JPWO2020095341A1 - 産業車両 - Google Patents
産業車両 Download PDFInfo
- Publication number
- JPWO2020095341A1 JPWO2020095341A1 JP2020556370A JP2020556370A JPWO2020095341A1 JP WO2020095341 A1 JPWO2020095341 A1 JP WO2020095341A1 JP 2020556370 A JP2020556370 A JP 2020556370A JP 2020556370 A JP2020556370 A JP 2020556370A JP WO2020095341 A1 JPWO2020095341 A1 JP WO2020095341A1
- Authority
- JP
- Japan
- Prior art keywords
- angle
- steering
- steering wheel
- sensor
- forklift
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
12 後輪
13 本体
14 昇降機構
15 ステアリング
16 フォーク
17 積荷
21 ステアリング角度センサ
22 操舵輪角度センサ
23 モータ
24 油圧ポンプ
25 油圧シリンダ
30 制御部
31 操舵輪角度制御部
32 重心高さ演算部
33 角度演算部
34 操舵輪角度制限部
35 ステアリング角度制限部
36 警告報知部
41 ブレーキ機構
42 速度センサ
43 重量センサ
44 位置センサ
G 重心
12 後輪
13 本体
14 昇降機構
15 ステアリング
16 フォーク
17 積荷
21 ステアリング角度センサ
22 転舵輪角度センサ
23 モータ
24 油圧ポンプ
25 油圧シリンダ
30 制御部
31 転舵輪角度制御部
32 重心高さ演算部
33 角度演算部
34 転舵輪角度制限部
35 ステアリング角度制限部
36 警告表示部
41 ブレーキ機構
42 速度センサ
43 重量センサ
44 位置センサ
G 重心位置
Claims (3)
- 操舵輪を備えた本体と、前記操舵輪を操作するためのステアリングと、積荷を昇降させる昇降部材と、前記ステアリングの角度を検出するステアリング角度センサと、前記操舵輪の角度を検出する操舵輪角度センサと、前記ステアリング角度センサにより検出した前記ステアリングの角度と前記操舵輪角度センサにより検出した前記操舵輪の角度とが対応するように前記操舵輪の角度を変更する操舵輪角度制御部と、を備えたステアバイワイヤ方式の産業車両において、
車両の走行速度を検出する速度センサと、
前記積荷の重量を検出する重量センサと、
前記積荷の高さ位置を検出する位置センサと、
前記速度センサにより検出した走行速度と、前記重量センサにより検出した前記積荷の重量と、前記位置センサにより検出した前記積荷の高さ位置とに基づいて、車両が転倒しない最小旋回半径に対応する前記操舵輪の角度を演算する角度演算部と、
前記角度演算部により演算した最小旋回半径に対応する前記操舵輪の角度に基づいて、前記操舵輪の角度を制限する操舵輪角度制限部と、
を備えたことを特徴とする産業車両。 - 請求項1に記載の産業車両において、
前記角度演算部により演算した最小旋回半径に対応する前記操舵輪の角度に基づいて、前記ステアリングの角度を制御するステアリング角度制限部をさらに備える産業車両。 - 請求項1に記載の産業車両において、
前記角度演算部により演算した最小旋回半径に対応する前記操舵輪の角度に基づいて、警告報知を実行する警告報知部をさらに備える産業車両。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2018/040965 WO2020095341A1 (ja) | 2018-11-05 | 2018-11-05 | 産業車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2020095341A1 true JPWO2020095341A1 (ja) | 2021-09-24 |
JP7188449B2 JP7188449B2 (ja) | 2022-12-13 |
Family
ID=70611550
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020556370A Active JP7188449B2 (ja) | 2018-11-05 | 2018-11-05 | 産業車両 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220002125A1 (ja) |
EP (1) | EP3878798B1 (ja) |
JP (1) | JP7188449B2 (ja) |
KR (1) | KR102556209B1 (ja) |
CN (1) | CN113226972B (ja) |
WO (1) | WO2020095341A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018107430A1 (de) * | 2018-03-28 | 2019-10-02 | Dimos Maschinenbau Gmbh | Transportfahrzeug |
KR102501634B1 (ko) * | 2022-05-02 | 2023-02-21 | 주식회사 이알인터내셔널 | 디젤 전동 지게차 개조시스템 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06107221A (ja) * | 1992-09-25 | 1994-04-19 | Mitsubishi Motors Corp | 車両の操舵装置 |
JPH072126A (ja) * | 1992-09-28 | 1995-01-06 | Mitsubishi Motors Corp | 車両の操舵装置 |
JPH11321266A (ja) * | 1998-05-11 | 1999-11-24 | Toyota Autom Loom Works Ltd | リーチフォークリフト |
JP2005200212A (ja) * | 2003-11-20 | 2005-07-28 | Mitsubishi Heavy Ind Ltd | フォークリフトの転倒防止装置 |
US20060065470A1 (en) * | 2004-09-28 | 2006-03-30 | Frank Manken | Method for the prevention of turnover of rear wheel steered vehicles, in particular of industrial trucks |
WO2009130718A1 (en) * | 2008-04-21 | 2009-10-29 | Cesab Carrelli Elevatori S.P.A. | Safety system for counterbalanced lift trucks and similar vehicles |
JP2012096742A (ja) * | 2010-11-05 | 2012-05-24 | Nippon Yusoki Co Ltd | ステアバイワイヤ式のステアリング装置 |
Family Cites Families (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58152793A (ja) * | 1982-03-05 | 1983-09-10 | ティー・シー・エム株式会社 | 運搬車両の横転防止装置 |
JPH03295768A (ja) | 1990-04-13 | 1991-12-26 | Nippon Yusoki Co Ltd | フオークリフトの安全装置 |
JP3743091B2 (ja) | 1996-12-17 | 2006-02-08 | 株式会社豊田自動織機 | フォ−クリフトの速度規制装置 |
JP3500023B2 (ja) * | 1996-12-27 | 2004-02-23 | 株式会社アイチコーポレーション | 故障判定機能付位置検出装置 |
JP2000072396A (ja) | 1998-08-28 | 2000-03-07 | Toyota Autom Loom Works Ltd | フォークリフトの転倒防止装置 |
JP2003182998A (ja) | 2001-12-19 | 2003-07-03 | Nippon Yusoki Co Ltd | 荷役車輌の走行制御装置 |
DE10351162B4 (de) * | 2003-11-03 | 2006-05-11 | Jungheinrich Ag | Gegengewichtsstapler mit einer Vorrichtung für eine elektrohydraulische oder elektrische Lenkung |
US20100063682A1 (en) * | 2004-11-19 | 2010-03-11 | Akaki Tomihiro | Overturning prevention device for forklift vehicle |
DE602005016471D1 (de) * | 2005-11-30 | 2009-10-15 | Svend Egenfeldt | Fernsteuersystem |
CN101374756A (zh) | 2006-01-16 | 2009-02-25 | 三菱重工业株式会社 | 叉式升降车及叉式升降车的滚倒防止控制方法 |
JP2007202261A (ja) | 2006-01-25 | 2007-08-09 | Nippon Yusoki Co Ltd | 車両の制御装置 |
KR101295270B1 (ko) | 2006-02-09 | 2013-08-08 | 엘지전자 주식회사 | Uv 램프 어셈블리를 갖는 식기세척기 |
JP4370605B2 (ja) | 2006-06-30 | 2009-11-25 | 本田技研工業株式会社 | 車両の制御装置 |
US8140228B2 (en) * | 2009-03-27 | 2012-03-20 | The Raymond Corporation | System and method for dynamically maintaining the stability of a material handling vehicle having a vertical lift |
CN103842281B (zh) * | 2011-08-29 | 2016-04-27 | 克朗设备公司 | 叉车导航系统 |
WO2013190821A1 (ja) * | 2012-06-19 | 2013-12-27 | 住友重機械工業株式会社 | フォークリフト用のモータ駆動装置およびそれを用いたフォークリフト |
KR20150048064A (ko) * | 2013-10-24 | 2015-05-06 | 현대중공업 주식회사 | 지게차 관리 장치 |
US9358975B1 (en) * | 2015-04-10 | 2016-06-07 | Google Inc. | Virtual moving safety limits for vehicles transporting objects |
CN206369934U (zh) * | 2016-10-26 | 2017-08-01 | 滁州市康达叉车零部件制造有限公司 | 一种具有自学习功能的叉车速度测控仪表 |
CN106786073B (zh) * | 2016-11-29 | 2018-09-18 | 浙江国正安全技术有限公司 | 一种用于10kv开关柜安装的对位设备 |
JP6737202B2 (ja) * | 2017-02-16 | 2020-08-05 | 株式会社島津製作所 | フォークリフト |
US11807508B2 (en) * | 2018-08-31 | 2023-11-07 | Hyster-Yale Group, Inc. | Dynamic stability determination system for lift trucks |
US20200385255A1 (en) * | 2019-06-07 | 2020-12-10 | Warner Electric Technology Llc | Control System for a Mobile Lift Device |
-
2018
- 2018-11-05 CN CN201880100555.XA patent/CN113226972B/zh active Active
- 2018-11-05 KR KR1020217014588A patent/KR102556209B1/ko active IP Right Grant
- 2018-11-05 WO PCT/JP2018/040965 patent/WO2020095341A1/ja unknown
- 2018-11-05 EP EP18939750.8A patent/EP3878798B1/en active Active
- 2018-11-05 US US17/291,276 patent/US20220002125A1/en active Pending
- 2018-11-05 JP JP2020556370A patent/JP7188449B2/ja active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06107221A (ja) * | 1992-09-25 | 1994-04-19 | Mitsubishi Motors Corp | 車両の操舵装置 |
JPH072126A (ja) * | 1992-09-28 | 1995-01-06 | Mitsubishi Motors Corp | 車両の操舵装置 |
JPH11321266A (ja) * | 1998-05-11 | 1999-11-24 | Toyota Autom Loom Works Ltd | リーチフォークリフト |
JP2005200212A (ja) * | 2003-11-20 | 2005-07-28 | Mitsubishi Heavy Ind Ltd | フォークリフトの転倒防止装置 |
US20060065470A1 (en) * | 2004-09-28 | 2006-03-30 | Frank Manken | Method for the prevention of turnover of rear wheel steered vehicles, in particular of industrial trucks |
WO2009130718A1 (en) * | 2008-04-21 | 2009-10-29 | Cesab Carrelli Elevatori S.P.A. | Safety system for counterbalanced lift trucks and similar vehicles |
JP2012096742A (ja) * | 2010-11-05 | 2012-05-24 | Nippon Yusoki Co Ltd | ステアバイワイヤ式のステアリング装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3878798A4 (en) | 2022-08-03 |
EP3878798B1 (en) | 2024-03-06 |
KR20210075167A (ko) | 2021-06-22 |
WO2020095341A1 (ja) | 2020-05-14 |
KR102556209B1 (ko) | 2023-07-18 |
CN113226972A (zh) | 2021-08-06 |
CN113226972B (zh) | 2022-10-14 |
JP7188449B2 (ja) | 2022-12-13 |
EP3878798A1 (en) | 2021-09-15 |
US20220002125A1 (en) | 2022-01-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8781684B2 (en) | Steering and control systems for a three-wheeled vehicle | |
JP5645069B2 (ja) | 車両用操舵装置 | |
US20090051136A1 (en) | Coaxial two-wheeled inverted pendulum type moving vehicle | |
EP2998266B1 (en) | Apparatus for controlling load handling device | |
KR20150093615A (ko) | 조향 가능한 차량의 경사 방지 방법 및 장치 | |
JP6737202B2 (ja) | フォークリフト | |
EP3020678B1 (en) | Apparatus for controlling load handling device | |
JP2020075697A (ja) | 機械ステアリング角制御システム | |
US9452779B2 (en) | Control method of a power steering system for a vehicle having two steered axles | |
EP2276689A1 (en) | Safety system for counterbalanced lift trucks and similar vehicles | |
JP7188449B2 (ja) | 産業車両 | |
CN111511631B (zh) | 高空作业车的行驶控制方法和行驶控制装置 | |
JP3881978B2 (ja) | 産業用トラックを操縦する方法および装置 | |
JP2007008453A (ja) | 作業車の走行制御装置 | |
JP2005263392A (ja) | フォークリフト | |
EP3061670B1 (en) | Device for applying steering to a castor pivot steered wheel set of a semi-trailer | |
JP4890790B2 (ja) | 作業車の走行装置 | |
JP2007038830A (ja) | 作業車のステアリング装置 | |
JP7024637B2 (ja) | 産業車両 | |
JP7439724B2 (ja) | 無人産業車両 | |
JP2012076651A (ja) | 車両用操舵装置 | |
US20220119035A1 (en) | Steering control device for a work vehicle | |
JP2007202261A (ja) | 車両の制御装置 | |
JP2006335094A (ja) | 作業車のステアリング装置 | |
JPH09110392A (ja) | 産業車両 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210428 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210624 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220531 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220711 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220906 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20221004 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20221101 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221114 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7188449 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |