member 7 is a push button, a signal for actuating the activation member 7 is supplied to the control unit 5 when the push button is pressed by the operator's hand resting on the control system 6.

In the case of an activation member 7 formed by a capacitive sensor, a signal is supplied to the control unit 5 by simple positioning of the operator's hand on the control device 6 facing said sensor.

In the actuated state of the activation member 7, the control of the handling system 4 and possibly of at least a part of the displacement drive system 3 is authorized according to at least the control signals received from the device 6 control, these control signals resulting from the actuation by the operator of the control device 6 as described above.

Thanks to the presence of the detection system 16, the prohibition of the control in particular of the handling system 4 from the control device 6 can operate in a very reactive manner, when the state of absence of the operator is detected In particular, the control unit 5 is configured to start at least one so-called presence time delay T2 defining a time interval during the passage from the actuated state to the non-actuated state of the activation member 7 , and to prevent the piloting of the handling system 4 with the control device 6 after the expiry of the time interval defined by the time delay T2 of presence. The control unit 5 is configured to reset the presence time delay T2 according to at least the signals supplied by the system 16 for detecting the presence of the operator at said station 19.

In practice, the control unit 5 is configured to prevent the reinitialization of the presence time delay T2 as long as an absence of the operator at the driving position 19 is detected. This absence of the operator may correspond to:
- or to an absence of signal from the presence detection sensor 17 fitted to the seat 18 of the driving position 15 in the open state of the door 19 of the cockpit 151
- either, in the closed state of the door 19, to an absence of signal from the presence detection sensor 17 equipping the seat 18 of the driving position 15, the absence of signal from the presence detection sensor 17 having started at the open state of the door.

The machine 1 comprises at least one time delay T1, called the command time delay, defining a time interval which can be predefined or adjustable. This control time delay T1 is, like the presence time delay T2, conventionally carried out by a clock and a time count in the direction of an incrementation or a decrementation of this count until the interval has elapsed. of time defined by time delay T1 or T2 respectively. Said clock is preferably integrated into the control unit 5 . This control time delay T1 starts when the activation member 7 passes from the actuated state to the non-actuated state, that is to say when the push-button is released or the button is removed. hand from a position opposite the capacitive sensor. The control unit 5 prevents the handling system 4 and possibly at least part of the system 3 for driving the chassis 2 in displacement from being controlled with the control device 6, that is to say from or by via the control device 6 at the end of the time interval defined by the control time delay T1.

To prevent such a prohibition during the rolling phase of the machine 1, the control unit 5 is configured to, during the elapse of the time interval defined by the control timer T1, reset the control timer T1 , that is to say to resume at its beginning the counting or respectively the counting down of the time interval defined by the control time delay T1 according to at least the data supplied by the sensor 8 of the speed of movement of the machine 1.

In particular, the machine 1 comprises a memory 9 for storing a predetermined speed of movement of the machine 1 and the control unit 5 is configured to reset the time delay T1 when the speed of movement of the machine 1 provided by the sensor 8 of movement speed of the machine is greater than the stored predetermined speed.

Thus, by way of example, the control unit 5 is configured to reset the time delay T1 when the speed of the vehicle is for example greater than 1 km/h.

In the same way, to prevent such a control prohibition, while the control device 6 is actuated by the operator, the control unit 5 is also configured to reset the control timer T1 according to at least the control signals. command received from the control device 6.

Thus, after passing from the actuated state to the non-actuated state of the activation member 7, as long as the control device 6 is actuated, that is to say as long as the lever or any control elements carried by the lever are actuated within the time interval defined by the control time delay T1, control, from the control device 6, remains possible. This command, from the control device 6, ceases when the control device 6 has remained unactuated for a period greater than the time interval predefined by the time delay T1 and the speed of movement of the machine is below a predetermined speed. A new actuation of the activation member 7 is necessary to make this control possible again from the control device 6 .

It should be noted that the presence timer T2 defines a time interval of duration less than the time interval of the control timer T1 to prohibit a command as quickly as possible from the control device 6 when an absence of the operator is detected. In the event of detection of the presence of the operator, this presence time delay T2 is reset if the control device 6 is actuated within the time interval defined by the presence time delay T2 or if the speed of movement of the machine is greater than a predetermined speed. Otherwise, the presence time delay T2 is not reset.

Example of ordering process:
The control unit can be configured to implement a machine control method, as represented in FIGS. 6 and 7. As explained below, the control method is used to authorize or prevent the control of the system 4 handling and possibly at least part of the system 3 for driving the machine in movement from the control device 6, based in particular on the presence of the operator in the driving position. According to a particular aspect, the method is executed in real time. In what follows, it is considered that the control device 6 can generate control signals both for the handling system 4 and for at least part of the system 3 for driving the machine in displacement. Alternatively, the control device 6 could have generated only control signals for the handling system 4 without departing from the scope of the invention.

In step S1, the activation member 7 is not actuated and the control of the handling system 4 and of at least part of the drive system 3 in displacement from the control device 6 is prevented.

In step S2, the activation member 7 is actuated by pressing the pressure button or position of the hand facing the capacitive sensor. It therefore supplies the control unit 5 with an actuation signal.

In step S3, the control unit authorizes from this actuation signal the control of the handling system 4 and of at least part of the drive system 3 from the control signals supplied by the device 6 command.

In step S4, the control method tests whether the activation member 7 is in the non-actuated state, that is to say if a signal of non-actuation of the activation member 7 is supplied by the activation member 7. The control method loops over this step S4 until the activation member 7 is not actuated.

In the non-actuated state of the activation member 7, the control method goes to step S5 where the time delay T2 defining a time interval of 5 seconds for example starts. The 5-second delay starts counting and the control process proceeds to step S6.

In step S6, the detection system 16 detects, as a function of the signals supplied by the sensor 17 of the presence of the operator at the station 15, in particular on the seat 18 of the driving position 15 and possibly of the signals supplied by the sensor 22 for detecting the opening/closing of the door 19 and the processing of said signals, the presence or absence of an operator at the driving position 15.

When the detection system 16 comprises a sensor 17 of presence, an absence of the operator from the driving position is detected, for example if no signal is supplied by the sensor 17 of presence. When the detection system 16 comprises a presence sensor 17 and a sensor 22 for detecting the opening/closing of the door, an absence of the operator from the driving position is detected, for example if no signal is supplied. by the presence sensor 17 and if the door is detected as open. The control method then passes to a step S13 where it is checked whether the time interval defined by the presence time delay T2 has elapsed. The control method tests steps S11 and S13 in a loop as long as the time interval of the presence time delay T2 has not elapsed. If the time interval defined by the presence time delay T2 has elapsed, then the control method returns to step S1.

If conversely, in step S6, the detection system 16 detects, according to the signals supplied by the sensor 17 for detecting the presence of the operator at the driving position 15 and by the sensor 22 for detecting the opening/closing of the door and the processing of said signals, a presence of the operator at the driving position, for example if a presence signal is supplied by the presence sensor 17, then the control method proceeds to step S7.

At step S7, the speed of the machine is compared with a stored threshold speed value, generally equal to 1 km/h. If the speed is greater than the threshold speed, then the control method returns to step S5 to start the presence timer T2 again, which corresponds to a reinitialization of the timer T2. The 5-second delay therefore begins to count again. At this same step S7, if the speed is lower than the threshold value, the actuation of the control device 6 is tested.

The control unit 5 has a control signal processing module supplied by the control device 6 . In the simplest version, the mere reception by the control unit 5 of control signals supplied by the control device 6 independently of the type of signal can be considered by the control unit 5 as an actuation of the device 6 of order. If the control device 6 is actuated then the control method returns to step S5 where the presence time delay T2 is again reset. If the control device 6 is not actuated then the control method goes to step S8 where the time elapsed within the time interval defined by the presence timer T2 since an initialization of the timer T2 is compared to the total duration of the timer time interval. When this elapsed time is greater than the duration of the time interval defined by the time delay, the presence time delay T2 is considered to have expired and the control method then returns to step S1. Otherwise the control method returns to step S5 to perform a new reset of timer T2 and possibly reexecute steps S6 and S7.

In summary, in this control method of FIG. 6 in the non-actuated state of the activation member 7 and in the started state of the presence time delay T2, when an absence of the operator is detected using the detection system 16 and the time elapsed since the start of the time delay T2 is greater than the time interval defined by said time delay T2, the command using the control device 6 is prevented and a new actuation of the activation member 7 is necessary in order to be able to control at least the handling system 4 from the control device 6 .

At step S4, the control method passes in parallel to step S5 and to step S9 where a timer T1, called the control timer, is started.

In step 10 , the speed of the machine is compared with a stored threshold speed value, generally equal to 1 km/h. If the speed is greater than the threshold speed, then the control method returns to step S9 to start the control timer T1 again, which corresponds to a reset of the timer T1. The 10-second delay therefore begins to count again. If the speed is lower than the threshold speed, then the control method goes to step S11 where the actuation of the control device 6 is tested similarly to step S7. If the control device 6 is actuated, then the control method returns to step S9 where the control timer T1 is reset again. If the control device 6 is not actuated then the control method goes to step S12 where the time elapsed within the time interval defined by the control timer T1 since an initialization of the timer T1 is compared to the total duration of the timer time interval. When this elapsed time is greater than the duration of the time interval defined by the time delay, the control time delay T1 is considered to have expired and the control method then returns to step S1. Otherwise, the control method returns to step S9 to perform a new reset of the control timer T1 and possibly reexecute steps S10 and S11.

Thus, in summary, in the non-actuated state of the activation member 7 and started by the time delay T1, if the speed of movement of the machine is less than 1 km/h, and if the control device 6 is not actuated within the time interval defined by the time delay T1, then, at the end of the time interval T1, the control using the control device 6 is prevented and a new actuation of the activation member 7 is necessary in order to be able to control at least the handling system 4 from the control device 6 .

It should be noted that the time interval defined by the presence timer T2 is less than the time interval defined by the command timer T1.

Although the invention has been described in connection with several particular embodiments, it is obvious that it is in no way limited thereto and that it includes all the technical equivalents of the means described as well as their combinations if these fall within the scope of the invention.

The use of the verb "to comprise", "to understand" or "to include" and of its conjugated forms does not exclude the presence of other elements or other steps than those set out in a claim.

Claims (17)

Machine (1) for handling load (24) comprising:
- a chassis (2) equipped with a driving station (15),
- a load handling system (4) carried by the chassis,,
a control device (6) for the load handling system (4), this control device (6), manually operable by an operator, comprising a manual part (61) configured to be entered manually,
- a control unit (5), the control unit (5) being configured to receive control signals from said control device (6),
-a member (7) for activating the manually operable control device (6), the piloting unit (5) being configured to, in the actuated state of the activating member (7), authorize piloting of the handling system (4) as a function of at least the control signals received from the control device (6),
characterized in that the driving position (15) is equipped with a detection system (16) making it possible to detect the presence or absence of the operator at said position (15), this detection system (16) comprising at least a separate presence sensor (17) from the control device (6) and in that the control unit (5) is configured so that, in the non-actuated state of the activation member (7), after passage from the actuated state to the non-actuated state of the activation member (7), preventing or authorizing the piloting of at least the handling system (4) with the control device (6) at least according to the state of absence or presence of the operator detected by the system (16) for detecting a presence of the operator at said station (15). Machine (1) for handling a load (24) according to claim 1, characterized in that the handling machine (1) comprises a sensor (8) of a parameter representative of a displacement of the machine (1) and in that the control unit (5) is configured to authorize control of the handling system (4) with the control device (6) as a function of at least the parameter representative of a movement of the machine (1 ). Machine (1) for handling a load (24) according to Claim 2, characterized in that the sensor (8) of a parameter representative of a movement of the machine (1) is a sensor (8) of a parameter representative of the speed of movement of the machine (1), in that the machine (1) comprises a memory (9 ) for storing a predetermined speed of movement of the machine (1) and in that the control unit (5) is configured for, in the non-actuated state of the member (7) for activating the control device (6), authorize control of the handling system (4) with the control device (6) when the speed of movement of the machine supplied by the sensor (8) of a parameter representative of the speed of displacement of the machine (1) is greater than the stored predetermined value. Machine (1) for handling a load (24) according to one of Claims 1 to 3, characterized in that the control unit (5) is configured so that, when changing from the actuated state to the not actuated by the activation member (7), start at least one so-called presence timer (T2) defining a time interval, and to prevent the handling system (4) from being controlled with the control signals supplied by the device (6) command to the control unit (5) at the end of the time interval defined by the time delay (T2) of presence and that the control unit (5) is configured to reset the presence timer (T2) as a function at least of the state of absence or presence of the operator detected by the system (16) for detecting a presence of the operator at said station (15). Load handling machine (1) according to Claim 4, characterized in that the control unit (5) is configured to prevent reinitialization of the presence timer (T2) when the system (16) for detecting a presence of the operator at said station (15) detects an absence of the operator. Load handling machine (1) according to one of Claims 4 or 5, characterized in that the control unit (5) is configured to reset the presence time delay (T2) as a function of at least the control signals received from the control device (6). Load handling machine (1) according to one of Claims 4 to 6 taken in combination with one of Claims 2 or 3, characterized in that the control unit (5) is configured to reset the time delay (T2 ) presence according to the data provided by the sensor (8) of a parameter representative of a movement of the machine (1). Load handling machine (1) according to Claim 2 or Claim 3 or one of Claims 4 to 7 taken in combination with one of Claims 2 or 3, characterized in that the steering unit (5) is configured to, when switching from the actuated state to the non-actuated state of the activation member (7), start at least one timer (T1) called the control timer defining a time interval, and to prevent the control of the handling system (4) with the control device (6) at the end of the time interval defined by the control time delay (T1) and when the control unit (5) is configured to reset the control time delay (T1) as a function at least of the data supplied by the sensor (8) of a parameter representative of a movement of the machine and possibly as a function at least of the control signals received from the device (6) control. Load handling machine (1) according to Claim 8, characterized in that the time interval defined by the control time delay (T1) is of greater duration than the time interval defined by the presence time delay (T2). Load handling machine (1) according to one of Claims 1 to 9, characterized in that the control device (6) of the handling system (4) is a control device (6) comprising at least two elements (10 , 11, 12a, 12b) control. Load-handling machine (1) according to Claim 10, characterized in that this machine (1) comprises a system (3) for driving the rolling frame (2) in displacement, in that the device (6) for control of the handling system (4) is a versatile control device (6) and in that at least one (10) of the control elements (10, 11) is configured to control at least part of the system ( 4) handling and in that the other control element (11), or another (11) of the control elements (10, 11, 12a, 12b) is configured to control at least part of the system (3) training in movement of the machine (1). Load handling machine (1) according to one of Claims 1 to 11, characterized in that the activation member (7) is carried by the device (6) for controlling the handling system (4). Load handling machine (1) according to one of Claims 1 to 12, characterized in that the activation member (7) is a sensor for detecting the presence of an operator's hand on the part (61 ) manual control device (6). Load handling machine (1) according to one of Claims 1 to 13, characterized in that the handling system (4) comprises at least one handling arm (13) mounted on the said frame (2) movable in rotation about an axis (21) of horizontal rotation and at least one actuator (14) for driving said handling arm (13) in displacement around said axis (21) of horizontal rotation. Load handling machine (1) according to one of Claims 1 to 14, characterized in that the driver's station (15) has the form of a pilot's cabin (151) inside which is arranged at the at least one seat (18) on which the operator can sit, said piloting cabin (151) being closed by a door (19) and in that the or at least one of the presence sensors (17) of the system (16) for detecting the presence of the operator at said station (15) equips the seat (18). Load handling machine (1) according to one of Claims 1 to 15, characterized in that the system (16) for detecting the presence of the operator at the said station (15) comprises at least one sensor (22) of detection of the opening and/or closing of the door (19). Method for controlling a machine (1) for handling a load (24) comprising:
- a chassis (2) equipped with a driving station (15),
- a load handling system (4) carried by the chassis,,
a control device (6) for the load handling system (4), this control device (6), operable manually by an operator, comprising a manual part (61) configured to be entered manually,
- a control unit (5), the control unit (5) being configured to receive control signals from said control device (6),
-a member (7) for activating the control device (6) that can be manually actuated, said method comprising a step of manually actuating the member (7) for activating the control device (6) for, at the actuated state of the activation member (7), authorizing the handling of the handling system (4) according to at least the control signals received from the control device (6),
characterized in that the driving position (15) being equipped with a detection system (16) making it possible to detect the presence or absence of the operator at said position (15), this detection system (16) comprising at least a separate presence sensor (17) from the control device (6), the method comprises, in the non-actuated state of the activation member (7), after passing from the actuated state to the non-actuated state of the activation member (7), a step for authorizing or preventing the control of the handling system (4) with the control device (6), at least according to the state of absence or presence of the operator detected by the system (16) for detecting a presence of the operator at said station (15).