EP3674251B1 - Flurförderzeug, die in bezug auf ein trägerfahrzeug be- und entladbar ist, entsprechendes system und verfahren - Google Patents

Flurförderzeug, die in bezug auf ein trägerfahrzeug be- und entladbar ist, entsprechendes system und verfahren Download PDF

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Publication number
EP3674251B1
EP3674251B1 EP19215815.2A EP19215815A EP3674251B1 EP 3674251 B1 EP3674251 B1 EP 3674251B1 EP 19215815 A EP19215815 A EP 19215815A EP 3674251 B1 EP3674251 B1 EP 3674251B1
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EP
European Patent Office
Prior art keywords
handling machine
control system
terminal
carrier vehicle
handling
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EP19215815.2A
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English (en)
French (fr)
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EP3674251A1 (de
Inventor
Franck CHOLOUX
Jean-Marc DAHAN
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Manitou BF SA
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Manitou BF SA
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    • 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
    • B66F9/07563—Fork-lift trucks adapted to be carried by transport vehicles
    • 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
    • B66F9/07581—Remote controls

Definitions

  • the present invention relates generally to a handling machine, in particular a forklift truck, loadable at the rear of a carrier vehicle, in particular a truck trailer.
  • the driver of the truck controls the movement of the forks in the direction of approaching the front wheels of the truck (lowering control of the forks), so that the forks are taken in the housings at the rear of the trailer, such Fork movement control causes the lifting of the handling trolley with respect to the ground.
  • the industrial truck is then lifted to a given height, cantilevered from the trailer.
  • the document EP0905083A1 describes a mast trolley, suitable for being loaded at the rear of a carrier vehicle, the front part of the trolley being articulated to pivoting so as to pivot between a position of use and a boarding position.
  • the object of the present invention is to alleviate all or part of the problems set out above.
  • Such a combination of machine handling system command sequences with carrier vehicle identifiers allows the operator to easily and reliably control the loading or unloading of the handling machine with respect to different carrier vehicles. .
  • such a combination makes it possible to benefit from a reliable and repeatable positioning of the handling machine with respect to the carrier vehicle chosen both for its loading and for its unloading.
  • the command sequence being adapted to the carrier vehicle with which it is associated, the risk of error or malfunction is reduced, which limits the need for operator intervention and therefore promotes his safety.
  • the operator can control the execution of a sequence of commands outside the handling machine.
  • the terminal makes it possible to control the loading and unloading of the handling machine in relation to different carrier vehicles, for different handling machines, without it being necessary to provide a terminal per handling machine whose loading is to be controlled. or unloading.
  • the execution of the sequence of commands can be conditioned on the distance between the terminal and the machine to improve the safety of the operator.
  • the terminal can be implemented in the form of a smart phone and a computer application executed by a processor of said smart phone.
  • the use of the communication terminal allows the operator to stay away from the handling machine. The operator does not need to get on or off the handling machine to lower (unload) it by relative to the carrier vehicle to the rear of which it is coupled, or to raise it (load).
  • the handling machine may also have one or more of the following features taken from any technically permissible combination.
  • the handling machine comprises a connection element containing a set of data, for example in the form of a code, such as a QR code, applied to the outside of the handling machine.
  • handling the data of which are accessible by a communication terminal, said set of data comprising identification data of the handling machine and connection data allowing the terminal to connect to the control system of the handling machine, and the control system is configured to accept the connection with a terminal , such as an intelligent telephone, when the connection request received from the terminal comprises connection data corresponding to those of said connection element.
  • the terminal having two control elements, for example of the button type, making it possible, by pressing the user on one or the other of said control buttons, to transmit to the control system of the handling machine a request to load or unload the handling machine
  • the handling machine control system is also configured to detect that the user has released the pressure on one of said loading or unloading control elements, and following this detection interrupt the execution of the sequence of corresponding commands for loading or unloading the handling machine.
  • the handling machine comprising a control interface of the handling system, such as a joystick
  • the control system comprises a learning module configured to record actions performed by an operator on the device. command interface as a sequence of commands associated with a given carrier vehicle identifier.
  • said method comprises the display of two control elements, for example of button type, allowing the terminal by pressing the user on one or the other of said control elements to transmit to the handling machine control system a request to load or unload the handling machine.
  • the system further comprises an external data server which comprises a sequence of handling system commands associated with another identifier of the carrier vehicle and with an identifier of the handling machine.
  • a handling machine which comprises a handling system, as well as a control system for the handling system which allows it to be loaded or unloaded with respect to different carrier vehicles by cooperation of the handling system of the machine. handling with a given carrier vehicle.
  • the handling machine is a machine with forks which are engaged in sheaths at the rear of the carrier vehicle so that, in the loaded state of the handling machine, the machine is carried by the carrier vehicle. cantilevered from the rear of said carrier vehicle.
  • Drawers coupled to the carrier vehicle can be positioned under the handling machine in the loaded state of the handling machine at the rear of the carrier vehicle.
  • the wheels of the machine touch the ground and the forks are in a position away from the front wheels compared to the loading (loaded) position of the handling machine. Indeed, in the loading position (loaded) of the handling machine, the forks are in a position close to the front wheels of the handling machine.
  • control system of the handling machine is placed under electrical voltage, for its power supply by the battery of the handling machine, for example by using the ignition key of the handling machine.
  • the handling machine comprises a load handling system, and a control system configured to make it possible to execute a sequence of controls of the handling system, which is chosen from several sequences of controls, depending on the carrier vehicle with respect to which the handling machine must be loaded or unloaded.
  • a sequence of handling system commands which is associated with a carrier vehicle, enables the corresponding handling machine to be loaded or unloaded with respect to this carrier vehicle
  • the handling machine is a handling trolley 2 with a telescopic arm.
  • the arm not to be telescopic.
  • the handling system comprises a telescopic lifting arm 25 equipped with a tool holder 26 provided with forks 27.
  • the forks 27 are able to be engaged in sleeves 36 present at the rear of the carrier vehicle 3, which can be a truck trailer.
  • the telescopic arm 25 comprises a main section 25A mounted to pivot relative to the frame of the handling trolley, and a secondary section 25B equipped, at its end opposite to the main section 25A, with the tool holder 26 provided of forks 27.
  • the arm 25 can thus be pivoted between a so-called lowered position close to the front wheels of the carriage and a so-called lifted position further away from the front wheels of the carriage.
  • the tool holder 26 provided with forks 27 is articulated to the lifting arm 25, in particular to the secondary section 25B.
  • the secondary section 25B is slidably mounted relative to the main section 25A between a so-called retracted position, corresponding to a given length of arm 25, and a so-called extended position corresponding to a greater length of arm 25.
  • the section secondary 25B extends partly inside the main section 25A.
  • An actuation system 24 makes it possible to move the secondary section 25B relative to the main section 25A, to pivot the arm 25 at a given angle relative to the frame of the carriage and to pivot the tool holder 26 provided with forks 27 relative to the lifting arm 25.
  • the actuation system 24 usually comprises a hydraulic circuit provided with a pump, jacks connected to the elements to be moved, and a system of valves, preferably solenoid valves, making it possible to manage the power supply. jacks associated with the elements of the handling system to be moved.
  • the pivoting of the lifting arm 25 is controllable using a jack (not shown).
  • the length of the telescopic arm 25, by sliding of the secondary section 25B relative to the main section 25A, can also be controlled by a jack (not shown).
  • the pivoting of the tool holder 26 can also be controlled using a jack 28.
  • a control unit 21 which comprises for example a processor (such as a microprocessor or microcontroller), makes it possible to control the actuation system 24. It is thus possible to provide for the processor to be configured so as, according to the instructions received, to transmit. control signals to the solenoid valves of the actuation system 24 to actuate the corresponding jacks in order to execute the command sequences presented below.
  • a processor such as a microprocessor or microcontroller
  • control unit comprises program code instructions, preferably recorded in a non-volatile memory, for the execution of the steps of a method making it possible to communicate with a terminal 1 outside the carriage (presented below. -after) and to control the handling system according to a given sequence of commands.
  • the trolley comprises a radio communication module 22, such as a WIFI chip, making it possible to communicate with the communication terminal 1.
  • a radio communication module 22 such as a WIFI chip
  • control unit 21, the memory 23 presented below, the actuation system 24 and the communication module 22 form part of the control system 200 of the industrial truck.
  • connection element 9 which contains a set of data.
  • the connection element 9 is in the form of a code, such as a QR code, preferably applied to the outside of the industrial truck 2.
  • the connection element 9 can thus be applied for example on the body, the windshield or a window.
  • connection element 9 The data of this connection element 9 are accessible by a communication terminal 1.
  • the terminal 1 is configured to acquire the image of the QR code and decrypt the data contained.
  • the code may be contained in an RFID tag and the terminal may be provided with an RFID reader.
  • Said set of data comprises connection data allowing the terminal 1 to connect to the control system 200 of the industrial truck 2.
  • said set of data also comprises a datum for identifying the handling truck 2, such as a serial number. Provision can be made for this identification datum to be formed by the network identifier itself.
  • the truck control system 200 is configured to accept the connection with the terminal 1 when the connection request received from the terminal 1 comprises connection data corresponding to those of said connection element 9.
  • the terminal 1 comprises a control unit 10, such as a processor, and a computer application 11 executable by said control unit 10.
  • the terminal also comprises a radio communication module 12, for example. according to the WIFI and / or Bluetooth protocol, to communicate with the radio communication module 22 of the truck. Provision can be made for the radio communication module or another module of the terminal to make it possible to communicate with an external data server 4 presented below.
  • the terminal 1 can be an intelligent telephone (“smartphone” in English) which executes the computer application 11.
  • a memory 23 present in the industrial truck contains identifiers IDV1, IDV2 of the carrier vehicle. These identifiers are for example license plate numbers of carrier vehicles.
  • the memory 23 also contains sequences of commands SC1, SC2 of the handling system of the truck, associated with these identifiers IDV1, IDV2 of carrier vehicles.
  • the truck 2 has in memory identifiers IDV1, IDV2 of carrier vehicle 3 against which it can be loaded or unloaded, as well as the command sequences SC1, SC2 of its handling system which allow it to be loaded. or unloading.
  • the control system 200 transmits via the communication module 22 to the terminal 1, the identifiers IDV1, IDV2 of the carrier vehicles present in the memory 23 of the carriage 2 to enable the operator to determine the carrier vehicles compatible with the load / unloading from the industrial truck and for which there are associated command sequences.
  • the operator can then select on terminal 1, the carrier vehicle (via a displayed identifier IDV1, corresponding IDV2) in relation to which he wishes to unload or load the industrial truck.
  • control system 200 of the truck in particular the control unit 21, to receive from terminal 1 and via the communication module 22 a request (for example comprising the identifier of the selected carrier vehicle) to select a sequence of commands associated with the selected carrier vehicle.
  • Each sequence of commands associated with a carrier vehicle may include a sub-sequence of loading commands and a sub-sequence of unloading commands. Provision can also be made for a sequence of commands to correspond to a loading sequence when it is executed in one direction and to correspond to an unloading sequence when it is executed in the reverse direction.
  • Each sequence of commands can comprise a combination of these commands, in different orders, with or without repetition of one or more commands, and according to ranges of given pivot or sliding values.
  • a first command sequence may involve a combination of arm movements within given ranges of values, while a second sequence of commands may or may not involve a combination of these movements according to another range of given values.
  • the end of a process of loading or unloading the industrial truck can be detected by a sensor system (not shown) positioned on the industrial truck 2 and / or on the carrier vehicle 3, and connected to said control system. 200. It is in particular possible to provide a contact sensor configured to detect the contact of one or more rear wheels of the industrial truck with the ground, which can then be interpreted by the control system 200 as the end of the unloading sequence. .
  • the end of a loading or unloading process can also be detected automatically when the control system 200 no longer receives a loading or unloading instruction for a given period of time. Terminal 1 can then display information relating to whether the loading or unloading maneuver has been completed.
  • control system 200 to condition the execution of all or part of a sequence of commands as a function of the distance between the terminal 1 and the industrial truck 2.
  • This distance determination can be carried out by measuring the power of the radio signal exchanged (for example according to the Bluetooth or WIFI protocol) between the terminal 1 and the control system 200 of the industrial truck.
  • the terminal 1 allows the operator who has selected the carrier vehicle in relation to which the trolley is to be loaded or unloaded, to control the loading or unloading of said trolley.
  • the terminal 1 has two control elements C1, D1, for example of the button type, making it possible, by pressing the operator on one or the other of said control buttons, to transmit to the control system 200 of the handling trolley 2 a control for loading or unloading the trolley. Provision can thus be made for the pressing, preferably maintained, on the button C1, respectively on the button D1, causes the truck to execute a sequence of commands (associated with the carrier vehicle previously selected) in the direction of 'loading, respectively in the direction of unloading.
  • pressing the button C1 causes the execution of a sub-sequence corresponding to a loading and that pressing the button D1 causes the execution of a sub-sequence corresponding to an unloading.
  • control system can be configured to determine and / or store at which point in the sequence of commands the current configuration of the handling system of the truck relative to the carrier vehicle corresponds, in order, if possible, to continue the operation. sequence of commands from there, in one direction for a load instruction, and in reverse for an unload instruction.
  • the control buttons can be obtained by displaying graphic elements on terminal 1, or by assigning corresponding functions to physical buttons on terminal 1.
  • the control system 200 of the handling trolley 2 is also configured to detect that the user has released the pressure on one of said loading or unloading control elements C1, D1, and following this detection, interrupt the execution. the corresponding instruction to load or unload the truck 2.
  • the fact that the pressing of the button C1, respectively D1 is maintained can be a condition for proceeding or continuing the loading, respectively the unloading, of the trolley 2 with respect to the carrier vehicle 3.
  • an external data server which comprises a sequence of commands SC3 which is associated with another identifier IDV3 of the carrier vehicle and with an identifier IDM of the truck 2.
  • the external data server can of course understand several sequences of commands associated with different identifiers of carrier vehicles, for one or more industrial trucks.
  • the external data server also contains the sequences of commands and identifiers of the carrier vehicle stored in each industrial truck.
  • the external data server 4 can thus serve as a central storage server for the sequence data of commands SC1, SC2, SC3, and identifiers of carrier vehicles IDV1, IDV2, IDV3 and of handling trucks 2, to put updates the memory of an industrial truck 2 with the corresponding data.
  • terminal 1 In the event that, after terminal 1 is connected to trolley 2, the identifier of the carrier vehicle IDV3 with respect to which the operator wishes to load or unload the trolley, does not appear, it can be provided that the terminal 1 connects to the external data server 4 to download, if present, a sequence of commands SC3 associated with the carrier vehicle 3 desired. Provision can be made for this sequence of commands SC3 to then be loaded into the memory 23 of the carriage 2, for example via the terminal 1 which then serves as a gateway between the server 4 and the handling trolley 2, by being associated with the identifier IDV3 of the desired carrier vehicle.
  • control system 200 in particular the control unit 21, comprises a learning module configured to record in the memory 23 of the carriage actions performed by an operator on a control interface of the carriage, in as a sequence of commands SC3 associated with a given carrier vehicle identifier IDV3.
  • the carrier vehicle identifier to which the sequence of commands must be associated can be supplied by the operator performing the maneuver, via a data entry interface of the industrial truck and / or via terminal 1 which can be used to the data entry interface user for providing said carrier vehicle identifier to the control system 200 of the industrial truck.
  • this sequence of commands, as well as the associated carrier vehicle identifier is also transmitted to the external server 4 so that it records it in association with the identifier of the truck IDM.
  • the control interface of the handling system is for example a joystick for controlling the carriage, usually used by an operator inside the carriage to control the handling system. Provision can also be made for the control interface to be formed by a control module for the application 11 of the terminal 1 which is connected with the control system 200 of the truck.
  • the handling trolley, the terminal and the carrier vehicle presented above make it possible to implement different methods of loading and unloading the trolley with respect to the carrier vehicle.
  • step 701 the operator uses the terminal 1 to acquire (“flash") a QR code present on the carriage.
  • the terminal 1 executes a computer application 11 previously installed on the terminal or executed remotely.
  • the access or download link for this application can be provided, for example, in the operating instructions for the truck 2.
  • the execution of the application is secured by an authorization system, such as access by username and password.
  • step 703 the acquired QR code is decrypted by the terminal 1 in order to extract therefrom connection data allowing the terminal 1 to connect to the control system 200 of the truck.
  • the terminal 1 retrieves in step 707 identifiers IDV1, IDV2 of the carrier vehicle, such as license plate numbers of the vehicles. carrier vehicles, stored in memory 23 of truck 2.
  • the terminal 1 displays in step 707A the identifiers IDV1, IDV2 recovered, which allows the operator, in step 707B, to determine whether or not he finds among these identifiers that of the carrier vehicle 3 with respect to which he wants to be able to load or unload cart 2.
  • the operator selects it in step 709.
  • the truck thus receives from the terminal 1 a request containing the identifier selected by the operator.
  • the control system 200 in particular the control unit 21, of the truck can then, in step 711, select in the memory 23 of the truck the command sequence associated with the identifier of the carrier vehicle 3 which has been selected. selected by the operator in order to execute a loading sub-sequence or a loading sub-sequence according to the instructions to come from the terminal.
  • the terminal 1 displays a control interface with, for example, a loading control button C1 and an unloading control button D1.
  • the operator can then command in step 715 by pressing and holding on button C1, respectively D1, the execution of the sequence of commands in the direction of loading (or sub-sequence of loading), respectively in the direction of unloading (or sub-sequence of unloading).
  • Unloading can be obtained by executing the commands in reverse order.
  • the command executed corresponds to a relative pivoting of the tool holder of the carriage 2 with respect to the arm 25 in the direction of raising of the forks.
  • the forks of the carriage 2 remain engaged in the sleeves of the carrier vehicle 3 so that it is the remainder of the carriage 2, and therefore the arm 25, which pivots while rising.
  • the wheels of the carriage 2 are thus raised relative to the ground.
  • the figure 6d illustrates the retraction movement of the telescopic arm of the trolley 2, with a relative movement of bringing together the section 25A and the section 25B, so that, with the forks remaining in engagement with the carrier vehicle 3, the frame of the trolley 2 is brought closer of the carrier vehicle (by sliding) along the end portion of the telescopic arm.
  • the tool holder 26 of the carriage 2 is controlled in the direction of bringing the arm closer to the front wheels of the carriage, so that it is the remainder of the carriage 2 which pivots by raising the front wheels towards the forks.
  • the telescopic arm 25 of the trolley 2 is pivoted in the direction of bringing said arm closer to the front wheels of the trolley, and, the telescopic arm 25 being in engagement with the carrier vehicle via the forks, it is the rest of the carriage 2 which pivots in the direction of lifting of its front wheels.
  • the loading steps shown in figures 6a to 6g are obtained by keeping button C1 pressed.
  • the reverse unloading operation can be carried out by keeping button D1 pressed.
  • control unit 21 of the carriage interrupts the loading or unloading operation, and possibly emits an alert (step 713B). The process then returns to a step 713 presented below.
  • control unit 21 checks in step 713 that the distance between terminal 1 and the truck is greater than a given safety threshold value or within a given range of values.
  • step 715 If the distance condition is met, then the execution of the command sequence as presented in step 715 is authorized.
  • step 713A the execution of the sequence is interrupted and / or an alert message is sent (step 713A), and the process then returns to step 713.
  • step 715 The execution of the command sequence following the pressing of the button C1 for loading or the button D1 for unloading (step 715) continues with step 717 where the maneuver end state is verified. If the end of maneuver state is not detected (step 713C), for example due to the fact that the command sequence is not completed and that the pressure on the button Nail D1 is maintained, then the control unit piloting 21 returns to step 713 of distance verification.
  • step 719 If the end of maneuver state is detected, for example because the last command in the sequence is executed and / or a limit switch sensor has issued a corresponding end of maneuver signal, then the corresponding loading or unloading is considered completed in step 719.
  • step 707B if in step 707B, the operator notices that the identifier IDV3 of the desired carrier vehicle is not present among the identifiers displayed on the terminal, the operator provides information in step 721 in the application 11 of the terminal 1, the identifier of the desired carrier vehicle, for example the identifier IDV3.
  • the terminal 1 then interrogates in step 723 the external data server 4 to determine whether a sequence of commands SC3, associated with this identifier of the carrier vehicle and with the identifier IDM of the trolley 2, is recorded in this server 4.
  • the command sequence SC3 is then transmitted to the carriage 2 (step 733), preferably via the terminal 1 (step 731), which stores it in its memory 23 in association with said identifier IDV3 of the carrier vehicle desired.
  • the identifiers of carrier vehicles compatible with the trolley 2 which are displayed by the terminal 1 are then updated (step 735) so as to display the identifier IDV3 of the desired carrier vehicle whose associated SC3 command sequence has been recorded in the trolley 2.
  • the operator can then select from his terminal 1 this identifier IDV3 of the desired carrier vehicle, which corresponds to step 709.
  • the operations which follow this step 709 can be implemented as explained below. above.
  • step 723 If in step 723, it turns out that the server 4 does not contain a sequence of commands associated with this desired carrier vehicle identifier and with the identifier of the trolley 2, then the operator can trigger a function of learning in step 791 according to which the operator commands from the terminal 1 or from the same interface for controlling the truck the loading or unloading of the truck according to commands which are stored by the control system 200 in the memory 23 in as a sequence of commands in association with the identifier of the desired carrier vehicle.
  • the operator can then carry out with the carriage a series of operations corresponding to the control of the actuation system which are stored as a sequence of commands associated with the new carrier vehicle in the truck's memory.
  • the start of recording can be controlled by a specific operation of the user, for example by pressing a specific button on the control interface of the truck such as a button on the control joystick.
  • the end of the recording sequence and therefore of the learning mode can be defined in a similar manner by a particular operation of the operator on the control interface.
  • the control unit of the terminal 1 and / or of the carriage 2 is for example in the form of a microprocessor and a data memory in which are stored computer instructions that can be executed by said processor, or else in the form of a microprocessor. 'a microcontroller.
  • the unit or means or module of said unit are configured to perform a given operation, this means that the unit includes computer instructions and the corresponding execution means which make it possible to perform said operation and / or that the unit includes corresponding electronic components.
  • control unit or its modules can be performed by instruction sets or computer modules implemented in a microprocessor or microcontroller or be performed by dedicated electronic components or FPGA or ASIC type components. . It is also possible to combine computer parts and electronic parts.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Mobile Radio Communication Systems (AREA)

Claims (13)

  1. Flurförderzeug (2) wie ein Flurförderwagen, wobei das Flurförderzeug (2) ein Flurfördersystem wie ein Hubarm (25) umfasst, der mit einem Werkzeugträger (26) ausgestattet ist, der mit Gabeln (27) versehen ist, wobei das Flurförderzeug (2) ein Steuersystem (200) umfasst, das umfasst:
    - ein Betätigungssystem (24) des Flurfördersystems wie ein Zylinder und ein Hydraulikkreis;
    - eine Steuereinheit (21) wie ein Prozessor, um das Betätigungssystem (24) zu steuern;
    - ein Funk-Kommunikationsmodul (22);
    dadurch gekennzeichnet, dass das Steuersystem (200) ferner einen Speicher (23) umfasst, in dem gespeichert sind:
    - Trägerfahrzeug-Kennungen (IDV1, IDV2) wie Kraftfahrzeugkennzeichennummern der Trägerfahrzeuge, und
    - Steuersequenzen (SC1, SC2) des Flurfördersystems, die diesen TrägerfahrzeugKennungen (IDV1, IDV2) zugeordnet sind,
    und dass das Steuersystem (200) ausgelegt ist, um:
    - an ein Endgerät (1) die Trägerfahrzeug-Kennungen (IDV1, IDV2) zu übermitteln (707), und
    - eine Anforderung zu erhalten, um eine der Steuersequenzen (SC1, SC2) auszuwählen (711), die einer der Trägerfahrzeug-Kennungen (IDV1, IDV2) zugeordnet ist,
    - eine Anforderung zum Laden oder Entladen des Flurförderzeugs zu erhalten (715) und die ausgewählte Steuersequenz in Abhängigkeit von der Anforderung zum Laden oder Entladen auszuführen.
  2. Flurförderzeug (2) nach Anspruch 1, dadurch gekennzeichnet, dass das Flurförderzeug (2) ein Verbindungselement (9) umfasst, das eine Dateneinheit, beispielsweise in Form eines Codes wie ein QR-Code, enthält, der außen auf dem Flurförderzeug (2) aufgebracht ist, dessen Daten durch ein Kommunikations-Endgerät (1) zugänglich sind (701, 703),
    wobei die Dateneinheit ein Identifikations-Datenelement des Flurförderzeugs (2) umfasst und Verbindungsdaten dem Endgerät (1) gestatten, sich mit dem Steuersystem (200) des Flurförderzeugs (2) zu verbinden,
    und dass das Steuersystem (200) ausgelegt ist, um die Verbindung (705) mit einem Endgerät (1) wie ein intelligentes Telefon zu akzeptieren, wenn die ab dem Endgerät (1) erhaltene Verbindungsanforderung Verbindungsdaten umfasst, die denen des Verbindungselements (9) entsprechen.
  3. Flurförderzeug (2) nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei das Flurfördersystem einen Hubarm (25) umfasst, der in Bezug auf das Fahrgestell des Flurförderzeugs (2) schwenkend angebracht ist, und einen Werkzeugträger (26), der mit Gabeln (27) versehen und am Hubarm (25) angelenkt ist,
    jede Steuersequenz (SC1, SC2) eine Reihe von Befehlen umfasst, einschließend:
    - einen Schwenkbefehl des Werkzeugträgers (26); und/oder
    - einen Schwenkbefehl des Hubarms (25); und/oder
    - einen Befehl zum Ein- oder Ausfahren des Arms (25), wenn der Hubarm (25) ein Teleskoparm ist.
  4. Flurförderzeug (2) nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Steuersystem (200) ausgelegt ist, um:
    - eine Information zu bestimmen (713), die für den Abstand zwischen dem Endgerät (1) und dem Flurförderzeug (2) repräsentativ ist, und
    - die Ausführung der gesamten oder eines Teils der gewählten Steuersequenz in Abhängigkeit von der bestimmten Abstandsinformation zu gestatten oder nicht (713A).
  5. Flurförderzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei das Endgerät (1) zwei Steuerelemente (C1, C2) hat, beispielsweise vom Typ Knopf, die erlauben, durch Druck des Benutzers auf den einen oder den anderen der Steuerknöpfe, an das Steuersystem (200) des Flurförderzeugs (2) eine Anforderung zum Laden oder Entladen des Flurförderzeugs zu übermitteln,
    wobei das Steuersystem (200) des Flurförderzeugs (2) auch ausgelegt ist, um zu ermitteln, dass der Benutzer den Druck auf eins der Steuerelemente (C1, C2) zum Laden oder Entladen eingestellt hat und infolge dieser Ermittlung die Ausführung der dem Laden oder Entladen des Flurförderzeug (2) entsprechenden Steuersequenz zu unterbrechen (713B).
  6. Flurförderzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei das Flurförderzeug (2) eine Steuerschnittstelle des Flurfördersystems wie ein Joystick umfasst,
    das Steuersystem (200) ein Lernmodul umfasst, das ausgelegt ist, um von einem Bediener auf die Steuerschnittstelle als Steuersequenz (SC3), die einer bestimmten TrägerfahrzeugKennung (IDV3) zugeordnet ist, durchgeführten Aktionen zu registrieren (791).
  7. Flurförderzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Steuersystem (200) ausgelegt ist, um das Ende des Ladens oder Entladens des Flurförderzeugs zu ermitteln:
    - durch ein auf dem Flurförderzeug (2) und/oder auf dem Trägerfahrzeug (3) positioniertes und mit dem Steuersystem (200) verbundenes Sensorsystem, oder
    - automatisch, wenn das Steuersystem (200) während einer bestimmten Dauer keinen Lade- oder Entladebefehl erhält.
  8. Nicht-transitorisches IT-Programmprodukt, umfassend Programmcodebefehle zur Ausführung der Schritte eines Verfahrens zum Steuern eines Flurförderzeugs (2), wenn das Programm von einem Prozessor eines Kommunikations-Endgeräts (1) wie ein intelligentes Telefon ausgeführt wird, wobei das Kommunikations-Endgerät (1) auch ein Funk-Kommunikationsmodul (12) umfasst, wobei das Flurförderzeug (2) ein Flurförderzeug nach Anspruch 1 ist,
    dadurch gekennzeichnet, dass das Verfahren die folgenden Schritte umfasst:
    - Ermitteln (701) eines Codes (9) wie ein QR-Code,
    - Auslesen (703), aus dem ermittelten Code (9), von Daten, die es dem Endgerät (1) erlauben, sich mit dem Steuersystem (200) des Flurförderzeugs (2) zu verbinden (705),
    - im verbundenen Zustand des Endgeräts (1) mit dem Steuersystem (200) des Flurförderzeugs (2), Auslesen (707) der Kennungen (IDV1, IDV2) von Trägerfahrzeugen wie Kraftfahrzeugkennzeichennummern der Trägerfahrzeuge,
    - Auswählen (709), durch Betätigung des Endgeräts (1) durch den Benutzer, einer der von dem Endgerät (1) ausgelesenen Kennungen (IDV1, IDV2) von Trägerfahrzeugen;
    - Übermitteln, an das Steuersystem (200) des Flurförderzeugs (2), einer Anforderung, damit das Steuersystem (200) aus mehreren Steuersequenzen (SC1, SC2) eine Sequenz bestimmter Befehle auswählt (711), die der ausgewählten Trägerfahrzeugkennung zugeordnet ist;
    - Übermitteln (715), durch das Endgerät (1) an das Steuersystem (200) des Flurförderzeugs (2), einer Anforderung zum Laden oder Entladen zur Ausführung, durch das Steuersystem (200) des Flurförderzeugs (2), der gemäß der Anforderung zum Laden oder Entladen ausgewählten Steuersequenz.
  9. Produkt nach Anspruch 8, dadurch gekennzeichnet, dass das Verfahren die folgenden Schritte umfasst:
    - Erfassen (721) einer neuen Kennung (IDV3) eines Trägerfahrzeugs, die eine andere ist als die durch Kommunikation mit dem Steuersystem (200) erhaltenen Kennungen (IDV1, IDV2),
    - Übermitteln (723) einer Anforderung an einen externen Datenserver (4), die eine Identifikationsnummer (IDM) des Flurförderzeugs (2) enthält, mit dem das Endgerät (1) kommuniziert, sowie der neuen Trägerfahrzeugkennung (IDV3),
    wobei der externe Datenserver (4) eine Steuersequenz (SC3) enthält, die der Identifikationsnummer (IDM) des Flurförderzeugs (2) und der neuen Kennung dieses Trägerfahrzeugs (IDV3) zugeordnet ist,
    - vorzugsweise Auslesen (731) der Steuersequenz (SC3) durch das Endgerät (1) und Übermitteln (733) an das Steuersystem (200) des Flurförderzeugs (2);
    - Aktualisieren (735) der von dem Endgerät von dem Steuersystem (200) der Auswahlmaschine empfangenen Trägerfahrzeugkennungen (IDV3), um die neue Trägerfahrzeugkennung (IDV3) anzuzeigen,
    - Auswählen (709), durch Betätigung des Endgeräts (1) durch den Benutzer, der neuen Trägerfahrzeugkennung (IDV3);
    - Übermitteln eines Befehls an das Steuersystem (200) des Flurförderzeugs (2), damit das Steuersystem (200) eine Steuersequenz (SC3) des Flurförderzeugs (2) auswählt (711), die der ausgewählten Trägerfahrzeugkennung (IDV3) zugeordnet ist.
  10. Produkt nach Anspruch 8 oder 9, dadurch gekennzeichnet, dass das Verfahren die Anzeige von zwei Steuerelementen (C1, D1) umfasst, beispielsweise vom Typ Knopf, die es dem Endgerät (1) erlauben, durch Druck des Benutzers auf das eine oder das andere der Steuerelemente (C1, D1), an das Steuersystem (200) des Flurförderzeugs (2) eine Anforderung zum Laden oder Entladen des Flurförderzeugs zu übermitteln.
  11. System zum Laden oder Entladen eines Flurförderzeugs (2) in Bezug auf ein Trägerfahrzeug (3), dadurch gekennzeichnet, dass das System umfasst:
    ein Flurförderzeug (2) nach einem der Ansprüche 1 bis 7, und
    ein IT-Programmprodukt nach einem der Ansprüche 8 bis 10.
  12. System nach Anspruch 11, dadurch gekennzeichnet, dass das System ferner einen externen Datenserver (4) umfasst, der eine Steuersequenz (SC3) des Flurfördersystems umfasst, die einer anderen Trägerfahrzeugkennung (IDV3) und einer Kennung des Flurförderzeugs (IDM) zugeordnet ist.
  13. Verfahren zum Steuern eines Flurförderzeug (2) für dessen Laden oder dessen Entladen in Bezug auf ein Trägerfahrzeug (3), wobei das Flurförderzeug (2) ein Flurförderzeug nach Anspruch 1 ist,
    dadurch gekennzeichnet, dass das Verfahren die folgenden Schritte umfasst:
    - Akzeptieren einer Verbindung (705) eines Endgeräts (1) wie ein intelligentes Telefon mit dem Steuersystem (200) des Flurförderzeugs (2);
    - im mit dem Steuersystem (200) verbundenen Zustand des Endgeräts (1), Übermitteln (707), durch das Steuersystem (200) an das Endgerät (1), von Trägerfahrzeugkennungen (IDV1, IDV2) wie Kraftfahrzeugkennzeichennummern, die im Steuersystem (200) gespeichert sind, und
    - Empfangen, durch das Steuersystem (200) des Flurförderzeugs (2), einer Auswahlanforderung, um eine Steuersequenz des Flurförderzeugs auszuwählen (711), die der ausgewählten Trägerfahrzeugkennung (IDV1, IDV2) zugeordnet ist,
    - Empfangen (715), durch das Steuersystem (200) des Flurförderzeug (2), einer Anforderung zum Laden oder Entladen des Flurförderzeugs (2) und Ausführen, durch das Steuersystem (200) des Flurförderzeugs (2), der gemäß der Anforderung zum Laden oder Entladen ausgewählten Steuersequenz.
EP19215815.2A 2018-12-14 2019-12-12 Flurförderzeug, die in bezug auf ein trägerfahrzeug be- und entladbar ist, entsprechendes system und verfahren Active EP3674251B1 (de)

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FR1872950A FR3089968B1 (fr) 2018-12-14 2018-12-14 Machine de manutention, chargeable et déchargeable par rapport à un véhicule-porteur, système et procédé correspondant

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FR2768714B1 (fr) * 1997-09-19 1999-12-03 Manitou Bf Chariot a mat, apte a etre embarque a l'arriere d'un vehicule porteur
NO2231501T3 (de) * 2008-01-22 2018-01-20
EP3475925B1 (de) * 2016-06-24 2022-09-14 Crown Equipment Corporation Verfahren und system zur indirekten verfolgung von elektronischen ausweisen

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EP3674251A1 (de) 2020-07-01
FR3089968B1 (fr) 2020-11-27

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