WO2016177980A1

WO2016177980A1 - Method and device for monitoring a support for a trolley comprising a stabilising means

Info

Publication number: WO2016177980A1
Application number: PCT/FR2016/051064
Authority: WO
Inventors: Sylvain CADOU
Original assignee: Manitou Bf
Priority date: 2015-05-05
Filing date: 2016-05-04
Publication date: 2016-11-10
Also published as: FR3035874B1; FR3035874A1; EP3292071B1; EP3292071A1; ES2729698T3

Abstract

The invention relates to a method for monitoring a support for a trolley comprising a stabilising means, said method comprising steps of lowering said stabilising means, calculating (103) a predicted height, calculating (104) the real height reached from parameters measured by sensors of the handling trolley, and comparing (108) the calculations of predicted height and real height so as to verify the coherence thereof. The invention is applicable to a device for monitoring a support for a trolley comprising a stabilising means.

Description

Trolley support monitoring method and device

having a stabilizer means

FIELD OF THE INVENTION

The invention relates to a carriage support monitoring method comprising a stabilizer means.

The invention also relates to a trolley support monitoring device comprising a stabilizer means.

PRIOR ART

It is known from the state of the art, and more particularly from US2003 / 168421 A1, a vehicle with a telescopic arm which comprises a stabilizer means.

A first object of the invention is to provide a new support monitoring method for reacting against a loss of stability due to soil compaction or excessive sinking.

A second object of the invention is to provide a new support monitoring device for reacting against a loss of stability and taking into account the instantaneous static state of the carriage.

SUMMARY OF THE INVENTION

The subject of the invention is a carriage support monitoring method comprising a stabilizer means, said method comprising steps:

lowering the stabilizer means so as to raise at least a portion of the carriage, such as the front wheels of the carriage, with respect to a given reference level, such as the ground level;

predicted elevation calculation of said at least part of the carriage with respect to said given reference level; calculating the actual elevation of said at least one part of the carriage with respect to said given reference level, the calculation being carried out on the basis of parameters measured by sensors of the industrial truck, and

- comparing the predicted elevation calculation and the actual elevation calculation to check their consistency.

The invention also relates to a support support device for a carriage comprising a stabilizer means, comprising:

- Descent means stabilizer means for raising at least a portion of the carriage relative to said given reference level;

means for calculating the predicted elevation of said at least one part of the carriage with respect to said given reference level;

means for calculating the actual elevation of said at least one part of the carriage with respect to said given reference level, on the basis of parameters measured by sensors of the industrial truck, and

means for comparing the predicted elevation calculation and the actual elevation calculation to verify their coherence.

Finally, a subject of the invention is a stabilizer means carriage, characterized in that said carriage is equipped with a device as described above, and in that said carriage comprises means for controlling means for descent of the means. stabilizer, said control means and the calculation and comparison means are configured for the implementation of a method as described above.

Said control means and the calculation and comparison means may be implemented using computer and / or electronic components. Thus, the functions operated by said means can be performed by sets of computer instructions implemented in a processor 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.

BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood from the following description given by way of nonlimiting example with reference to the accompanying drawings in which:

Figure 1 shows schematically a side view of a stabilizer means carriage according to the invention.

Figure 2 schematically shows a side view of a stabilizer means carriage according to the invention.

Figure 3 schematically shows a side view of a stabilizer means carriage according to the invention.

Figure 4 schematically shows a side view of a stabilizer means carriage according to the invention.

FIG. 5 diagrammatically represents an operating flow chart of a trolley support monitoring method according to the invention.

DETAILED DESCRIPTION

Reference throughout the description 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 locations throughout the specification does not necessarily refer to the same embodiment. In addition, the particular features, structures, or features may be combined in any suitable manner in one or more embodiments.

With reference to FIGS. 1 to 5, identical or functionally equivalent elements are identified by identical reference numerals.

A stabilizer means carriage of known type comprises a self-propelled chassis comprising a non-oscillating front axle and a rear axle oscillating, a fixed section of telescopic arm, a sliding section of telescopic arm and an accessory integral with the sliding section of telescopic arm capable of carrying a load. The rear axle of the chassis oscillates around an axis. The front deck of the chassis carries at least one stabilizer means.

The self-propelled chassis assembly carrying all its equipment and including its front and rear decks has a center of gravity located at a given distance according to an angle of inclination with respect to the horizontal plane passing through the axis of the articulation pivot of the arm telescopic on the chassis.

Means or sensors of known type are advantageously provided for continuously determining the following parameters:

- distance and tilt angle on the horizontal center of gravity of the fixed telescopic arm section;

- distance and angle of inclination on the horizontal center of gravity of the sliding section of the telescopic arm;

- distance and tilt angle on the horizontal center of gravity of the load including the attachment of the telescopic arm.

From the aforementioned values or parameters continuously measured, an indication of the instantaneous position of the center of gravity of the telehandler is continuously calculated. Other means of known type are advantageously provided for continuously determining the following parameters:

- the angles of inclination of the chassis relative to the horizontal;

- the turning radius of the telehandler;

- the forward speed of the telehandler.

The invention particularly aims to actively improve the stability of the carriage by applying a reactive action between the frame and the stabilizer means through the actuation of a double-acting cylinder of the stabilizer means.

The invention thus makes it possible to remedy the disadvantages of a ground defect interacting with the stabilizer means of an off-road truck, which risks ending up in unstable support and overturning. In FIG. 1, a stabilizer means carriage according to the invention comprises a self-propelled chassis 1 comprising a non-oscillating front axle 2 and an oscillating rear axle 3.

The rear axle of the chassis oscillates around a central axis.

The front bridge 2 of the chassis carries at least one means 4 of stabilizer.

When the industrial truck is stationary in a horizontal position, the operator gives a descent instruction of the stabilizer means 4. As the carriage is stationary in the horizontal position, the operator can indeed actuate the stabilizer means 4 to lower its support pad 4a in contact with the ground, as shown in Figure 1.

When the industrial truck remains stationary and if the descent of the stabilizer means is not sufficient to come into contact with the ground, the operator gives a new descent instruction of the means 4 stabilizer.

This position shown in Figure 1 of the stabilizer means 4 with its support pad 4a in contact with the ground is used as initial position reference.

An initial calculation of predicted elevation is then made from the theoretical parameters of the industrial truck and using the initial reference position of the stabilizer means 4 with its support pad 4a in contact with the ground. The said theoretical parameters may comprise one or a combination of all or some of the following parameters:

the stroke of the support pad 4a of the stabilizing means for touching the ground; and or

the complete (or maximum) stroke of the support pad 4a of the stabilizing means;

Advantageously, the predicted elevation is calculated as a function of the difference between the travel of the support pad 4a to touch the ground and the complete travel of the support pad 4a.

For this purpose, it can be provided that the carriage comprises means for detecting the ground contact of the support pad 4a, for example by means of an overpressure detection inside a jack of the stabilizer means or using a dedicated sensor. It is possible to calculate the predicted parameter or parameters on the left and / or right side of the carriage in order to detect a loss of lateral stability of the carriage.

In FIG. 2, the stabilizer means carriage according to the invention comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in a horizontal position.

As the carriage is stationary in a horizontal position, the operator gives a new descent instruction of the stabilizer means 4.

The operator actuates the stabilizer means 4 to support his support pad 4a on the ground, as shown in FIG. 2.

When the industrial truck remains stationary and if the descent of the stabilizer means is not sufficient to lift the front bridge 2 above the ground, the operator gives a new descent instruction of the means 4 stabilizer.

This position shown in Figure 2 of the stabilizer means 4 with its support pad 4a is obtained by output of the rod 4b of the stabilizer means 4 according to a stroke C.

An initial calculation of the predicted elevation H is then carried out from the theoretical parameters of the industrial truck, using the initial position reference of the stabilizer means 4 with its contact pad 4a in contact with the ground and using the stroke C output of the rod 4b of the stabilizer means 4.

The predicted initial H-elevation calculation may optionally utilize the soil compressibility characteristics as they are known.

In FIG. 3, the stabilizer means carriage according to the invention comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in the raised position at the front.

While the carriage is immobile in the raised position at the front, the cart computer connected to various sensors or equivalent means performs an initial calculation of actual elevation E from the parameters measured by the sensors or equivalent means of the industrial truck, using the initial reference position of the stabilizer means 4 with its support pad 4a in contact with the ground and in particular using the measured inclination of the carriage.

The measured parameters may include one or a combination of all or part of the following parameters:

- inclination of the chassis of the carriage about an axis parallel to the axis of the front or rear wheels;

coordinates, for example from a GPS system, of a part of the carriage, such as the front part, in particular one of the front wheels or the carriage, or the cab.

The carriage is provided with sensors for measuring one or a combination of all or part of said parameters listed above.

It can be provided to measure the measured parameter or parameters on the left and / or right side of the carriage to detect a loss of lateral stability of the carriage.

The initial calculation of actual elevation E may optionally use the characteristics of compressibility of the soil when they are known: FIG. 3 thus corresponds to the case of a non-deformable soil, for example rocky soil.

In the case of a non-deformable soil, for example rocky, the actual elevation E of Figure 3 is substantially equal to the predicted elevation H of Figure 2.

In the case of a non-deformable soil, the lifting of the truck can be continued safely and stably.

In FIG. 4, the stabilizer means carriage according to the invention comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in the raised position at the front.

While the carriage is stationary in the raised position at the front, the cart computer connected to various sensors or equivalent means performs an initial calculation of actual elevation E from the parameters measured by the sensors or equivalent means of the industrial truck, using the initial reference of the stabilizer means 4 position with its pad 4a in contact with the ground and in particular using the measured inclination of the carriage.

The initial calculation of actual elevation E may optionally use the characteristics of compressibility of the soil when they are known: FIG. 4 thus corresponds to the case of a deformable soil.

In the case of a deformable soil, the actual elevation E of FIG. 4 is substantially smaller than the predicted elevation H of FIG.

In the case of a deformable soil, the lifting of the truck can be continued safely only in case of moderate deformation and moderate settlement of the soil.

The invention thus makes it possible to remedy the disadvantages of a ground defect interacting with the stabilizer means of an off-road truck, which risks ending up in unstable support and overturning. In FIG. 5, a method according to the invention of bearing support monitoring comprising a stabilizer means comprises steps 100 to 112 of stabilization and steps 113 to 122 of support monitoring of the industrial truck.

The method according to the invention starts at a step 100, in which the industrial truck is stationary and in which the operator gives a descent instruction of the stabilizer means.

The process continues at step 101 of descent of the stabilizer means.

In step 102, a test is performed to see if the industrial truck is stationary and if the descent of the stabilizer means is effective to come into contact with the ground.

If the test of step 102 concludes that the industrial truck is not stationary or that the descent of the stabilizer means is not sufficient to come into contact with the ground, the method loops to step 100 to possibly receive a new descent instruction of the stabilizer means.

If the test of step 102 concludes that the industrial truck is stationary and that the descent of the stabilizer means is sufficient to arrive at the ground contact, the method continues in step 103 in which an initial calculation of predicted elevation is made from the theoretical parameters of the industrial truck, then to a step 104 in which an initial calculation of actual elevation is made to from the parameters measured by the sensors of the truck.

An additional descent of the stabilizer means is carried out at step 105 to put the industrial truck on the stabilizer means.

The method continues in step 106 in which an update of the predicted elevation initial calculation is performed from the theoretical parameters of the industrial truck, then to a step 107 in which an update of the actual initial elevation calculation is performed to from the parameters measured by the sensors of the truck.

In step 108, a test is performed to compare the predicted elevation calculation and the actual elevation calculation and to verify their consistency.

By way of example, it can be considered that said calculations are coherent when the difference in absolute value between the predicted elevation calculation and the actual elevation calculation is less than 10% of the actual elevation calculation.

Advantageously, the coherence calculation is weighted as a function of the accuracy of the measured and / or theoretical parameter sensors and / or as a function of terrain characteristics defined for example by the operator.

If the test of step 108 concludes that the predicted elevation calculation and the actual elevation calculation are consistent, the method continues to step 109 of deactivating alert, then to step 111 to possibly receive a new descent instruction of the stabilizer means.

If the test of step 108 concludes that the predicted elevation and actual elevation calculations are not consistent, the method continues at step 110 of alert activation and then at step 111 to receive possibly a new descent instruction of the stabilizer means.

If the operator has given a descent instruction of the stabilizer means in step 111, the method will loop at step 105 of additional descent of the stabilizer means. If the operator has not given any instructions for descent of the stabilizer means in step 111, the process proceeds to step 112 of stabilizing completion on support of the stabilizer means.

The method then proceeds to step 113 of start of bearer monitoring to subdivide into a motion monitor branch having steps 114 to 119 and a break monitor branch having steps 120 to 122.

The method continues in step 114 in which an initial calculation of predicted elevation is made from the theoretical parameters of the industrial truck, then to a step 115 in which an initial calculation of actual elevation is made from the measured parameters. by the sensors of the truck.

The method continues in step 116 in which an update of the initial calculation of actual elevation is performed from the parameters measured by the sensors of the industrial truck.

In step 117, a test is performed to compare predicted elevation and actual elevation calculations and to verify their consistency.

If the test in step 117 concludes that the predicted elevation and actual elevation calculations are consistent, the process proceeds to step 118 of updating the actual elevation calculation.

If the test in step 117 concludes that the predicted elevation and actual elevation calculations are not consistent, the method continues at step 119 of alert activation revealing abnormal displacements and indicating a risk of failure. 'instability.

The method continues in step 120 in which a soil monitoring is performed from the parameters measured by the sensors of the industrial truck, to detect a bearing break.

In step 121, a test is performed to detect an unwanted abrupt descent of the stabilizer means.

If the test in step 121 concludes that there is no unwanted abrupt descent of the stabilizer means, the method loops at step 120 of soil monitoring performed from the parameters measured by the sensors of the industrial truck, to detect a support break. If the test in step 121 concludes an undesirable abrupt descent of the stabilizer means, the method continues at step 122 of alert activation revealing abnormal sudden shocks or movements and indicating a risk of instability.

The operator perceiving an alert intervenes to act on the stabilizer means in order to place the industrial truck in a stable situation.

If the operator has not given any instructions for descent of the stabilizer means in step 111, the process proceeds to step 112 of stabilizing completion on support of the stabilizer means.

According to one embodiment, it is intended to detect a possible decrease in the measured elevation value, which makes it possible to detect a stabilization problem, for example a depression of the stabilizer means, so that the operator can be alerted on a destabilization and may decide to move the cart to another location.

It is also possible to calculate the rate of decrease of the elevation value measured to detect the driving kinetics and thus benefit from additional information to be taken into account to alert the operator.

It is possible to calculate the predicted and measured elevations, distinctly to the right and left of the truck, which makes it possible to detect local depressions and a risk of tipping.

The invention is not limited to the embodiments illustrated in the drawings. Accordingly, it should be understood that when the features mentioned in the appended claims are followed by reference signs, these signs are included solely for the purpose of improving the intelligibility of the claims and are in no way limiting to the scope of the claims. claims.

Moreover, the term "including" does not exclude other elements or steps. In addition, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Claims

A carriage support monitoring method comprising a stabilizer means, said method comprising steps:

calculating (103) predicted elevation of said at least a portion of the carriage with respect to said given reference level;

calculating (104) actual elevation of said at least one part of the carriage with respect to said given reference level, the calculation being carried out on the basis of parameters measured by sensors of the industrial truck, and

and comparing (108) the predicted elevation calculation and the actual elevation calculation to verify their consistency.

Method according to claim 1, comprising a step (113) of start of support monitoring.

A method as claimed in claim 2, wherein the step of starting monitoring monitoring is followed by steps (114 - 119) of motion monitoring.

A method as claimed in claim 2 or claim 3, wherein the start monitoring step (113) is followed by steps (120-122) for monitoring support failures.

A method according to claim 1, wherein a step (106) of updating the predicted elevation calculation is performed from the theoretical parameters of the industrial truck, and wherein a step (107) of updating the elevation calculation actual is performed at from parameters measured by the sensors of the industrial truck.

A cart monitoring device comprising a stabilizer means, comprising:

means for calculating (103) the predicted elevation of said at least one part of the carriage with respect to said given reference level;

means for calculating (104) actual elevation of said at least one part of the carriage with respect to said given reference level, on the basis of parameters measured by sensors of the industrial truck, and

- Comparison means (108) of the predicted elevation calculation and the actual elevation calculation to check their consistency.

7. Device according to claim 6, comprising start monitoring means of support.

8. Device according to claim 7, comprising means (114 - 119) displacement monitoring.

9. Device according to claim 7 or claim 8, comprising means (120 - 122) for monitoring bearing breaks.

10. Trolley with stabilizer means characterized in that said carriage is equipped with a device according to any one of claims 6 to 9, and in that said carriage comprises means for controlling means for lowering the stabilizer means , said control means and the calculation and comparison means are configured for the implementation of a method according to any one of claims 1 to 5.