Load handling equipment and its control method

Abstract

Load handling equipment (1) comprising: - a rolling chassis (2) with engine, - a driver's station (4), - a driver's unit (16), - a load handling system (5), - a sensor (6) for the vehicle's (1) travel speed, - a steering system comprising a steering mechanism for the steering wheels, - a steering wheel (10), - a second steering element (12). The equipment (1) comprises a first configuration in which the steering wheel (10) is in the active state and the second steering element (12) is in the inactive state, and a second configuration in which the steering wheel (10) is in the inactive state and the second steering element (12) is in the active state. The first and second configurations are selectively activated, and switching from the first to the second configuration depends on at least the data provided by at least one sensor (6) for a parameter representative of the vehicle's (1) speed and at least one additional condition. Figure for the abridged version: Fig. 1

Description

Title of the invention: Load handling device and its control method

[0001] The present invention relates to a load handling device and its control method.

[0002] It relates in particular to a load handling machine comprising: - a chassis equipped with wheels, at least some of which are steerable, - a driver's seat mounted on the chassis, - a driver's unit, - a load handling system, - a drive system for rotating at least some of the so-called drive wheels, - at least one sensor for a parameter representative of the speed of movement of the machine, - a steering system comprising a steering mechanism for the steerable wheels including at least one actuator for orienting said steerable wheels, - a first rotating steering member called a steering wheel, - a first system for detecting the rotational movement of the steering wheel to allow actuating the steering mechanism for the steerable wheels according to the rotational movement of the steering wheel, - a second steering member,- a second system for detecting the movement of said second steering element to allow the steering mechanism of the steering wheels to be activated according to the movement of the second steering element, said first and second steering elements being positionable simultaneously inside the cockpit.

[0003] Such a load-handling machine is known. This handling machine has two operating situations: on the road and on a construction site, also called "off-road," meaning literally off-road. Generally, the handling machine travels at a higher speed on the road than on the construction site. On the road, a relatively large range of motion of the steering mechanism is necessary to allow the operator to clearly feel the steering movements applied to the wheels when the machine is traveling at high speeds and to mitigate the risk of veering off course. The presence of a steering wheel allows the operator to control the machine's direction effectively. However, on a construction site, a smaller range of motion for the steering mechanism is sufficient to control the machine's wheel direction at low speeds. This is why load handling equipment with two steering mechanisms is now available, one of which is a steering wheel. This solution improves operator comfort and reduces the risk of musculoskeletal disorders. In such a load handling machine with two steering mechanisms, both mechanisms are permanently active. Therefore, because the steering wheel remains active at all times, accidental activation of the steering wheel while the operator is operating the other steering mechanism is possible. This results in unintended steering control.

[0004] One object of the invention is to provide a handling device of the aforementioned type whose design is improved to limit the risks of accidents and avoid any unwanted maneuvers.

[0005] To this end, the invention relates to a load handling device comprising: - a chassis equipped with wheels, at least some of which are steerable, - a driver's seat carried by the chassis, - a driver's unit, - a load handling system, - a drive system for rotating at least some of the so-called drive wheels, - at least one sensor for a parameter representative of the vehicle's speed of movement, - a steering system comprising at least one steering mechanism for the steering wheels, including at least one actuator for driving the orientation of said steering wheels, - a first rotating steering component called a steering wheel, - a first system for detecting the rotational movement of the steering wheel to allow the steering mechanism of the front wheels to be activated according to the rotational movement of the steering wheel. - a second directional organ, - a second system for detecting the movement of said second steering element to enable actuation of the steering mechanism of the steering wheels as a function of the movement of the second steering element, said first and second steering elements being positionable simultaneously inside the cockpit, characterized in that the vehicle comprises a first configuration in which the steering wheel is in the active state and the second steering element is in the inactive state and a second configuration in which the steering wheel is in the inactive state and the second steering element is in the active state, in that the active state of the steering wheel, or respectively of the second steering element, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering element, is permitted, and the actuation of the steering mechanism is at least a function of the movement of the steering wheel, or respectively of the second steering element, in that the inactive state of the steering wheel, or respectively of the second steering element, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering element, is prevented and / or the actuation of the steering mechanism is independent of the movement of the steering wheel, or respectively of the second steering element, in that the first and second configurations are selectively activatable,and in that the vehicle's control unit is configured to command the transition from the first to the second configuration based on at least the data provided by at least one sensor of a parameter representative of the vehicle's speed and at least one additional condition.

[0006] The fact that the two steering mechanisms are selectively active helps to limit the risk of an unintended steering command. Taking the vehicle's speed into account when switching between configurations allows such a configuration change to be performed at zero or low speed, thus preventing the operator from being forced to use a steering mechanism other than the steering wheel for steering control while the vehicle is moving at high speed. Considering an additional condition for switching between configurations further limits the risk of a configuration change that would not be desired by the operator.

[0007] According to one embodiment of the invention, the control unit of the craft is configured to control the transition from the second to the first configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the craft and at least one additional condition.

[0008] According to one embodiment of the invention, the control unit is configured, in the second configuration, to prevent the machine from moving at a speed exceeding a predetermined threshold value. Thus, any risk of controlling the direction of the handling equipment with a steering element having a small range of motion when the machine is moving at high speed is prevented. This results in a reduced risk of accidents without compromising driving comfort in all situations.

[0009] According to one embodiment of the invention, the steering wheel is, in addition to its rotational movement, mounted to move in a direction other than its direction of rotation for a movement between a first position and a second position, the or at least one of the additional conditions being a physical condition related to the position of the steering wheel, and the control unit of the machine is configured to control the The transition from the first to the second configuration is based on data provided by at least one sensor representing a parameter of the vehicle's speed and the steering wheel position. This allows, on the one hand, for freeing up interior space when the driver uses a steering mechanism other than the steering wheel, and on the other hand, for limiting the risk of confusion for the driver between the two steering mechanisms.

[0010] According to one embodiment of the invention, the control unit is configured to control the transition from the second configuration to the first configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the machine and the position of the steering wheel.

[0011] According to one embodiment of the invention, the cockpit includes a dashboard, the first position of the steering wheel is a position protruding from the dashboard, the second position of the steering wheel is a position retracted inside the dashboard and the piloting unit of the craft is configured to control the transition from the first to the second configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the craft and the positioned state of the steering wheel in the second position.

[0012] According to one embodiment of the invention, the machine includes a steering wheel locking device in each of the first and second steering wheel positions and the machine's control unit is configured to control the transition from the first to the second configuration as a function of at least one parameter representing the speed of the machine and the position of the steering wheel in the second position and the locked steering wheel in said position.

[0013] According to one embodiment of the invention, the control unit is configured to control the transition from the second configuration to the first configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the machine and the positioned state of the steering wheel in the first position.

[0014] According to one embodiment of the invention, the second directional member is integrated into a pivoting lever.

[0015] According to one embodiment of the invention, the cockpit comprises at least one movable armrest that pivots between a lowered and an raised position, the second steering element is carried by said armrest, one or at least one of the additional conditions is a physical condition related to the position of said armrest, and the vehicle's control unit is configured to control the transition from the first to the second configuration based on at least one sensor providing a parameter representative of the vehicle's speed and the armrest's position. This results in an easy means for the vehicle's operator to control the transition from one configuration to another while being able to know which configuration is active by simply viewing the interior of the cockpit.

[0016] According to one embodiment of the invention, the control unit of the machine is configured to control the transition from the first to the second configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the machine and the positioned state of the armrest in the lowered position and the control unit of the machine is configured to control the transition from the second configuration to the first configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the machine and the positioned state of the armrest in the raised position.

[0017] According to one embodiment of the invention, the device includes a manually actuated activation member, the or at least one of the additional conditions is a physical condition related to the actuating of said activation member and the control unit of the device is configured to control the transition from the first to the second configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the device and the actuating of said activation member.

[0018] According to one embodiment of the invention, the control unit is configured to control the transition from the second configuration to the first configuration based on at least the data provided by at least one sensor of a parameter representative of the speed of the machine and the actuation of said activation member.

[0019] According to one embodiment of the invention, the machine comprises at least one environmental monitoring system configured to determine at least one characteristic of the environment around the machine, one or more of the additional conditions being a condition related to the data provided by the monitoring system, and the machine's control unit is configured to command the transition from the first to the second configuration based on at least the data provided by at least one sensor of a parameter representative of the machine's speed and the data provided by the monitoring system. It is thus possible to prevent the transition to the second configuration, for example, in case of rain, when the ground is deemed slippery, and / or when the worksite is littered with numerous obstacles.

[0020] According to one embodiment of the invention, the machine includes a device for emitting an audible and / or visual warning signal, and the control unit is configured to trigger the emission of an audible and / or visual warning signal before the machine changes configuration. The emission of an audible and / or visual warning signal serves to alert the operator of the machine before any change of configuration.

[0021] According to one embodiment of the invention, the vehicle comprises a system for detecting the angular position of the steering wheels. The parameter representing the vehicle's speed has a threshold value. The control unit is configured to determine the magnitude of said threshold value as a function of the angular position of the steering wheels. The vehicle's control unit is configured to control the transition from the first to the second configuration based on at least the data provided by at least one sensor of the parameter representing the vehicle's speed relative to said threshold value and at least one additional condition. This design allows the vehicle to transition from one configuration to another at a higher speed if the vehicle's steering wheels are in a straight position, that is, extended parallel to a longitudinal axis of the chassis taken along the front / rear direction of the chassis.

[0022] According to one embodiment of the invention, the control unit is configured to control the transition from the second to the first configuration based on at least the data provided by at least one sensor of the parameter representing the speed of the machine relative to said threshold value and at least one additional condition.

[0023] According to one embodiment of the invention, the control unit is configured to, in the first configuration, control the actuator(s) of the steering mechanism according to the data of the first motion detection system associated with the first steering element which is in the active state and independently of the data of the second motion detection system associated with the second steering element which is in the inactive state and the control unit is configured to, in the second configuration, control the actuator(s) of the steering mechanism according to the data of the second motion detection system associated with the second steering element which is in the active state and independently of the data of the first motion detection system associated with the first steering element which is in the inactive state.

[0024] The invention also relates to a method for controlling a load-handling device, comprising - a chassis equipped with wheels, at least some of which are steerable, - a driver's seat mounted on the chassis, - a driver's control unit, - a load handling system, - a drive system for rotating at least some of the so-called drive wheels, - at least one sensor for a parameter representative of the vehicle's speed of movement, - a steering system comprising a steering mechanism for the steering wheels, including at least one actuator for driving the orientation of said steering wheels, - a first rotating steering component called a steering wheel, - a first system for detecting the rotational movement of the steering wheel to allow the steering mechanism of the front wheels to be activated according to the rotational movement of the steering wheel. - a second directional organ, - a second system for detecting the movement of said second steering element to allow actuation of the steering mechanism of the steering wheels as a function of the movement of the second steering element, said first and second steering elements being positionable simultaneously inside the cockpit, characterized in that the vehicle comprises a first configuration in which the steering wheel is in the active state and the second steering element is in the inactive state and a second configuration in which the steering wheel is in the inactive state and the second steering element is in the active state, in that the active state of the steering wheel, or respectively of the second steering element, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering element, is permitted, and the actuation of the steering mechanism is a function at least of the movement of the steering wheel, or respectively of the second steering element,in that the inactive state of the steering wheel, or respectively of the second steering element, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering element, is prevented and / or the actuation of the steering mechanism is independent of the movement of the steering wheel, or respectively of the second steering element, in that the first and second configurations are selectively activatable, said method includes a step of controlling the transition from the first to the second configuration based at least on data provided by at least one sensor of a parameter representative of the speed of the vehicle and at least one additional condition.

[0025] According to one embodiment of the method, the device is as defined above. Brief description of the drawings

[0026] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the accompanying drawings in which:

[0027] [Fig-1] represents a schematic view of a handling device conforming to the invention;

[0028] [Fig.2] represents a schematic view of a steering system with the systems associated detection;

[0029] [Fig.3] represents a partial schematic view of the interior of a cockpit in the retracted position of the steering wheel corresponding to the second configuration;

[0030] [Fig.4] represents a partial schematic view of the interior of a cockpit in a protruding position from the steering wheel dashboard corresponding to the first configuration;

[0031] [Fig.5] represents in block form the steps for the transition from the first to the second configuration.

[0032] As mentioned above, the invention relates to a load-handling device 1 conforming to that shown in [Fig. 1]. This device 1 comprises a chassis 2. In the example shown, this chassis 2 is equipped with ground support wheels 3 to form a rolling chassis 2. This chassis 2 is surmounted by a driver's station 4. In the example in [Fig. 1], the driver's station 4 has the form of a cab. Inside this cab, at least one seat is provided on which the operator can sit. The device 1 may further comprise, as in the example shown, a drive system 17 for rotating at least some of the wheels 3 of the device 1, referred to as drive wheels, for the ground movement of the device 1.This system 17, which drives at least some of the wheels 3 of the vehicle, may include, in a manner known per se, a thermal engine connected to the wheels 3 by a transmission, or electric or hydraulic motors associated with each drive wheel 3. This system 17, which drives at least some of the wheels 3 of the vehicle 1, is controlled in particular by means of an accelerator pedal (not shown) located in the driver's compartment 4.

[0033] The handling device 1 further comprises a load handling system 5 carried by the chassis 2. This handling system 5 may include, as in the example of [Fig. 1], at least one handling arm mounted on said chassis 2, rotatable about a horizontal axis of rotation, and at least one drive actuator for moving said handling arm about the horizontal axis of rotation. The handling arm is therefore a pivoting arm mounted to pivot about the horizontal axis, orthogonal to the longitudinal axis of the arm, for moving the arm from a lowered position to a raised position and vice versa by means of the actuator, such as a hydraulic cylinder connected to a hydraulic pump by a hydraulic circuit, the pump and circuit not being shown. The arm may be a telescopic arm with an adjustable length between a retracted and an extended position.For this purpose, the arm can be formed of two arm sections, one of which, called the first section, is pivotally coupled to the chassis 2, and the other, called the second section, is mounted by sliding interlocking relative to the first arm section. Alternatively, the arm may not be telescopic.

[0034] The sliding interlocking movement between the arm sections can be obtained using a second actuator of the machine, such as a double-acting cylinder, housed in the first arm section and fixed by its rod to the second arm section to allow a drive in relative movement of the arm sections under the effect of a retraction or extension of the cylinder rod.

[0035] The load handling arm can be equipped, at its free end, with an accessory connected to the arm by a pivot joint. This accessory can be driven around the pivot of the pivot joint by an actuator which can be formed by a double-acting hydraulic cylinder or by two parallel single-acting cylinders powered alternately.

[0036] In the example shown, this accessory includes a fork holder, and the actuator drives the fork holder's movement between a digging position and a tipping position by pivoting the accessory around a horizontal axis orthogonal to the longitudinal axis of the arm. This pivot axis is parallel to the pivot axis connecting the arm to the chassis. The tipping position corresponds to the fork holder's extreme downward pivoting position. The digging position corresponds to the fork holder's upward pivoting position, along with any associated load.

[0037] The handling equipment 1 further includes a piloting unit 16 configured to control at least the load handling system 5 and, in particular, the actuators of said handling system 5 mentioned above.

[0038] The control unit is in the form of an electronic and computer system which includes, for example, a microprocessor and working memory. In one particular aspect, the control unit may be in the form of a programmable logic controller (PLC). In other words, the functions and steps described may be implemented as a computer program or via hardware components (e.g., programmable gate networks).In particular, the functions and steps performed by the control unit or its modules can be carried out by instruction sets or computer modules implemented in a processor or controller, or by dedicated electronic components, or by components such as field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs). It is also possible to combine computer and electronic components. When it is specified that the unit, or the means or modules of said unit, are configured to perform a given operation, this means that the unit includes... computer instructions and the corresponding means of execution which enable said operation to be carried out and / or that the unit includes corresponding electronic components.

[0039] The pilot unit 16 therefore controls the handling system 5 and, in particular, the movements of the arm and the accessory by controlling the corresponding actuators via the hydraulic circuit when the actuators are hydraulic cylinders.

[0040] The control signals provided by the pilot unit 16 generally act on components, such as a distributor or valve, arranged on the link between the pump and the actuators to allow an appropriate fluid supply to the actuators in a manner known in itself.

[0041] The handling equipment 1 further includes a control device for the load handling system 5. This control device is manually operated and provides control signals to the pilot unit 16. These control signals are processed by the pilot unit 16. The pilot unit 16 generates, from these control signals, control signals for at least the load handling system 5 as described above.

[0042] The control device for the load handling system 5 may include a pivoting lever, also called a joystick. This pivoting lever, shown as 23 in the figures, may also allow control of the drive motor system 17, which rotates the drive wheels 3 of the machine 1. This pivoting lever 23 can be moved in the forward / rear direction of the machine to control its direction of travel in forward or reverse, from a neutral position. The pivoting lever 23 can also be moved from the neutral position in the left / right direction to control the pivoting movement of the attachment of the load handling system 5.

[0043] The device 1 includes a steering system 7 for steering the device 1 on the ground. This steering system 7 includes at least one steering mechanism 8 for the steering wheels 3, comprising at least one actuator 9 for rotating the steering wheels 3. The device 1 may include two steering wheels 3 and a single steering mechanism 8, or four steering wheels 3 and two steering mechanisms 8, namely one per pair of wheels.

[0044] The design of the steering mechanism(s) 8 for the steering wheels 3 is of little importance within the scope of the invention. Steering mechanisms 8 are well known to those versed in this art.

[0045] In the case of [Fig. 2] where the front and rear wheels are steerable, a steering mechanism 8 is therefore provided for each pair of wheels. The steering mechanism or mechanisms 8 comprise a hydraulic steering circuit supplying one or more Actuators 9, such as hydraulic steering cylinders, are associated with the wheels of the machine. Each cylinder system associated with the front or rear wheels may comprise two separate cylinders, each comprising a cylinder body and a piston mounted to slide within the cylinder body and having a rod extending from one side of the cylinder body to be coupled to a wheel. Alternatively, each cylinder system may comprise two cylinders, each comprising a common cylinder body and two pistons mounted to slide within the body, each piston having a rod extending from the cylinder body on the opposite side to the other rod.

[0046] A selector 19 allows the hydraulic steering circuit oil to be directed to the front steering cylinders only, or to the rear steering cylinders only, or to both the front and rear steering cylinders in certain operating modes, when the machine 1 permits it. Details of such steering mechanisms are described, for example, in international application WO 2023 / 105135.

[0047] Alternatively, the device 1 can therefore comprise a single mechanism 8 for steering the front or rear wheels without departing from the scope of the invention.

[0048] To enable control of the steering mechanism(s) 8, the craft 1 comprises a first rotary steering element, hereinafter referred to as the steering wheel 10, and a second steering element 12. In the example shown in [Fig. 3], the second steering element 12 is integrated into a pivoting lever. The first and second steering elements are located inside the cockpit 4. The steering elements preferably have different ranges of motion. Preferably, the second steering element 12 has a narrower range of motion than the first steering element. Each steering element is associated with a system for detecting the movement of said steering element.Thus, the steering wheel 10 is associated with a first system 11 for detecting the rotational movement of the steering wheel 10 in order to allow the steering mechanism 8 of the steering wheels 3 to be actuation according to the rotational movement of the steering wheel 10.

[0049] In practice, the first steering wheel rotation detection system 11 may include an angular sensor 110 for detecting an angular displacement of the steering wheel 10. The data from this angular sensor is provided to the control unit 16, which controls the actuator(s) 9 of the steering mechanism 8 based on said data. Similarly, the second steering element 12 is associated with the second movement detection system 13, in this case pivoting, of the second steering element 12, to allow actuation of the steering mechanism 8 of the steering wheels 3 based on the pivoting movement of the second steering element 12.

[0050] The second detection system 13 may include a position sensor 131 for the pivoting lever constituting the second directional member 12. This pivoting lever can pivot, in the example of [Fig. 3], in the left / right direction.

[0051] In the example shown, the cockpit 4 includes at least one movable armrest 42 that pivots between a lowered and an raised position. The second directional control 12 is supported by said armrest 42.

[0052] The position sensor data for the pivoting lever is provided to the control unit 16, which controls the actuator(s) 9 of the steering mechanism 8 based on said data. Obviously, the first and second detection systems can take other forms without departing from the scope of the invention.

[0053] The device 1 comprises a first configuration in which the steering wheel 10 is in the active state and the second steering element 12 is in the inactive state, and a second configuration in which the steering wheel 10 is in the inactive state and the second steering element 12 is in the active state. The active state of the steering wheel 10 corresponds to a state in which movement of the steering wheel 10 is permitted and the actuation of the steering mechanism 8 is at least a function of the movement of the steering wheel 10.

[0054] Similarly, the active state of the second directional member 12 corresponds to a state in which the movement of the second directional member 12 is permitted, and the actuation of the steering mechanism 8 is at least dependent on the movement of the second directional member 12. The inactive state of the steering wheel 10 corresponds to a state in which the movement of the steering wheel 10 is prevented or the actuation of the steering mechanism 8 is independent of the movement of the steering wheel 10, such that a movement of the steering wheel 10 has no effect on the actuation of the steering mechanism.

[0055] Similarly, the inactive state of the second directional member 12 corresponds to a state in which the movement of the second directional member 12 is prevented, or the actuation of the steering mechanism 8 is independent of the movement of the second directional member 12, so that a movement of the second directional member 12 has no effect on the actuation of the steering mechanism 8.

[0056] The first and second configurations are selectively activatable. Thus, in the inactive state of a steering element, the control unit 16 can receive data from the associated detection system, but not process it, or process it but not transmit control signals to the steering mechanisms.

[0057] In practice, the control unit 16 is configured, in the first configuration, to control the actuator(s) 9 of the steering mechanism 8 according to the data from the first motion detection system 11 associated with the first steering element which is in the active state, and independently of the data from the second motion detection system 13 associated with the second element 12 directional which is in the inactive state, and the pilot unit 16 is configured to, in the second configuration, control the actuator(s) 9 of the steering mechanism 8 according to the data of the second motion detection system 13 associated with the second directional element 12 which is in the active state and independently of the data of the first motion detection system 11 associated with the first directional element which is in the inactive state.

[0058] The device 1 further comprises at least one sensor 6 for a parameter representative of the ground speed of the device 1. Again, such a sensor 6 can comprise a large number of shapes. This sensor 6 can be integrated into the wheels 3 of the device to detect a rotation of the wheels 3. This sensor 6 can be integrated into the pivoting lever 23 for controlling the direction of travel of the device described above to detect the neutral position of the lever corresponding, for the control unit 16, to a travel speed equal to 0. This sensor 6 can also be associated with the actuation of the brake pedal of the device.

[0059] Indeed, many parameters, such as the depressment of the brake pedal, the actuation of the parking brake, the neutral position of the control lever for the direction of travel of the machine, the rotation speed of the wheels of the machine or others can be considered as parameters representative of the ground speed of the machine 1. Such parameters make it possible in particular to identify a zero speed of the machine or an actual speed of the machine, as is the case for the speed sensor associated with the wheels 3 of the machine.

[0060] Characteristically to the invention, the control unit 16 is configured to control the transition from the first to the second configuration based on at least the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1, and at least one additional condition. Taking into account the data provided by the sensor 6 of a parameter representative of the speed of the vehicle 1 makes it possible to prevent the transition from one configuration to another at a high vehicle speed, which could have the effect of disrupting the vehicle operator. Indeed, the vehicle operator could, for example, be forced, at high speed, to steer the vehicle with the pivoting lever constituting the second directional element 12, which could prove dangerous due to the small range of motion of the second directional element 12.

[0061] Ideally, the control unit 16 of the vehicle 1 is configured to command the switch from the first to the second configuration when the vehicle's speed is zero or below a threshold value preferably between 5 and 10 km / h. It may be possible to vary this threshold value when the vehicle 1 includes a system 20 for detecting the angular position of the steering wheels 3. Again, such a system 20 for detecting the angular position of the steering wheels 3 may be formed by a wheel position sensor, in particular, a wheel steering detection sensor.

[0062] The control unit 16 is configured to determine the magnitude of the threshold speed of the vehicle beyond which the control unit 16 cannot command the vehicle 1 to switch from the first configuration to the second configuration, or even from the second configuration to the first configuration. This magnitude of the threshold value can vary depending on the angular position of the steering wheels 3.

[0063] Thus, for example, when the wheels are straight, that is, not turned, or parallel to the longitudinal axis of the chassis of the vehicle 1 viewed from the front / rear direction, the magnitude of the threshold value is greater than the magnitude of this threshold value when the wheels are turned. It is considered, in fact, that when the steering wheels are straight, the vehicle is more stable. For example, if the threshold value is equal to 5 km / h when the wheels are straight, it can be equal to 4 km / h as soon as wheel turning is detected and gradually decrease until it reaches a value of zero in the maximum wheel turning position.

[0064] The control unit 16 is therefore configured to control the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the craft 1 in relation to said threshold value, and on at least one additional condition.

[0065] Obviously, the same can be true for the transition from the second configuration to the first configuration. Indeed, the control unit 16 of the vehicle 1 is configured to control the transition from the second to the first configuration based at least on the data provided by the sensor 6 of a parameter representative of the speed of the vehicle 1 and at least one additional condition.

[0066] Again, in this case, the magnitude of the threshold value can be a function of the angular position of the steering wheels 3. It should be noted that, preferably, the steering unit 16 is configured so that, in the second configuration, it prevents the vehicle 1 from moving at a speed exceeding a predetermined threshold value. In other words, in the second configuration, the maximum ground speed of the vehicle 1 is lower than the maximum ground speed of the vehicle 1 in the first configuration. This results from the fact that the second steering element 12 has a smaller range of motion than the first steering element, which is the steering wheel 10.

[0067] The at least one additional condition necessary for the transition from the first configuration to the second configuration, and vice versa, is a function of the design of the machine 1. The steering wheel of the machine 1 can be, in addition to its rotational movement, mounted to move in a direction other than its direction of rotational movement for a displacement between a first position and a second position. In particular, the cockpit 4 includes an instrument panel 41. The first position of the steering wheel 10 is a protruding position on the instrument panel 41. The second position of the steering wheel 10 is a retracted position inside the instrument panel 41. In this case, the additional condition(s) is a physical condition, which is the position of the steering wheel 10.

[0068] The piloting unit 16 can therefore be configured to control the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1 and, in the positioned state of the steering wheel 10, in the second position, and to control the transition from the second to the first configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1 and, in the positioned state of the steering wheel 10 in the first position.

[0069] To complete this embodiment, the device 1 may include a locking device 14 for the steering wheel 10 in each of the first and second positions of the steering wheel 10.

[0070] The piloting unit 16 is configured to control the transition from the first to the second configuration based at least on the data provided by the sensor 6 of a parameter representative of the speed of the vehicle 1 and on the state of the steering wheel 10 positioned in the second position and locked of the steering wheel 10 in said position.

[0071] Similarly, the piloting unit 16 is configured to control the transition from the second to the first configuration based on at least the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1 and the positioned state of the steering wheel 10 in the first position and locked of the steering wheel 10 in said position.

[0072] The operation is therefore as follows: it is assumed that the vehicle 1 is in the first configuration, i.e., that the steering wheel 10 is active and the second steering element 12 is inactive. The actuation of the steering mechanism 8 is a function of the movement of the steering wheel 10. The steering wheel 10 is in a protruding position from the dashboard, as illustrated in [Fig. 4], and the lock, when present, is active. To allow the transition from the first configuration to the second configuration, the vehicle operator must unlock this lock to allow the steering wheel 10 to move from a protruding position to a retracted position when the lock is present. The vehicle operator must then move the steering wheel 10 into the retracted position. These operations can only be performed if the vehicle's speed is zero or below a threshold value.

[0073] When the steering wheel 10 is locked in the retracted position or, in the absence of a lock, when the retracted position of the steering wheel 10 is detected, for example by a position sensor, and the speed of the machine is still zero or less At a threshold value, the control unit 16 commands the switch from the first configuration to the second configuration; that is, the second directional element 12 is activated, and the actuation of the steering mechanism 8 is a function of the movement of this second directional element 12. A movement of the steering wheel 10, when possible, has no effect on the steering mechanism 8 in this second configuration.

[0074] The retracted position of the steering wheel 10 and the fact that the vehicle's speed is zero or below a threshold value therefore allow the transition to the second configuration and, consequently, the activation of the second directional component 12. Returning to the first configuration is achieved by reversing the operations.

[0075] Alternatively and / or in addition, the control unit 16 can be configured to control the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1, and of the position of the armrest 42.

[0076] Thus, the control unit 16 is configured to control the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1 and, in the positioned state of the armrest 42 in the lowered position, and the control unit 16 is configured to control the transition from the second configuration to the first configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the vehicle 1 and in the positioned state of the armrest 42 in the raised position.

[0077] It is assumed that the vehicle 1 is in the first configuration and that the armrest is in the raised position. A position sensor detects the lowered or raised position of the armrest. The driver wishes to switch from the first to the second configuration. For example, the driver simply needs to partially or completely stop the vehicle 1 so that its forward speed is zero or less than a threshold value, and then lower the armrest so that the control unit 16 activates the second steering element 12 and deactivates the steering wheel 10. This armrest position condition 42 can be combined with the steering wheel position condition 10. Again, returning to the first configuration can be achieved by reversing these steps.

[0078] It can be seen that each time these conditions free up space in the cockpit 4, depending on which steering control is activated. Thus, the retracted position of the steering wheel frees up space in the cockpit 4 when the second steering control 12 is active. Similarly, raising the armrest 42, when the second steering control 12 is not needed, i.e., is inactive, frees up space in the cockpit 4.

[0079] Alternatively and / or in addition, the device 1 may include a manually actuated activation member 15. The additional condition, or at least one of the additional conditions, is a physical condition related to the actuation of said activation member 15, and the control unit 16 of the device 1 is configured to control the transition from the first to the second configuration based, at least, on data provided by at least one sensor 6 of a parameter representative of the speed of the device 1, and on the actuation of said activation member 15.

[0080] This activation device 15 can be a simple switch located on the dashboard and its actuation in combination with a speed of zero or less than a threshold value of the vehicle 1 allows the transition from one configuration to another.

[0081] The craft 1 may further include at least one environmental monitoring system 21 configured to determine at least one characteristic of the environment around the craft 1. The or at least one of the additional conditions is a condition related to the data provided by the monitoring system 21, and the craft 1 control unit 16 is configured to control the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the craft 1 and the data provided by the monitoring system 21.

[0082] Preferably, this environmental monitoring system 21 comprises at least one image-capturing device, such as a camera. However, this environmental monitoring system 21 can take many forms.

[0083] The data provided by the camera is sent to the control unit 16, which can determine, based on the camera data, for example, the presence of obstacles around the vehicle 1 or slippery terrain. Such conditions can, for example, prevent the transition from the first to the second configuration, or vice versa.

[0084] Finally, to complete the device 1, the latter may include a device 22 for emitting an audible and / or visual warning signal, and the control unit 16 is configured to control the emission of an audible and / or visual warning signal prior to switching from one configuration to another of said device.

[0085] This device 22 for emitting an audible and / or visual warning signal may be in the form of an alarm which emits an audible signal inside the cockpit of the cockpit 4 when the conditions are met for a change of configuration.

[0086] Alternatively and / or in addition, this device 22 for emitting an audible and / or visual warning signal may take the form, for example, of a witness a light located on the dashboard that lights up or flashes when the conditions for a configuration change are met.

[0087] The examples described above illustrate that the method of controlling the craft always includes a step of controlling the transition from the first to the second configuration based at least on the data provided by at least one sensor 6 of a parameter representative of the speed of the craft 1 and at least one additional condition.

[0088] Thus, as illustrated in [Fig. 5], it is assumed at step S0 that the machine is in the first configuration, i.e. that the steering wheel 10 is in the active state and the second directional member 12 is in the inactive state. In this first configuration, the control unit 16 is configured to control the actuator(s) 9 of the steering mechanism 8 according to the data from the first motion detection system 11 associated with the steering wheel 10 and independently of the data from the second motion detection system 13 associated with the second directional member 12.

[0089] In step S1, the control unit 16 verifies that the vehicle's ground speed is less than or equal to a predetermined threshold value, which may be zero. If the result of this test is positive, then in step S2 the control unit 16 verifies whether the additional condition is met. For example, the control unit 16 verifies whether the steering wheel 10 is in the retracted position and / or whether the armrest is in the lowered position and / or whether the activation device is actuated and / or whether the characteristics of a favorable environment are met. If the result of this test is positive, then in step S3 the control unit 16 commands the vehicle to switch to the second configuration.

[0090] In this second configuration, the steering wheel 10 is in the inactive state, i.e. the movement of the steering wheel 10 is prevented or the actuation of the steering mechanism 8 is independent of the movement of the steering wheel 10, so that a movement of the steering wheel 10 has no effect on the actuation of the steering mechanism 8 and the second steering member 12 is active, i.e. the actuators 9 of the steering mechanism 8 are controlled by the piloting unit 16 at least according to the data provided by the second system 13 for detecting the movement of the second steering member 12.

Claims

1. Claims Load handling machine (1) comprising - a chassis (2) equipped with wheels (3) of which at least some are steered, - a driving position (4) carried by the chassis (2), - a control unit (16), - a load handling system (5), - a motor system (17) for driving in rotation at least part of the so-called driving wheels (3), - at least one sensor (6) of a parameter representative of the speed of movement of the machine (1), - a steering system (7) comprising at least one mechanism (8) for steering the steered wheels (3) comprising at least one actuator (9) for driving the orientation of said steered wheels, - a first rotary directional organ called a steering wheel (10), - a first system (11) for detecting the rotary movement of the steering wheel to enable actuation of the steering mechanism (8) of the steered wheels (3) as a function of the rotary movement of the steering wheel (10), - a second directional member (12), - a second system (13) for detecting the movement of said second steering member (12) to enable actuation of the steering mechanism of the steered wheels (3) as a function of the movement of the second steering member (12), said first and second steering members (10, 12) being positionable simultaneously inside the cockpit (4), the machine (1) comprising a first configuration in which the steering wheel (10) is in the active state and the second steering member (12) is in the inactive state and a second configuration in which the steering wheel (10) is in the inactive state and the second steering member (12) is in the active state, the active state of the steering wheel (10), or respectively of the second steering member (12), corresponding to a state in which the movement of the steering wheel (10), or respectively of the second steering member (12), is authorized, and the actuation of the steering mechanism (8) is a function at least of the movement of the steering wheel (10),or respectively of the second directional organ (12), the inactive state of the steering wheel (10), or respectively of the second steering member (12), corresponding to a state in which the movement of the steering wheel (10), or respectively of the second steering member (12), is prevented and / or the actuation of the steering mechanism (8) is independent of the movement of the steering wheel (10), or respectively of the second steering member, the first and second configurations being selectively activatable, and the unit (16) for controlling the machine (1) being configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1) and of at least one additional condition, characterized in that the steering wheel (10) is, in addition to its rotational movement, mounted to move in a direction other than its direction of rotational movement for a movement between a first position and a second position,in that the or at least one of the additional conditions is a physical condition linked to the position of the steering wheel (10) and in that the unit (16) for controlling the machine (1) is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1) and of the position of the steering wheel (10).,

2. Load handling machine (1) according to claim 1, characterized in that the unit (16) for controlling the machine (1) is configured to control the transition from the second to the first configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1) and of at least one additional condition.

3. Load handling machine (1) according to one of claims 1 or 2, characterized in that the control unit (16) is configured to, in the second configuration, prevent movement of the machine (1) at a speed greater than a predetermined threshold value.

4. Load handling machine (1) according to one of claims 1 to 3, characterized in that the control station (4) comprises a dashboard (41), in that the first position of the steering wheel is a position projecting from the dashboard (41), in that the second position of the steering wheel (10) is a position retracted inside the dashboard (41) and in that the control unit (16) of the machine (1) is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1) and the positioned state of the steering wheel (10) in the second position.

5. Load handling machine (1) according to claim 4, characterized in that it comprises a device (14) for locking the steering wheel (10) in each of the first and second positions of the steering wheel (10) and in that the unit (16) for controlling the machine is configured to control the transition from the first to the second configuration as a function of at least one parameter representative of the speed of the machine (1) and the positioned state of the steering wheel (10) in the second position and locked state of the steering wheel (10) in said position.

6. Load handling machine (1) according to one of claims 1 to 5, characterized in that the second directional member (12) is integrated in a pivoting lever.

7. Load handling machine (1) according to one of claims 1 to 6, characterized in that the driving position (4) comprises at least one armrest (42) mounted to pivot between a lowered position and a raised position, in that the second directional member (12) is carried by said armrest (42), in that at least one of the additional conditions is a physical condition linked to the position of said armrest (42) and in that the unit (16) for controlling the machine (1) is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1), the position of the steering wheel (10) and the position of the armrest (42).

8. Load handling machine (1) according to claim 7, characterized in that the unit (16) for controlling the machine is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1), the position of the steering wheel (10) and the positioned state of the armrest (42) in the lowered position and the unit (16) for controlling the machine is configured to control the transition from the second configuration to the first configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1), the position of the steering wheel and the positioned state of the armrest (42) in the raised position.

9. Load handling machine (1) according to one of claims 1 to 8, characterized in that it comprises a manually operable activation member (15), in that at least one of the additional conditions is a physical condition linked to the actuation of said activation member (15) and in that the unit (16) for controlling the machine (1) is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1), the position of the steering wheel (10) and the actuation of said activation member (15).

10. Load handling machine (1) according to one of claims 1 to 9, characterized in that the machine (1) comprises at least one environmental monitoring system (21) configured to determine at least one characteristic of the environment around the machine (1), in that at least one of the additional conditions is a condition linked to the data provided by the monitoring system (21) and in that the unit (16) for controlling the machine (1) is configured to control the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of a parameter representative of the speed of the machine (1), the position of the steering wheel (10) and the data provided by the monitoring system (21).

11. Load handling machine (1) according to one of claims 1 to 10, characterized in that it comprises a device (22) for emitting an audible and / or luminous alert signal and in that the control unit (16) is configured to control the emission of an audible and / or luminous alert signal before the transition from one configuration to another of said machine (1).

12. Load handling machine (1) according to one of claims 1 to 11, characterized in that it comprises a system (20) for detecting the angular position of the steered wheels (3), in that the parameter representative of the speed of the machine (1) has a threshold value, in that the control unit (16) is configured to determine the magnitude of said threshold value as a function of the angular position of the steered wheels (3) and in that the control unit (16) of the machine (1) is configured to control the passage

13. from the first to the second configuration as a function at least of the data provided by the at least one sensor (6) of the parameter representative of the speed of the machine (1) relative to said threshold value and of the position of the steering wheel (10). Load handling machine (1) according to one of claims 1 to 12, characterized in that the control unit (16) is configured to, in the first configuration, control the actuator(s) (9) of the steering mechanism (8) as a function of the data of the first movement detection system (11) associated with the first steering member which is in the active state and independently of the data of the second movement detection system (13) associated with the second steering member (12) which is in the inactive state, and in that the control unit (16) is configured to, in the second configuration, control the actuator(s) (9) of the steering mechanism (8) as a function of the data of the second movement detection system (13) associated with the second steering member (12) which is in the active state and independently of the data of the first movement detection system (11) associated with the first steering member which is in the inactive state.

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