RU2804569C2 - Loading and unloading machine and method for controlling loading and unloading machine - Google Patents

Abstract

FIELD: loading vehicles.

SUBSTANCE: loading and unloading machine (1) for handling cargo (24) contains a wheeled chassis (2), a drive system (3) for moving the wheeled chassis (2), a cargo handling system (4) located on the chassis (2), a control unit (5), a control device (6) for controlling the cargo handling system (4), which is designed to be activated manually by the operator. The control unit (5) is configured to receive control signals from said control device (6), an activation element (7) for activating a manually actuated control device (6). The loading and unloading machine (1) contains a sensor (8) of a parameter indicating the movement of the machine (1), and the control unit (5) is configured to provide control of the cargo processing system (4) using the control device (6) depending on at least the parameter indicating the movement of the machine (1).

EFFECT: safe operation of the machine.

19 cl, 7 dwg

Description

[0001] The present invention relates to a material handling machine, such as a telescopic or non-telescoping boom machine, an excavator, a bucket loader, etc., and a method for controlling the material handling machine.

[0002] In particular, it relates to a material handling machine comprising:

- wheeled chassis,

- a drive system that drives the wheeled chassis,

- cargo handling system located on the chassis,

- control unit,

- a control device for controlling the cargo handling system, which is configured to be activated manually by an operator, wherein the control unit is configured to receive control signals from said control device,

- an activation element for said manually actuated control device.

[0003] For safety reasons, regulations require measures to be taken to prevent accidental operation of the control device on material handling machines. As an example, accidental operation may be caused by the operator's clothing becoming caught on the control device so that the operator operates it unintentionally or unconsciously. To solve this problem, material handling machines have been developed that contain an activation element that actuates the control device to avoid accidental operation using the control device, as shown in patents EP-0.981.078 and EP-1.523.704. However, the presence of such an activation element imposes restrictions on the operator. When the operator no longer operates the activation element, the operator must operate the control device almost continuously. Immediately after the control device is not actuated for a predetermined period, the activation element must be actuated again. In practice, the presence of this activation element, in particular, obliges the operator to maintain almost constant hand contact with the activation element, which makes control of the machine less convenient and can lead to muscle fatigue. Patent EP 1 953027 also describes a device for controlling a loading and unloading machine, which takes into account the closed or open state of the machine's cabin door.

[0004] An object of the invention is to provide a loading and unloading machine of the above type, the design of which avoids unwanted actuation of the control device without compromising the ease of operation of the machine.

[0005] In this regard, one object of the invention is a material handling machine comprising:

- wheeled chassis,

- a drive system that drives the wheeled chassis,

- cargo handling system located on the chassis,

- control unit,

- a control device for controlling the cargo handling system, which is configured to be activated manually by an operator, wherein the control unit is configured to receive control signals from said control device,

- activation element for said manually actuated control device,

characterized in that the loading and unloading machine includes a sensor that determines a parameter indicative of the movement of the machine, and the control unit is configured to provide control of the cargo handling system using the control device depending on at least the parameter indicative of the movement of the machine. Thus, it is possible to control the cargo handling system using the control device depending on at least a parameter indicating the movement of the machine when the activation element is in an actuated state or in a non-actuated state. This makes driving more convenient without compromising safety.

[0006] According to one embodiment of the invention, the control unit is configured in such a way that, when the activation element of the control device is in a non-actuated state, the said unit allows the load handling system to be controlled using the control device depending on at least a parameter indicating the movement of the machine .

[0007] According to one embodiment of the invention, the control unit is configured such that when the activation element of the control device is in a non-actuated state, the activation element is in a non-actuated state as a result of the transition of the specified activation element from the actuated state to the non-actuated state action state, the specified block provides the ability to control the cargo handling system using a control device depending on at least a parameter indicating the movement of the machine.

[0008] According to one embodiment of the invention, the parameter sensor indicative of the movement of the machine is a parameter sensor indicative of the speed of movement of the machine, wherein the machine includes a memory for storing a predetermined speed of movement of the machine, and the control unit is configured such that when an activation element is found control device in a non-actuated state, the specified unit provides the ability to control the cargo handling system using the control device when the speed of movement of the machine transmitted by the sensor of the parameter indicating the speed of movement of the machine is greater than a predetermined value stored in the memory.

[0009] When the machine movement-indicating parameter sensor is a machine moving speed-indicating parameter sensor, the control unit is therefore configured such that when the activation element of the control device is in the non-actuated state, the activation element is in the non-actuated state in the active state as a result of the transition of the specified activation element from the actuated state to the non-actuated state, the specified unit provides the ability to control the cargo handling system using a control device depending on at least a parameter indicating the speed of movement of the machine. Thus, it is possible to control the cargo handling system using the control device depending on at least the speed of movement of the machine when the activation element is in an actuated state or in a non-actuated state. This makes driving more convenient without compromising safety.

[0010] Thus, during machine motion control operations, the operator need not worry about the activation element.

[0011] According to one embodiment of the invention, when the control unit is configured such that, when the activation element is in an actuated state, the control unit is capable of controlling the cargo handling system depending on at least control signals received from the control device, the control unit made with the ability to:

- starting at least one timer defining the time interval for the transition of the activation element from the actuated state to the non-actuated state,

- preventing the cargo handling system from being controlled using the control device after the time interval set by the timer has expired, and

- resetting the timer depending at least on the data transmitted by the sensor of a parameter indicating the movement of the machine, during a time interval specified by the timer. It should be noted that in this application, "reset" refers to the action of returning the timer before the time interval specified by the timer has completely expired, to the initial state corresponding to the start of the timer.

[0012] Thus, the control unit is configured to reset the timer before the complete expiration of the time interval specified by the timer, depending at least on the data transmitted by the motion sensor. Thus, whether or not the timer is reset depends at least on the movement of the machine.

[0013] The function by which the control unit can reset the timer, namely cause the time interval specified by the timer to expire again from the beginning, depending on the data transmitted by the ground speed sensor, namely the speed of the loading and unloading machine, means that the operator there is no need to operate the activation element and the control device, at least during certain operating operations, without compromising safety. This makes driving more comfortable for the operator. Thus, during these operating operations, the operator can position his hand as desired without, as in the prior art, having to maintain the hand in the position of actuating the activation element or almost continuously actuating the control device.

[0014] According to one embodiment of the invention, when the machine movement indicative parameter sensor is a machine movement speed indicative parameter sensor, the control unit is configured to reset the timer when the machine movement speed transmitted by the machine movement speed parameter sensor , greater than the set speed stored in memory. Therefore, the control unit is configured to reset the timer before the complete expiration of the time interval specified by the timer when the speed of movement of the machine is greater than the set speed stored in the memory. Thus, when the machine speed exceeds a predetermined value, the operator does not have to worry about the activation element of the control device, and he is not required, as was the case in the prior art, to almost continuously activate the activation element that activates the control device to enable control of the system cargo handling using a control device.

[0015] According to one embodiment of the invention, the control unit is configured to reset the timer depending on at least control signals received from the control device. Therefore, the control unit is configured to reset the timer before the complete expiration of the time interval specified by the timer, depending at least on the control signals received from the control device. Thus, while the activation element is in a non-actuated state, control of the cargo handling system using, that is, by or through, the control device remains possible provided that the control device is actuated during the time interval specified by the timer.

[0016] According to one embodiment of the invention, the control device that controls the cargo handling system is a control device comprising at least two control elements.

[0017] According to one embodiment of the invention, the control device for controlling the cargo handling system is a multi-purpose control device, and at least one of the control elements is configured to control at least a portion of the cargo handling system, and the other control element or other of the control elements is configured to control at least a portion of the cargo handling system. with the ability to control at least part of the drive system driving the machine.

[0018] According to one embodiment of the invention, one of the controls of the control device for controlling the cargo handling system is a lever, and the other controls are located on said lever.

[0019] According to one embodiment of the invention, the activation element is located on the control device for controlling the cargo handling system. Thus, in practice, the positioning of the operator's hand on the control device may allow both actuating the control device and actuating the activation element that actuates the control device.

[0020] According to one embodiment of the invention, the control device includes a hand portion configured to be grasped by the hand, and the activation element is a presence sensor located on the hand portion of the control device. Thus, a presence sensor located on said hand portion forms a sensor that detects the presence of an operator's hand on said control device in a state in which the control device is grasped by the hand in accordance with its purpose.

[0021] According to one embodiment of the invention, a cargo handling system comprises at least one load-moving boom mounted on said chassis for rotation about a horizontal axis of rotation, and at least one actuator that drives said load-moving boom in motion about specified horizontal axis of rotation.

[0022] According to one embodiment of the invention, the machine includes a control operator position that is equipped with a detection system capable of detecting the presence or absence of an operator at the specified location, the detection system comprising at least one presence sensor configured to detect the presence of an operator at least in at least one position of the specified location of the control operator, and the control block is configured in such a way that when the activation element is in a non-actuated state after the activation element transitions from the actuated state to the non-actuated state, the specified block prevents or allows control of at least a cargo handling system using a control device depending on at least a state of operator presence or absence of an operator detected by the operator presence detection system at the specified location.

[0023] According to one embodiment of the invention, the control operator's position is in the form of an operator's cabin, within which there is at least one seat on which the operator can sit, wherein said operator's cabin is closed by a door, and the seat is equipped with an occupancy sensor or at least one of the sensors presence of an operator presence detection system at a specified location.

[0024] According to one embodiment of the invention, a system for detecting the presence of an operator at a specified location includes at least one sensor for detecting the opening and/or closing of a door.

[0025] According to one embodiment of the invention, the control unit is configured to start at least one additional timer, called a presence timer, defining a time interval during which the activation element transitions from an actuated state to a non-actuated state, and to prevent control of the cargo handling system using the control device upon expiration of a time interval specified by the presence timer, and the control unit is configured to reset the presence timer depending on at least the state of absence or presence of the operator detected by the operator presence detection system at the specified place. Thus, the control unit is configured to reset the presence timer before the complete expiration of the time interval specified by the timer, depending on at least the state of absence or presence of the operator detected by the operator presence detection system at the specified location. This results in the ability to quickly detect operator absence and prevent any timer reset when operator absence is detected.

[0026] Another aspect of the invention is a method for controlling a material handling machine comprising:

- wheeled chassis,

- a drive system that drives the wheeled chassis,

- cargo handling system located on the chassis,

- control unit,

- a control device for controlling the cargo handling system, which is configured to be activated manually by an operator, wherein the control unit is configured to receive control signals from said control device,

- an activation element for said manually actuated control device, said method comprising the step of manually actuating the activation element which actuates the control device such that, when the activation element is in an actuated state, it is possible to control the cargo handling system depending on at least the control signals received from the control device, characterized in that when the loading and unloading machine includes a parameter sensor indicating the movement of the machine, said method includes the step of authorizing control of the cargo handling system using the control device depending on at least at least depending on the parameter indicating the movement of the machine.

[0027] According to one embodiment of the method, when the machine motion-indicating parameter sensor is a machine motion-indicating parameter sensor, and when the machine includes a memory for storing a predetermined machine motion speed, when the control device activation member is not actuated state as a result of the transition of the activation element from the actuated state to the non-actuated state, it is possible to control the cargo handling system using a control device when the speed of movement of the machine is greater than a predetermined value stored in memory.

[0028] According to one embodiment of the method, the method includes:

- the stage of starting a timer that specifies the time interval for the transition of the activation element from the actuated state to the non-actuated state,

- the stage of preventing control of the cargo handling system using the control device after the expiration of a time interval set by the timer,

- the stage of resetting the timer depending on the data transmitted by the parameter sensor indicating the movement of the machine during the time interval specified by the timer.

[0029] Therefore, the method includes, before the time interval specified by the timer has completely expired, the step of resetting the timer depending on the data transmitted by a parameter sensor indicative of the movement of the machine, such as a parameter sensor indicative of the speed of the machine.

[0030] According to one embodiment, the method includes the step of resetting a timer depending on control signals received from the control device.

Brief description of drawings

[0031] The present invention can be clearly understood from reading the following description of exemplary embodiments with reference to the accompanying drawings, in which:

[0032] [Fig. 1] shows a schematic view of a loading and unloading machine in accordance with the invention with the lifting arm in the raised position;

[0033] [Fig. 2] shows a perspective view of a loading and unloading machine in accordance with the invention with the lifting arm in the lowered position;

[0034] [Fig. 3] shows a partial view of the control device from the side of the activation element;

[0035] [Fig. 4] shows a partial view of the control device from the side opposite to the side of the activation element;

[0036] [Fig. 5] schematically depicts the elements of the machine;

[0037] [Fig. 6] schematically shows a control method that can be implemented by the loading and unloading machine of FIG. 1;

[0038] [Fig. 7] schematically shows a control method that can be implemented by the loading and unloading device of FIG. 1.

[0039] The inventive concept is described in more detail below with reference to the accompanying drawings, which show embodiments of the inventive concept. As used herein, reference to “one embodiment” means that the particular functionality, design, material, or feature described in connection with an embodiment of the invention is included in at least one embodiment of the present invention. Thus, the appearance of the phrase “in one embodiment” in different places throughout this specification is not necessarily intended to refer to the same embodiment. Moreover, specific functionality, structures, or features may be combined in any suitable manner in one or more embodiments.

[0040] As stated above, the invention relates to a material handling machine 1 shown in FIG. 1. This machine 1 contains a chassis 2 equipped with wheels 20 for support on the ground to form a wheeled chassis 2. On this wheeled chassis 2 a control position 15 is installed. The control operator position 15 is designed as an operator cabin 151, inside of which there is at least one seat 18 on which the operator can sit. The operator's cabin 151 is closed by a door 19. The machine 1 also includes a drive system 3 that drives the wheeled chassis 2 by causing the wheels 20 of the machine 1 to rotate. This drive system 3, which drives the chassis 2, contains, in a manner known per se, an internal combustion engine connected to the wheels 20 by a transmission. This drive system 3 driving the chassis 2 is controlled in particular by a throttle pedal (not shown) located in the operator's cabin 151.

[0041] The loading and unloading machine 1 further includes a cargo handling system 4, which is located on the chassis 2. This cargo handling system 4 includes at least one load moving boom 13 mounted on the specified chassis 2 with the ability to rotate about a horizontal axis of rotation 21 , and at least one actuator 14 driving said boom 13 around a horizontal axis 21 of rotation. Thus, the load moving boom 13 is a rotatable manipulator mounted to rotate about a horizontal axis 21 perpendicular to the longitudinal axis of the boom, so that the boom 13 can be moved from a lowered position to an elevated position and vice versa using the actuator 14 such as a hydraulic cylinder connected to a hydraulic pump through a hydraulic circuit, wherein the pump and circuit are not shown. The boom may be a telescopic boom whose length can be adjusted between a retracted position and an extended boom position. To this end, the boom 13 may be formed from two boom sections, one of which, called the first section, is pivotally connected to the chassis 10, and the other, called the second section, is slidably inserted into the first boom section. Alternatively, the boom may not be telescopic.

[0042] The nested sliding relative movement of the boom sections can be obtained by using a second machine actuator, such as a double-acting hydraulic cylinder, which is located in the first boom section and the rod of which is attached to the second boom section to allow the boom sections to be brought into relative motion with respect to each other. friend under the action of retracting or extending the cylinder rod.

[0043] At the free end of the boom 13, a device 23 can be located to move the load, connected to the boom via a hinge connection. This device 23 can be driven around the axis of the hinge joint by means of an actuator 25, which can also be formed by a double-acting hydraulic cylinder or two single-acting hydraulic cylinders connected in parallel and operating in turn.

[0044] In the illustrated example, the fixture 23 includes a fork holder, and the actuator 25 allows the fork holder to move between a pick-up position and a discharge position by rotating the fixture about an axis, called the horizontal axis, which is perpendicular to the longitudinal axis of the boom 13. This axis of rotation is parallel to the axis 21 rotation around which the boom 13 is connected to the chassis 10. The unloading position corresponds to the most ground-facing position of the fork holder. The gripping position of the fork holder corresponds to the upwardly rotated position of the fork holder and the corresponding load 24, if such a load is present.

[0045] The loading and unloading machine 1 additionally contains a control unit 5, configured to control the operation of the actuators 14 and 25 and, if necessary, extend the telescopic mechanism, if any, which makes it possible to move the boom 13 and device 23.

[0046] The control unit 5 is an electronic and/or computerized unit, which, for example, contains a microcontroller or microprocessor associated with a memory. Thus, when it is stated that a block or means belonging to a specified block is configured to perform a given operation, this means that the block contains machine-readable instructions and associated execution means that enable the specified operation to be performed, and/or corresponding electronic components .

[0047] In other words, the functions and steps described may be implemented in the form of a computer program or by hardware components (eg, programmable gate arrays). In particular, the functions and steps performed by the control unit 5 may be performed by instruction sets or computer modules implemented in a processor or controller, or may be performed by specialized electronic components or FPGA or ASIC components. It is also possible to combine computer components and electronic components.

[0048] Thus, the control unit 5 controls the load handling system 4 and, in particular, the movements of the boom 13 and the device 23 by controlling the corresponding actuators 14 and 25 through a hydraulic circuit.

[0049] The control signals supplied by the control unit 5 typically act on elements, such as distributors or valves, located in connection between the pump and the actuators 14, 25, so as to provide an appropriate supply of fluid to the actuators 14, 25 in a manner known per se. way.

[0050] The loading and unloading machine 1 further includes a control device 6 for controlling the cargo handling system 4 . This control device 6 is manually actuated and can provide control signals to the control unit 5. These control signals are processed by the control unit 5. From these control signals, the control unit 5 generates control signals for controlling at least the cargo handling system 4 as described above.

[0051] In the illustrated examples, the control device 6 for controlling the cargo handling system 4 is a multi-purpose control device 6. In particular, the control device 6 can be used to control, on the one hand, the load handling system 4 and, on the other hand, the system 3 driving the machine 1. In one embodiment, the control device 6 can be a control device that allows control only system 4 cargo handling. In the following, it will always be assumed that the control device 6 is a multi-purpose control device. Thus, this control device 6 for controlling the cargo handling system 4 contains at least two control elements. In the illustrated examples, one of the controls, designated in the Figures by number 10, is configured to control at least part 4 of the cargo handling system, and the other control element, designated by number 11 in the Figures, is configured to control at least part of the system 3, driving drives the machine 1. In addition, there are other control elements, indicated in the Figures as 12a and 12b. This control device 6 can take a variety of forms.

[0052] In the example shown in FIG. 1, 3 and 4, the control element 10 of the control device 6 for controlling the cargo handling system 4 is a lever or joystick that can be operated manually by the machine operator, and other control elements 11, 12a, 12b are mounted on said lever. These other controls are located on the lever handle. This lever handle corresponds to that hand part 61 of the control device 6 which is designed to be grasped when the control device is grasped by hand in accordance with its purpose.

[0053] Such a control device is well known to those skilled in the art, and an example of such a control device is described, for example, in patent FR-2.858.861.

[0054] 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 signals to indicate the movement of the boom 13 and/or tool 23.

[0055] According to one embodiment, the control lever can thus be moved forward, backward, left or right relative to the machine. In the illustrated example, this control lever, movable at least forward/rearward in a direction toward the front/rear of the machine, is movable forward to control the lowering of the boom 13 and rearward to control the raising of the boom 13. Thus, the movement of the control lever forward/backward can control the operation of the first actuator 14 between the boom 13 and the chassis 2. This control lever 10 can be further movable in the left/right direction, across the forward/backward direction, with the left for controlling the gripper position and the right for control the unloading position of the fixture 23. Thus, moving the control lever left/right controls the operation of the first actuator 25 between the fixture 23 and the boom 13. These forward/backward and left/right directions correspond to the main directions, and the control lever can be moved in an infinite number directions, and movement of the control lever in a given direction corresponds to a combined action proportional to the position of the control lever relative to the main directions. As shown in FIG. 4, the control lever may be provided with a control member 12a such as a handle for controlling the telescoping actuator to effect extension in the case of a telescopic boom 13. Thus, rotating the handle mounted on the control lever in one direction allows the boom 13 to extend by means of a sliding movement of the second section of the boom in the direction of extension of the boom 13, and rotation of the handle mounted on the control lever in the opposite direction makes it possible to retract the boom.

[0056] Other buttons, knobs, and the like, such as the button shown as 12b in FIG. 3 may be provided to control certain functions of the fixture. One of the control elements, which is designated 11 in the Figures, is configured to control at least part of the system 3 driving the machine. This control element 11 can be formed by a reverse button with three stable positions to ensure that the machine operates in the forward direction, stops in the neutral position or operates in the reverse direction. The transmission of the driving system 3 of the chassis 2 may include a gearbox, and the upshift and downshift control may be performed using a push button or some other control element mounted on the lever. Thus, it is understood that these controls may be, without limitation, implemented as a knob, switch, button, lever switch, sensor, particularly a Hall effect sensor, potentiometer, or the like.

[0057] The lever and controls mounted on the lever can be operated by an operator with just one hand when that hand is positioned on the hand portion 61 of the control device 6, which in this case is formed by at least a portion of the handle of the control lever.

[0058] The loading and unloading machine 1 further includes an activation element 7 for the manually operated control device 6. This activation element 7 is installed on the control device 6 to control the cargo handling system 4 .

[0059] The activation element 7 is a presence sensor configured to detect the presence of an operator's hand on the specified control device 6 in a state in which the control device 6 is grasped by the hand in accordance with its purpose. In particular, the activation element 7 is a presence sensor located on the hand part 61 of the control device 6. Thus, the manually actuated activation element 7 is configured to transition from a non-actuated state to an actuated state when a hand is present on the hand portion 61 of the control device 6, and vice versa, from an actuated state to a non-actuated state. state in the absence of a hand on the manual part 61 of the control device 6. It should be noted that the term "powered" should be understood in its broadest sense. Actuation of the activation element 7 means acting on the activation element 7. Thus, actuation of the activation element 7 can without limitation occur through simple contact, through support or pressure, through the presence of a hand at a distance less than a predetermined distance, and the like. within the scope of the invention.

[0060] The activation element 7 can, for example, be made in the form of a push button or a capacitive type sensor. The presence of a hand facing the activation element 7, including non-contact presence, may be sufficient to actuate the activation element 7 in the case of a capacitive type sensor.

[0061] The role of this activation element 7, which activates the control device 6, is described below.

[0062] The loading and unloading machine 1 further includes a parameter sensor 8 indicating the movement of the machine. The control unit 5 is configured to receive data transmitted by this sensor 8. The control unit is configured to provide control of the cargo handling system using a control device depending on at least the data transmitted by this sensor 8. This sensor 8 can take a variety of forms. Preferably, this parameter sensor 8 indicative of the movement of the machine 1 is a parameter sensor 8 indicating the speed of movement of the machine 1 and a control unit configured to enable the cargo handling system to be controlled using the control device depending on at least depending on a parameter indicating the movement of the machine, is configured to allow control of the cargo handling system using a control device depending on at least a parameter indicating the speed of movement of the machine. This speed sensor 8 may be a sensor that measures the speed of rotation of wheels or any other mechanical element indicating the speed of movement of the machine. Non-zero speed can also be detected by detecting the driving of the transmission element interacting with the wheels.

[0063] Finally, the machine 1 contains, at the control operator station 15, a system 16 for detecting the presence of an operator at the control operator station. This detection system 16, configured to detect the absence or presence of an operator at a specified location, contains at least one presence sensor 17. This presence sensor 17 is separate from the manual part 61 of the control device 6. The control block 5 is designed in such a way that when the activation element 7 is in a non-actuated state resulting from the transition of the activation element 7 from an actuated state to a non-actuated state, the specified block prevents or makes it possible to control at least the processing system 4 cargo using the control device 6 at least depending on the state of absence or presence of the operator detected by the operator presence detection system 16 at the specified place 15.

[0064] In the illustrated examples, the presence sensor 17 of the detection system 16 is a sensor equipped with the operator's seat 18 and is sensitive to the pressure of an applied weight. This sensor is active and emits a signal when the operator is in the seat. The detection system 16 may further include a sensor 22 that detects the opening/closing of the door 19 of the cabin 151. This sensor is in an active state and emits a signal when the door is in a closed state. The detection system 16 further includes a processing module 161 capable of processing signals from said sensors 17 and 22 to detect the presence or absence of an operator. This processing unit 161 may be included in the control unit 5. The control unit 5 is configured in such a way that when the activation element 7 is in a non-actuated state resulting from the activation element 7 transitioning from an actuated state to a non-actuated state, the specified the block prevents the possibility of controlling the cargo handling system 4 using the control device 6 when the absence of an operator is detected. It should be noted that the presence of an operator is detected by the detection system 16 when the presence sensor 17 located on the seat 18 is in an active state, or when the presence sensor 17 located on the seat 18 detects the door being closed by the sensor 22 detecting the opening/closing of the door 19. on the seat, is in an inactive state and transitions from an active state to an inactive state while the door is in the closed state without detecting the door being opened. The signals from these sensors are supplied to the processing module 161.

[0065] As described below, the control unit 5 is configured to enable or prevent operation of the machine, in particular the load handling system 4 and the wheeled chassis driving system 3, from the control device 6.

[0066] The control unit 5 is configured to receive signals from the activation element 7 when the activation element 7 is in the activated state. Thus, in cases where the activation element 7 is a push button, an actuating signal for the activation element 7 is supplied to the control unit 5 when the operator's hand placed on the control system 6 presses the button.

[0067] If the activation element 7 is formed by a capacitive sensor, a signal is supplied to the control unit 5 by simply placing the operator's hand on the control device 6 facing said sensor.

[0068] When the activation element 7 is in an actuated state, it is possible to control the load handling system 4 and at least part of the drive system 3 depending on at least control signals received from the control device 6, these control signals being the result activation by the operator of the control device 6 as described above.

[0069] When the activation element 7 is in a non-actuated state, as a result of the transition of the specified activation element 7 from an actuated state to a non-actuated state, it is possible to control the cargo handling system 4 and at least part of the drive system 3 using the control device 6 depending at least on the speed at which machine 1 moves.

[0070] In this regard, the machine 1 contains a memory 9 for storing a given speed of movement of the machine 1, and the control unit 5 is designed in such a way that when the activation element 7 of the control device 6 is in an unactivated state, the unit provides the ability to control the cargo handling system 4 using the control device 6 when the speed of the machine exceeds the set speed stored in the memory.

[0071] The machine 1 includes at least one timer T1 defining a time interval, which may be predetermined or adjustable. This timer T1 is usually implemented as a clock, and time is counted incrementally or decrementally until the time interval specified by timer T1 expires. Said clock is preferably built into the control unit 5. This timer T1 is started when the activation element 7 transitions from an actuated state to a non-actuated state, namely when the push button is released or the hand is removed from the position facing the capacitive sensor. The control unit 5 is configured to prevent control of the control system 4 and possibly the part of the system 3 driving the chassis 2 using the control device 6, namely from or through the control device 6, after the expiration of a time interval specified by timer T1.

[0072] To prevent such a shutdown when the car 1 is in the driving phase, the control unit 5 is configured in such a way that when the time interval specified by the timer expires, the control timer T1 can be reset, namely, it can resume its counting or, accordingly, countdown of the time interval specified by timer T1, depending at least on the data transmitted by sensor 8, which determines the speed of movement of machine 1.

[0073] In particular, when storing a given speed of movement of the machine 1 in memory 9, the control unit 5 is configured to reset timer T1 when the speed of movement of the machine 1, information about which is supplied by the sensor 8, which determines the speed of movement of the machine, exceeds the set speed stored in memory.

[0074] Thus, as an example, the control unit 5 is configured to reset the timer T1 when the speed of the machine, for example, exceeds 1 km/h.

[0075] Likewise, to prevent such control failure when the control device 6 is operated by the operator, the control unit 5 is also configured to reset the timer T1 depending on at least the control signals received from the control device 6.

[0076] Thus, after the activation element 7 transitions from the actuated state to the non-actuated state, as long as the control device 6 is actuated, namely, while the lever or any of the controls located on the lever is actuated during the interval time set by timer T1, control from control device 6 remains possible. This control from the control device 6 is terminated as soon as the control device 6 remains not actuated for a period of time exceeding the time interval set by timer T1, while at the same time the moving speed of the machine is below the set speed. To restore the possibility of this control from the control device 6, it is necessary to subsequently activate the activation element 7.

In order to improve the machine and prevent, in particular, control of the load handling system 4 from the control device 6 in a manner that is even more sensitive when an apparently abnormal situation occurs, the control unit 5 is configured to start at least one additional timer, called timer T2 presence defining the time interval during which the activation element 7 transitions from the actuated state to the non-actuated state, and the ability to prevent control of the cargo handling system 4 using the control device 6 after the expiration of the time interval specified by the presence timer T2. The control unit 5 is configured to reset the presence timer T2 depending at least on the signals sent by the system 16 for detecting the presence of an operator at the specified place 15.

[0078] In practice, the control unit 5 is configured to prevent the presence timer T2 from being reset as long as the absence of an operator at the control operator position 19 is detected. This lack of operator may correspond to:

- or the absence of a signal from the presence detection sensor 17, which is equipped with the seat 18 of the control operator's seat 15, when the door 19 of the operator's cabin 151 is open

- or, when the door 19 is in the closed state, the absence of a signal from the presence detection sensor 17, which is equipped with the seat 18 of the control operator's seat 15, and the absence of a signal from the presence detection sensor 17 began when the door was in the open state. The presence timer T2 sets a time interval, the duration of which is less than the duration of the time interval of timer T1, so as to turn off control from the control device 6 as quickly as possible when the absence of an operator is detected. If the presence of an operator is detected, this presence timer T2 is reset if the control device 6 is actuated within the time interval specified by the presence timer T2, or if the speed of the machine exceeds the set speed. Otherwise, this presence timer T2 is not reset.

[0079] Example of control method:

The control unit may be configured to implement a machine control method, as shown in FIG. 6 and 7. As described below, the control method serves to enable or prevent the control of the load handling system 4 and at least part of the machine driving system 3 from the control device 6, in particular based on the speed of the machine. In one particular aspect, the method is carried out in real time. In the following, it is assumed that the control device 6 is configured to generate signals for controlling both the load handling system 4 and at least part of the drive system 3 that drives the machine. Alternatively, the control device 6 may be configured to generate signals for controlling the cargo handling system 4 within the scope of the invention.

[0080] In step S1, the activation element 7 is not activated and the load handling system 4 and at least part of the drive system 3 are prevented from being controlled by the control device 6.

[0081] In step S2, the activation element 7 is activated by pressing a button or placing a hand against the capacitive sensor. Thus, it supplies an actuation signal to the control unit 5.

[0082] In step S3, the control unit, based on this driving signal, enables control of the load handling system 4 and at least part of the drive system 3 based on the control signals supplied by the control device 6.

[0083] In step S4 of the control method, it is checked whether the activation element 7 is in a non-actuated state, namely, whether the activation element 7 outputs a signal that the activation element 7 is not actuated. The control method returns to this step S4 until the activation element 7 enters the non-actuated state.

[0084] The control method then proceeds to step S5, where timer T1 is started to set a time interval of, for example, 10 seconds. The 10-second predetermined period starts counting, and the control method proceeds to step S6. In step S6, the speed of the vehicle is compared with a threshold speed value stored in the memory, which is typically 1 km/h. If the speed is greater than the threshold speed, the control method returns to step S5 to restart timer T1, which corresponds to resetting timer T1. This starts the 10-second time limit again. If the speed is less than the threshold speed, the control method proceeds to step S7, in which the actuation of the control device 6 is tested.

[0085] The control unit 5 has a module for processing control signals supplied by the control device 6. In the simplest embodiment, the simple reception by the control unit 5 of control signals supplied by the control device 6, regardless of the type of signal, can be considered by the control unit 5 as representing the actuation of the control device 6. When the control device 6 is activated, the control method returns to step S5, where timer T1 is reset again. If the control device 6 is not activated, the control method proceeds to step S8, in which the time elapsed within the time interval specified by timer T1 from the moment of setting timer T1 is compared with the total duration of the timer time interval. When this elapsed time is greater than the duration of the time interval specified by the timer, timer T1 is considered to have exceeded the time limit, in which case the control method returns to step S1. Otherwise, the control method returns to step S5 to reset timer T1 again and possibly repeat steps S6 and S7.

[0086] Thus, in the state in which the activation element 7 is not actuated and the timer T1 is started, if the vehicle speed is less than 1 km/h and the control device 6 is not actuated within the time interval set by the timer T1 control, then after the specified time interval, control using the control device 6 is prevented, and subsequent actuation of the activation element 6 is required to enable the machine to be controlled by the control device 6.

[0087] In step S4, the control method proceeds in parallel to step S5 and step S10, in which timer T2, called presence timer, is started.

[0088] At step S11, the detection system 16 depends on the signals provided by the sensor 17 for determining the presence of an operator at the seat 15, and in particular at the seat 18 of the control operator seat 15, and possibly the signals provided by the sensor 22 that detects the opening/ the closing of the door 19, as well as the processing of these signals, detects the presence or absence of an operator at the control operator's place 15.

[0089] If the detection system 16 includes a presence sensor 17, the absence of an operator at the control operator position is detected, for example, when the presence sensor 17 does not output a signal. If the detection system 16 includes a presence sensor 17 and a sensor 22 that detects the opening/closing of the door 19, the absence of an operator in the control operator position is detected, for example, when the presence sensor 17 does not signal and the door is detected to be open. The control method proceeds to step S13, where it is checked whether the time interval set by timer T2 has expired. The control method performs testing by returning to steps S11 and S13 until the time interval of timer T2 expires. If the time interval set by timer T2 has expired, the control method returns to step S1.

[0090] If, on the contrary, in step S11, the detection system 16 depends on the signals sent by the sensor 17 for detecting the presence of an operator at the control operator place 15, and the signals sent by the sensor 22, which detects the opening/closing of the door, as well as on the processing of these signals detects the presence of an operator at the control operator's place, for example, if a presence signal is sent by the presence sensor 17, the control method proceeds to step S12, in which a test similar to steps S6 and S7 is performed, namely, testing whether the travel speed exceeds 1 km/ h, and whether the control device 6 is activated.

[0091] If this test is positive, the control method returns to step S10, where timer T1 is reset. Otherwise, the control method proceeds to step S13.

[0092] In step S13, if the time interval set by timer T2 has not expired, the control method returns to step S11.

[0093] Thus, in this control method of FIG. 7 in a state in which the activation element 7 is not activated and the timer T2 is started, when the absence of an operator is detected using the detection system 16, and the time elapsed since the start of the timer T2 exceeds the time interval set by the specified timer T2, control with use of the control device 6 is prevented, and subsequent actuation of the activation element 7 is required to enable the machine to be controlled from the control device 6.

[0094] It should be noted that the time interval specified by timer T2 is less than the time interval specified by timer T1.

[0095] Although the invention has been described in connection with a number of specific embodiments, it is clear that it is in no way limited thereto and covers all technical equivalents of the described means and combinations thereof, so long as they fall within the scope of the invention.

[0096] The use of the verbs “have”, “comprise” and “include” does not exclude the presence of elements or steps other than those listed in the claims.

Claims (37)

1. Loading and unloading machine (1) for handling cargo (24), containing: - wheeled chassis (2), - drive system (3) driving the wheeled chassis (2), - cargo handling system (4) located on the chassis (2), - control unit (5), control device (6) for controlling the cargo handling system (4), which is designed to be activated manually by the operator, and the control unit (5) is configured to receive control signals from said control device (6) , an activation element (7) for said manually actuated control device (6), a sensor (8) that determines a parameter indicating the movement of the machine (1), wherein the control unit (5) is configured to provide control of the processing system (4). load using a control device (6) depending on at least a parameter indicating the movement of the machine (1), characterized in that when the control unit (5) is designed in such a way that when the activation element (7) is in actuated state, the specified block provides the ability to control the cargo processing system (4) depending on at least the control signals received from the control device (6), the control block (5) is configured to: - starting at least one timer (T1), defining the time interval for the transition of the activation element (7) from the actuated state to the non-actuated state, - preventing control of the cargo processing system (4) using the control device (6) after the expiration of the time interval specified by the timer (T1), and - resetting the timer (T1) depending at least on the data transmitted by the sensor (8) of a parameter indicating the movement of the machine (1), during the time interval specified by the timer (T1). 2. Loading and unloading machine (1) according to claim 1, characterized in that the control unit (5) is designed in such a way that when the activation element (7) of the control device (6) is in an unactivated state, the specified unit provides the ability to control system (4) for processing cargo using a control device (6) depending on at least a parameter indicating the movement of the machine (1). 3. Loading and unloading machine (1) according to claim 1 or 2, characterized in that the control unit (5) is designed in such a way that when the activation element (7) of the control device (6) is in an unactivated state as a result of the transition of the specified activation element (7) from the actuated state to the non-actuated state, the specified block provides the ability to control the cargo handling system (4) using the control device (6) depending on at least a parameter indicating the movement of the machine (1). 4. Loading and unloading machine (1) according to one of paragraphs. 1-3, characterized in that the sensor (8) of the parameter indicating the movement of the machine (1) is a sensor (8) of the parameter indicating the speed of movement of the machine (1), in that the machine (1) contains a memory (9) for storing a given speed of movement of the machine (1), and the fact that the control unit (5) is designed in such a way that when the activation element (7) of the control device (6) is in an unactivated state, the specified unit provides the ability to control the system (4) processing of cargo using a control device (6), when the speed of movement of the machine transmitted by the sensor (8) of the parameter indicating the speed of movement of the machine is greater than the specified value stored in memory. 5. The loading and unloading machine (1) according to claim 4, characterized in that when the parameter sensor (8) indicating the movement of the machine (1) is a parameter sensor indicating the speed of movement of the machine (1), the control unit (5 ) is configured to reset the timer (T1) when the speed of movement of the machine (1), transmitted by the sensor (8) of the parameter indicating the speed of movement of the machine (1), is greater than the specified speed stored in memory. 6. Loading and unloading machine (1) according to any one of paragraphs. 1-5, characterized in that the control unit (5) is configured to reset the timer (T1) depending at least on the control signals received from the control device (6). 7. Loading and unloading machine (1) according to one of paragraphs. 1-6, characterized in that the control device (6) for controlling the cargo handling system (4) is a control device (6) containing at least two control elements (10, 11, 12a, 12b). 8. Loading and unloading machine (1) according to claim 7, characterized in that the control device (6) for controlling the cargo handling system (4) is a multi-purpose control device (6), in that at least one element (10) of the control elements (10, 11, 12a, 12b) is configured to control at least part of the cargo handling system (4), and that another control element (11) or another element (11) of the elements (10, 11, 12a, 12b) control is configured to control at least part of the drive system (3) driving the machine (1). 9. Loading and unloading machine (1) according to claim 7 or 8, characterized in that one control element (10) of the control elements (10, 11, 12a, 12b) of the control device (6) for controlling the processing system (4) the load is a lever, and other control elements (11, 12a, 12b) are located on said lever. 10. Loading and unloading machine (1) according to one of paragraphs. 1-9, characterized in that the activation element (7) is installed on the control device (6) to control the cargo handling system (4). 11. Loading and unloading machine (1) according to one of paragraphs. 1-10, characterized in that the control device (6) contains a hand part (61), designed to be grasped by hand, and in that the activation element (7) is a presence sensor located on the hand part (61) of the device ( 6) management. 12. Loading and unloading machine (1) according to one of paragraphs. 1-11, characterized in that the cargo handling system (4) contains at least one boom (13) for moving the cargo, installed on the specified chassis (2) with the possibility of rotation around the horizontal axis (21) of rotation, and at least one an actuator (14) driving said boom (13) to move the load around said horizontal axis (21) of rotation. 13. Loading and unloading machine (1) according to one of paragraphs. 1-12, characterized in that the machine (1) contains a place (15) for the control operator, which is equipped with a detection system (16), providing the ability to detect the presence or absence of an operator at a specified place (15), and this detection system (16) contains at least one presence sensor (17), configured to detect the presence of an operator in at least one position of the specified place (15), and the control unit (5) is designed in such a way that when the activation element (7) is not activated state after the transition of the activation element (7) from the actuated state to the non-actuated state, said block prevents or enables control of at least the cargo handling system (4) using the control device (6) depending on at least the operator presence state or the absence of an operator detected by the operator presence detection system (16) at the specified location (15). 14. Loading and unloading machine (1) according to claim 13, characterized in that the place (15) of the operating operator is in the form of an operator cabin (151), inside of which there is at least one seat (18) on which the operator can sit, wherein said operator's cabin (151) is closed by a door (19), and the fact that the seat (18) is equipped with a presence sensor or at least one of the presence sensors (17) of the system (16) for detecting the presence of an operator at the specified place (15). 15. Loading and unloading machine (1) according to claim 13 or 14, characterized in that the system (16) for detecting the presence of an operator at a specified place (15) contains at least one sensor (22) for detecting the opening and/or closing of a door ( 19). 16. Loading and unloading machine (1) according to one of paragraphs. 13-15, characterized in that the control unit (5) is configured to start at least one additional timer (T2), called a presence timer, defining the time interval during which the activation element (7) transitions from the activated state to unactivated state, and with the possibility of preventing control of the cargo handling system (4) using the control device (6) after the expiration of the time interval specified by the presence timer (T2), and the fact that the control unit (5) is configured to reset the timer ( T2) presence depending at least on the state of absence or presence of the operator detected by the system (16) for detecting the presence of the operator at the specified place (15). 17. Method of controlling a loading and unloading machine (1) for handling cargo (24), containing: - wheeled chassis (2), - drive system (3) driving the wheeled chassis (2), - cargo handling system (4) located on the chassis (2), - control unit (5), - a control device (6) for controlling the cargo handling system (4), which is designed to be activated manually by the operator, and the control unit (5) is configured to receive control signals from said control device (6), - sensor (8) of a parameter indicating the movement of the machine (1), - activation element (7) for said manually actuated control device (6), said method comprising - the stage of manually actuating the activation element (7), which actuates the control device (6), so that when the activation element (7) is in the activated state, it is possible to control the cargo handling system (4) depending on the at least from the control signals received from the control device (6), characterized in that the specified method includes the stage of authorizing control of the cargo processing system (4) using the control device (6) depending on at least a parameter indicating the movement of the machine ( 1), and this method includes - the stage of starting the timer (T1), which specifies the time interval for the transition of the activation element (7) from the activated state to the non-actuated state, - the stage of preventing control of the cargo processing system (4) using the control device (6) after the expiration of the time interval specified by the timer (T1), - the stage of resetting the timer (T1) depending on the data transmitted by the sensor (8) of the parameter indicating the movement of the machine (1), during the time interval specified by the timer (T1). 18. A method for controlling a loading and unloading machine (1) for handling cargo (24) according to claim 17, characterized in that when the parameter sensor (8) indicating the movement of the machine (1) is a parameter sensor indicating the movement speed machine (1), and when the machine (1) contains a memory (9) for storing a given speed of movement of the machine (1), when the activation element (7) is in an unactuated state as a result of the transition of the activation element (7) from the actuated one state into a non-actuated state, it is possible to control the cargo processing system (4) using the control device (6) when the speed of the machine is greater than a predetermined value stored in memory. 19. The method of controlling a loading and unloading machine according to claim 17 or 18, characterized in that it includes the step of resetting the timer (T1) depending on the control signals received from the control device (6).