Load handling machine and its control method

Abstract

Load handling machine (1) comprising - a rolling chassis (2) with engine, - a driving station (4), - a driving unit (16), - a load handling system (5), - a sensor (6) for the speed of movement of the machine (1), - a steering system comprising a steering mechanism for the steered wheels, - a steering wheel (10), - a second directional member (12). The machine (1) comprises a first configuration in which the steering wheel (10) is in the active state and the second directional 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 directional member (12) is in the active state, the first and second configurations are selectively activatable and 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 at least one additional condition. Figure for abstract: Fig. 1

Description

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

[0001] The present invention relates to a load handling machine 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 steered, - a driving station carried by the chassis, - a driving unit, - a load handling system, - a motor system for driving in rotation at least some of the so-called driving wheels, - at least one sensor of a parameter representative of the speed of movement of the machine, - a steering system comprising a steering mechanism of the steered wheels comprising at least one actuator for driving in orientation of said steered wheels, - a first rotary steering member called a steering wheel, - a first system for detecting the rotary movement of the steering wheel to allow actuation of the steering mechanism of the steered wheels as a function of the rotary movement of the steering wheel, - a second steering member,- a second system for detecting the movement of said second steering member to enable actuation of the steering mechanism of the steered wheels as a function of the movement of the second steering member, said first and second steering members being positionable simultaneously inside the cockpit.

[0003] Such a load handling machine is known. This handling machine has two situations of use, namely, on the road, and on the construction site, also called "off road", that is to say literally off road. Generally, the handling machine moves on the road at a higher speed than on the construction site. On the road, a relatively large range of movement of the steering member is necessary to allow the driver of the machine to clearly feel the steering movements applied to the wheels when the speed of movement of the machine is high and to mitigate the risks of deviation from direction on the road. The presence of a steering wheel makes it possible to control the direction of the machine in good conditions. On a construction site, however, a smaller range of motion of the steering mechanism is sufficient to control the steering of the machine's wheels at low speeds. For this reason, there are now load handling machines with two steering mechanisms, with one of the steering mechanisms in the form of a steering wheel. This solution improves driving comfort and reduces the risk of musculoskeletal disorders. In such a load handling machine with two steering mechanisms, both steering mechanisms are kept permanently active. Therefore, since the steering wheel always remains active, unintentional actuation of the steering wheel cannot be ruled out while the machine driver is operating the other steering mechanism. This results in unwanted steering control.

[0004] An aim of the invention is to propose a handling machine 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 machine comprising - a chassis equipped with wheels, at least some of which are steered, - a driver's station carried by the chassis, - a driver's unit, - a load handling system, - a motor system for driving rotation of at least part of the so-called driving wheels, - at least one sensor of a parameter representative of the speed of movement of the machine, - a steering system comprising at least one steering mechanism for the steered wheels comprising at least one actuator for driving the orientation of said steered wheels, - a first rotating directional organ called a steering wheel, - a first system for detecting the rotary movement of the steering wheel to enable actuation of the steering mechanism of the steered wheels as a function of the rotary movement of the steering wheel, - a second directional body, - a second system for detecting the movement of said second steering member to enable actuation of the steering mechanism of the steered wheels as a function of the movement of the second steering member, said first and second steering members being positionable simultaneously inside the cockpit, characterized in that the machine comprises a first configuration in which the steering wheel is in the active state and the second steering member is in the inactive state and a second configuration in which the steering wheel is in the inactive state and the second steering member is in the active state, in that the active state of the steering wheel, or respectively of the second steering member, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering member, 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 member, in that the inactive state of the steering wheel, or respectively of the second steering member, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering member, 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 member, in that the first and second configurations are selectively activatable,and in that the control unit of the machine is configured to control the transition from the first to the second configuration as a function of at least the data provided by the at least one sensor of a parameter representative of the speed of the machine and of at least one additional condition.

[0006] The fact that the two steering members are selectively active makes it possible to limit the risks of an unwanted steering command. Taking into account the speed of the machine for the transition from one configuration to another makes it possible to carry out such a configuration change at zero or low speed to allow the operator not to be forced to use the steering member other than the steering wheel for the steering control while the machine is moving at a high speed. Taking into account an additional condition for the transition from one configuration to another makes it possible to limit the risks 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 machine 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 of a parameter representative of the speed of the machine and of at least one additional condition.

[0008] According to one embodiment of the invention, the control unit is configured to, in the second configuration, prevent movement of the machine at a speed greater than a predetermined threshold value. Thus, any risk of controlling the direction of the handling machine with a steering member with a small amplitude of movement when the machine is moving at a high speed is prevented. This results in a reduced risk of accident without affecting 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 rotational movement for movement between a first position and a second position, the or at least one of the additional conditions is a physical condition linked to the position of the steering wheel and the control unit of the machine is configured to control the switching from the first to the second configuration based at least on the data provided by the at least one sensor of a parameter representative of the speed of the machine and the position of the steering wheel. Thus, it is possible on the one hand to free up the interior volume when the driver uses the steering organ other than the steering wheel, and on the other hand to limit the risks of confusion for the driver of the machine between the two steering organs.

[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 as a function of at least the data provided by the 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 comprises a dashboard, the first position of the steering wheel is a position projecting from the dashboard, the second position of the steering wheel is a position retracted inside the dashboard and the control unit of 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 of a parameter representative of the speed of the machine and the positioned state of the steering wheel in the second position.

[0012] According to one embodiment of the invention, the machine comprises a device for locking the steering wheel in each of the first and second positions of the steering wheel and the control unit of 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 and the positioned state of the steering wheel in the second position and locked state of the 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 as a function at least of the data provided by the 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 armrest mounted so as to pivot between a lowered position and a raised position, the second steering member is carried by said armrest, the or at least one of the additional conditions is a physical condition linked to the position of said armrest and the control unit of 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 of a parameter representative of the speed of the machine and the position of the armrest. This results in an easy means for the driver of the machine to control the transition from one configuration to another while being able to know which configuration is active by simply viewing it from inside 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 as a function at least of the data provided by the 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 as a function at least of the data provided by the 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 machine comprises a manually actuable activation member, the or at least one of the additional conditions is a physical condition linked to the actuation of said activation member and the control unit of 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 of a parameter representative of the speed of the machine and the actuation 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 as a function of at least the data provided by the 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, the or at least one of the additional conditions is a condition linked to the data provided by the monitoring system and the control unit of the machine is configured to control the transition from the first to the second configuration as a function of at least the data provided by the at least one sensor of a parameter representative of the speed of the machine and the data provided by the monitoring system. It is thus possible to prevent the transition to the second configuration for example in the event of rain, when the ground is considered slippery, and / or when the site is strewn with numerous obstacles.

[0020] According to one embodiment of the invention, the machine comprises a device for emitting an audible and / or light alert signal and the control unit is configured to control the emission of an audible and / or light alert signal before the transition from one configuration to another of said machine. The emission of an audible and / or light alert signal makes it possible to attract the attention of the driver of the machine before any change of configuration.

[0021] According to one embodiment of the invention, the machine comprises a system for detecting the angular position of the steered wheels, the parameter representative of the speed of the machine 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 steered wheels and the control unit of 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 of the parameter representative of the speed of the machine with respect to said threshold value and at least one additional condition. This design can make it possible to transition from one configuration to another at a higher speed of movement of the machine if the steered wheels of the machine are in a straight position, that is to say extend parallel to a longitudinal axis of the chassis taken in 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 as a function of at least the data provided by the at least one sensor of the parameter representative of 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 as a function of the data of the first movement detection system associated with the first steering member which is in the active state and independently of the data of the second movement detection system associated with the second steering member 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 as a function of the data of the second movement detection system associated with the second steering member which is in the active state and independently of the data of the first movement detection system associated with the first steering member which is in the inactive state.

[0024] The invention also relates to a method for controlling a load handling machine, comprising - a chassis equipped with wheels, at least some of which are steered, - a driving position carried by the chassis, - a driving unit, - a load handling system, - a motor system for driving rotation of at least part of the so-called driving wheels, - at least one sensor of a parameter representative of the speed of movement of the machine, - a steering system comprising a steering mechanism for the steered wheels comprising at least one actuator for driving the orientation of said steered wheels, - a first rotating directional organ called a steering wheel, - a first system for detecting the rotary movement of the steering wheel to enable actuation of the steering mechanism of the steered wheels as a function of the rotary movement of the steering wheel, - a second directional body, - a second system for detecting the movement of said second steering member to enable actuation of the steering mechanism of the steered wheels as a function of the movement of the second steering member, said first and second steering members being positionable simultaneously inside the cockpit, characterized in that the machine comprises a first configuration in which the steering wheel is in the active state and the second steering member is in the inactive state and a second configuration in which the steering wheel is in the inactive state and the second steering member is in the active state, in that the active state of the steering wheel, or respectively of the second steering member, corresponds to a state in which the movement of the steering wheel, or respectively of the second steering member, is authorized, 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 member,in that the inactive state of the steering wheel, or respectively of the second steering member, corresponding to a state in which the movement of the steering wheel, or respectively of the second steering member, 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 member, in that the first and second configurations being selectively activatable, said method comprises a step of controlling the transition from the first to the second configuration as a function at least of the data provided by the at least one sensor of a parameter representative of the speed of the machine and of at least one additional condition.

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

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

[0027] [Fig-1] represents a schematic view of a handling machine 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 the projecting position of the steering wheel dashboard corresponding to the first configuration;

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

[0032] As mentioned above, the invention relates to a load handling machine 1 in accordance with that shown in [Fig. 1]. This machine 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 driving station 4. In the example of [Fig. 1], the driving station 4 takes the form of a cockpit. Inside this cabin is provided at least one seat on which the operator can sit. The machine 1 may also comprise, as in the example shown, a motor system 17 for driving in rotation at least some of the wheels 3 of the machine 1 called driving wheels for movement on the ground of the machine 1.This motor system 17 for driving at least some of the wheels 3 of the machine in rotation may comprise, 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 motor system 17 for driving at least a portion of the wheels 3 of the machine 1 in rotation is controlled in particular using an accelerator pedal, not shown, arranged in the cockpit 4.

[0033] The handling machine 1 also comprises a load handling system 5 carried by the chassis 2. This handling system 5 may comprise, as in the example of [Fig. 1], at least one handling arm mounted on said chassis 2 movable in rotation about a horizontal axis of rotation and at least one actuator for driving the movement of 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 the passage of the arm from a low position to a high position and vice versa using the actuator, such as a hydraulic cylinder connected to a hydraulic pump by a hydraulic circuit, the pump and the circuit not being shown. The arm may be a telescopic arm of adjustable length between a retracted position and an extended position of the arm.For this purpose, the arm may be formed of two arm sections, one of which, called the first section, is pivotally coupled to the frame 2 and the other of which, called the second section, is mounted to slide in relation 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 an extension of the cylinder rod.

[0035] The load handling arm may be equipped, at its free end, with an accessory connected to the arm by a pivoting connection. This accessory may be driven around the pivot of the pivot connection by an actuator which may again be formed by a double-acting hydraulic cylinder or by two parallel single-acting cylinders supplied in turn.

[0036] In the example shown, this accessory comprises a fork carrier and the actuator allows the fork carrier to be driven in movement between a digging position and a dumping position by pivoting the accessory around a so-called 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 dumping position corresponds to the extreme position of pivoting towards the ground of the fork carrier. The digging position of the fork carrier corresponds to an upward pivoting position of the fork carrier and the associated load when the latter is present.

[0037] The handling machine 1 also comprises a control 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 comprises, for example, a microprocessor and a working memory. According to a particular aspect, the control unit may be in the form of a programmable controller. In other words, the functions and steps described may be implemented in the form of a computer program or via hardware components (e.g., programmable gate arrays).In particular, the functions and steps performed by the control unit or its modules may be performed by instruction sets or computer modules implemented in a processor or controller or may be performed by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts. When it is specified that the unit or means or modules of said unit are configured to perform a given operation, this means that the unit comprises . computer instructions and the corresponding means of execution which enable said operation to be carried out and / or that the unit comprises corresponding electronic components.

[0039] The control 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 supplied by the control unit 16 generally act on members, such as distributors or valves, arranged on the connection between the pump and the actuators to allow an appropriate supply of fluid to the actuators in a manner known per se.

[0041] The handling machine 1 also comprises a device for controlling the load handling system 5. This control device is manually operated and makes it possible to supply control signals to the control unit 16. These control signals are processed by the control unit 16. The control unit 16 generates, from these control signals, control signals at least for the load handling system 5 as described above.

[0042] The control device of the load handling system 5 may comprise a pivoting lever also called a joystick. This pivoting lever, shown at 23 in the figures, may also allow the control of the motor system 17 for driving the rotation of the drive wheels 3 of the machine 1. This pivoting lever 23 may be moved in the forward / rearward direction of the machine to control the direction of movement of the machine in forward or reverse gear, from a neutral position. The pivoting lever 23 may also move from the neutral position in the left / right direction to control the pivoting movement of the accessory of the load handling system 5.

[0043] The machine 1 comprises a steering system 7 to enable the machine 1 to be steered on the ground. This steering system 7 comprises at least one mechanism 8 for steering the steered wheels 3 comprising at least one actuator 9 for driving the steered wheels 3 in rotation. The machine 1 may comprise two steered wheels 3 and a single steering mechanism 8, or four steered wheels 3 and two steering mechanisms 8, namely one per pair of wheels.

[0044] The design of the or each steering mechanism 8 of the steered wheels 3 is of little importance in the context of the invention. The steering mechanisms 8 are well known to those skilled in the art.

[0045] In the case of [Fig.2] where the front and rear wheels are steered, a steering mechanism 8 is therefore provided per pair of wheels. The or each steering mechanism 8 comprises a hydraulic steering circuit supplying one or more actuators 9, such as cylinders, for hydraulic steering 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 slidably mounted inside the cylinder body and having a rod which comes out of one side of the cylinder body to be coupled to a wheel. Alternatively, each cylinder system may comprise two cylinders comprising a common cylinder body and two pistons slidably mounted inside the body, each piston having a rod which comes out of the cylinder body on the side opposite the other rod.

[0046] A selector 19 makes it possible to direct the oil from the hydraulic steering circuit to the front steering cylinders only or to the rear steering cylinders only or to the front and rear steering cylinders in certain operating modes, when the machine 1 allows it. The details of such steering mechanisms are described, for example, in international application WO 2023 / 105135.

[0047] As a variant, the machine 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 the control of the steering mechanism(s) 8, the machine 1 comprises a first rotary steering member hereinafter called steering wheel 10 and a second steering member 12. In the example shown in [Fig. 3], the second steering member 12 is integrated into a pivoting lever. The first and second steering members are arranged inside the cockpit 4. The steering members preferably have a range of movement of different amplitude. Preferably, the second steering member 12 has a narrower range of movement than the range of movement of the first steering member. Each steering member is associated with a system for detecting the movement of said steering member.Thus, the steering wheel 10 is associated with a first system 11 for detecting the rotary movement of the steering wheel 10 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.

[0049] In practice, the first system 11 for detecting the rotary movement of the steering wheel may comprise an angular sensor 110 for detecting an angular displacement of the steering wheel 10. The data from this angular sensor are supplied to the control unit 16 which controls the actuator(s) 9 of the steering mechanism 8 as a function of said data. In the same way, the second directional member 12 is associated with the second system 13 for detecting the movement, in this case pivoting, of the second directional member 12 to allow actuation of the steering mechanism 8 of the steered wheels 3 as a function of the pivoting movement of the second directional member 12.

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

[0051] In the example shown, the cockpit 4 comprises at least one armrest 42 mounted to pivot between a lowered position and a raised position. The second directional member 12 is carried by said armrest 42.

[0052] The data from the pivoting lever position sensor are supplied to the control unit 16 which controls the actuator(s) 9 of the mechanism of the steering mechanism 8 as a function of said data. Obviously, the first and second detection systems can take other embodiments without departing from the scope of the invention.

[0053] The machine 1 comprises a first configuration in which the steering wheel 10 is in the active state and the second directional 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 directional member 12 is in the active state. The active state of the steering wheel 10 corresponds to a state in which the movement of the steering wheel 10 is authorized and the actuation of the steering mechanism 8 is a function at least of the movement of the steering wheel 10.

[0054] Similarly, the active state of the second steering member 12 corresponds to a state in which the movement of the second steering member 12 is permitted, and the actuation of the steering mechanism 8 is a function at least of the movement of the second steering 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] In the same way, 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 member, the control unit 16 can receive data from the associated detection system, but not process them or process them but not transmit control signals to the steering mechanisms.

[0057] In practice, 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 from the first movement detection system 11 associated with the first directional member which is in the active state, and independently of the data from the second movement detection system 13 associated with the second member 12 directional member which is in the inactive state, and 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 from the second movement detection system 13 associated with the second directional member 12 which is in the active state and independently of the data from the first movement detection system 11 associated with the first directional member which is in the inactive state.

[0058] The machine 1 also comprises at least one sensor 6 of a parameter representative of the ground travel speed of the machine 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 machine 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 machine described above to detect the neutral position of the corresponding lever, for the control unit 16, at a travel speed equal to 0. This sensor 6 can also be associated with the actuation of the brake pedal of the machine.

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

[0060] In a manner characteristic of the invention, the control unit 16 is configured to control the transition from the first to the second configuration as a function of at least 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. Taking into account the data provided by the sensor 6 of a parameter representative of the speed of the machine 1 makes it possible to prevent the transition from one configuration to another at a high speed of the machine, which could have the consequence of disturbing the driver of the machine. Indeed, the driver of the machine could, for example, be forced, at a high speed, to steer the machine with the pivoting lever constituting the second directional member 12, which could prove dangerous due to the small amplitude of movement of the second directional member 12.

[0061] Ideally, the control unit 16 of the machine 1 is configured to control the transition from the first to the second configuration when the speed of the machine is zero or less than a threshold value preferably between 5 and 10 km / hour. It may be envisaged to vary this threshold value when the machine 1 comprises a system 20 for detecting the angular position of the steered wheels 3. Again, such a system 20 for detecting the angular position of the steered 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 value of the speed of the machine beyond which the control unit 16 cannot control the passage of the machine 1 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 steered wheels 3.

[0063] Thus, for example, when the wheels are straight, that is to say not steered, that is to say again, parallel to the longitudinal axis of the chassis of the machine 1 taken in the front / rear direction, the magnitude of the threshold value is greater than the magnitude of this threshold value when the wheels are steered. It is considered, in fact, that when the steered wheels are straight, the machine is more stable. For example, if the threshold value is equal to 5 km / hour, when the wheels are straight, it can be equal to 4 km / hour as soon as a steering of the wheels is detected and decrease progressively until reaching a zero value in the maximum steering position of the wheels.

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

[0066] Again, in this case, the magnitude of the threshold value may be a function of the angular position of the steered wheels 3. It should be noted that, preferably, 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. In other words, in the second configuration, the maximum ground movement speed of the machine 1 is lower than the maximum ground movement speed of the machine 1 in the first configuration. This results from the fact that the second steering member 12 has a movement amplitude less than the movement amplitude of the first steering member formed by 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 may be, in addition to its rotational movement, mounted to move in a direction other than its direction of rotational movement for movement between a first position and a second position. In particular, the cockpit 4 comprises a dashboard 41. The first position of the steering wheel 10 is a position projecting from the dashboard 41. The second position of the steering wheel 10 is a position retracted inside the dashboard 41. In this case, the or one of the additional conditions is a physical condition which is the position of the steering wheel 10.

[0068] The control unit 16 can therefore be 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, in the positioned state of the steering wheel 10, in the second position, and 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, in the positioned state of the steering wheel 10 in the first position.

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

[0070] The control unit 16 is configured to control the transition from the first to the second configuration as a function at least of the data provided by the 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 and locked state of the steering wheel 10 in said position.

[0071] Similarly, the control unit 16 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 the positioned state of the steering wheel 10 in the first position and locked state of the steering wheel 10 in said position.

[0072] The operation is therefore as follows: it is assumed that the machine 1 is in the first configuration, that is to say that the steering wheel 10 is active and the second directional member 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 position projecting 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 driver of the machine must unlock this lock to authorize the transition of the steering wheel 10 from a projecting position to a retracted position when the lock is present. The driver of the machine must then bring the steering wheel 10 into the retracted position. These operations can only be carried out if the speed of the machine is zero or less than 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, then the control unit 16 controls the transition from the first configuration to the second configuration, that is to say that the second directional member 12 is activated and the actuation of the steering mechanism 8 is a function of the movement of this second directional member 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 speed of the machine is zero or less than a threshold value therefore allow the transition to the second configuration and, consequently, the activation of the second directional member 12. The return to the first configuration is carried out by the reverse operations.

[0075] As a variant and / or in addition, the control unit 16 can be 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 armrest 42.

[0076] Thus, the control unit 16 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, 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 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 in the positioned state of the armrest 42 in the raised position.

[0077] It is assumed that the machine 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 move from the first to the second configuration. For example, he simply needs to partially or completely stop the machine 1 so that the forward speed of the machine 1 is zero or less than a threshold value, lower the armrest so that the control unit 16 activates the second steering member 12 and deactivates the steering wheel 10. This condition of the position of the armrest 42 can be combined with the condition of the position of the steering wheel 10. Again, the return to the first configuration can be carried out by the reverse operations.

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

[0079] Alternatively and / or additionally, the machine 1 may comprise a manually operable activation member 15. The or at least one of the additional conditions is a physical condition linked to the actuation of said activation member 15 and 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 of the actuation of said activation member 15.

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

[0081] The machine 1 may also comprise at least one environmental monitoring system 21 configured to determine at least one characteristic of the environment around the machine 1. The or at least one of the additional conditions is a condition linked to the data provided by the monitoring system 21, and 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 of the data provided by the monitoring system 21.

[0082] Preferably, this environmental monitoring system 21 comprises at least one camera, such as a camera. However, this environmental monitoring system 21 can take a large number of forms.

[0083] The data provided by the camera are sent to the control unit 16 which can determine, based on the camera data, for example the presence of obstacles around the machine 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 perfect the machine 1, the latter may comprise a device 22 for emitting an audible and / or luminous alert signal, and the control unit 16 is configured to control the emission of an audible and / or luminous alert signal prior to the transition from one configuration to another of said machine.

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

[0086] As a variant and / or in addition, this device 22 for emitting an audible and / or luminous alert signal may be in the form, for example, of a warning light. light located on the dashboard and which lights up or flashes when the conditions for a configuration change are met.

[0087] The examples described above illustrate that the method for controlling the machine always comprises a step of controlling 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.

[0088] Thus, as illustrated in [Fig. 5], it is assumed in step S0 that the machine is in the first configuration, that is to say that the steering wheel 10 is in the active state and that 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 as a function of the data from the first movement detection system 11 associated with the steering wheel 10 and independently of the data from the second movement detection system 13 associated with the second directional member 12.

[0089] In step S1, the control unit 16 verifies that the ground movement speed of the machine is less than or equal to a predetermined threshold value, this threshold value possibly being equal to zero. If the response to this test is positive, then in step S2 the control unit 16 verifies whether the additional condition is fulfilled. 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 member is actuated and / or whether the characteristics of a favorable environment are fulfilled. If the response to this test is positive, then the control unit 16 commands, in step S3, the passage of the machine into the second configuration.

[0090] In this second configuration, the steering wheel 10 is in the inactive state, that is to say 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 directional member 12 is active, that is to say the actuators 9 of the steering mechanism 8 are controlled by the control unit 16 at least as a function of the data provided by the second system 13 for detecting the movement of the second directional 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 directional member (12) to enable actuation of the steering mechanism of the steered wheels (3) as a function of the movement of the second directional member (12), said first and second directional 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 directional 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 directional member (12) is in the active state, the active state of the steering wheel (10), or respectively of the second directional member (12), corresponding to a state in which the movement of the steering wheel (10), or respectively of the second directional 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 driving 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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