Load handling machine

Abstract

Load handling device (1) with forks that can be mounted on a carrier vehicle (20), and comprising an arm (8) or a mast for connecting the forks (6) to the chassis (2), a first lifting actuator (10), forks (6), a second actuator (11) for tilting the forks (6) forward / backward, a control system (12) for said actuators, comprising a control device (13) (10, 11) for issuing a request to load the device (1) and a request to unload the device (1) from the carrier vehicle (20), a piloting unit (14). The device (1) includes two non-contact distance measurement sensors (15, 16) arranged, one (15), vertically and below the active part of the forks in a low position and close to the frame (2) of the forks, and oriented towards the forks, the other (16), on the frame (2), behind the rear end of the forks (6), at a height greater than the height of the wheels, and oriented towards the front of the frame (2).The device (1) includes a memory (17) for storing setpoint distances. The control unit (14) is configured to control the first and second actuators (10, 11) based at least on the received loading / unloading request, the data provided by the sensors (15, 16) and the stored setpoint distances.

Description

[0001] The present invention relates to a load handling device with forks that can be mounted on a tractor vehicle and to a method for controlling such a device.

[0002] It relates in particular to a load-handling device that can be mounted on a carrier vehicle, said device comprising a chassis with a front and a rear section, ground-moving elements for the chassis in the form of wheels or tracks equipping said chassis, forks for load handling and coupling said device to said carrier vehicle by immobilizing the forks in a dedicated location on the carrier vehicle, said forks having an active part for load support extending in a half-plane called the load support plane extending towards the front of the device from a straight line passing the rear ends of the forks, an arm or mast for connecting the forks to the chassis, at least one first actuator called a lifting actuator configured to control a relative movement of the ground-moving elements and the forks in the direction of moving them apart or together to ensure,In the uncoupled state of the machine from the carrier vehicle, a movement of the forks upwards or downwards, a second actuator called a tilt actuator configured to vary the angle formed between the load-support plane of the forks and a plane passing through the ground-mounted movement components of the machine to ensure, in the uncoupled state of the machine from the carrier vehicle, a tilting of the forks towards the front or rear of the chassis, at least one control system for said actuators, said control system comprising at least one control device for issuing a request to load the machine and a request to unload the machine from the carrier vehicle and a control unit configured to control the first and second actuators according to the data provided by the control system.

[0003] Such a load-handling device, which can be mounted on a carrier vehicle using the forks and actuators of said device, is well known to those skilled in this field, as illustrated by patent EP3674251. Generally, the carrier vehicle is equipped, under its chassis, with sleeves opening at the rear of the vehicle. The forks of the load-handling device to be mounted are inserted into these sleeves while the device is coupled to the carrier vehicle. Once the device is coupled to the carrier vehicle by its forks, loading the device onto the carrier vehicle requires manually actuating the lifting and tilting actuators. The lifting actuator raises the device, and the tilting actuator tilts it towards the front of the carrier vehicle. These actions are made possible by the fact that the forks are secured within the sleeves.Indeed, and this is a known fact, since the forks cannot move relative to the chassis when the actuators are engaged in the coupled state of the forks of the machine to the carrier vehicle, it is the chassis that moves. The objective is to position the machine as close as possible to the chassis of the carrier vehicle at the end of the loading maneuver. Unloading is carried out in the reverse order. During loading, particularly at the end of the loading maneuver, there is a high risk of the operator damaging the carrier vehicle or the machine. For this reason, it is necessary to have experienced operators. Furthermore, at the end of the loading maneuver, if it is carried out from the cab of the machine, the operator is forced to jump from the machine, with the associated risk of injury.To eliminate the risk of injury to the operator during a jump from the machine and to avoid the need for an experienced operator, a system was devised to record loading and unloading command sequences linked to pre-identified carrier vehicles. Each command sequence comprises a series of actuator commands following a predetermined order to generate an automatic movement of the machine's chassis, ensuring its loading onto the carrier vehicle while the machine's forks are coupled to the carrier vehicle. Such a machine is described in patent EP3674251. The end of the loading maneuver can be detected by a contact sensor. The challenge lies in the need to have the identifiers of the carrier vehicle, or even the handling equipment, available each time to ensure the correct loading or unloading sequence is executed.This requires the operator to perform a number of identification steps that are not always possible and to have a dedicated mobile application. This limits the number of types of carrier vehicles that can be used.

[0004] One aim of the invention is to provide a load handling device of the aforementioned type whose design allows loading and unloading maneuvers to be carried out by an inexperienced operator without risk of injury to the operator and without requiring identification of the carrier vehicle.

[0005] To this end, the invention relates to a load handling device that can be mounted on a carrier vehicle, said device comprising a chassis with a front part and a rear part, ground movement devices for the chassis in the form of wheels or tracks equipping said chassis, forks for load handling and coupling said device to said carrier vehicle by immobilizing the forks in a dedicated location on the carrier vehicle, said forks having an active part for load support extending in a half-plane called the load support plane extending towards the front of the device from a straight line passing the so-called rear ends of the forks opposite the free front ends of the forks, an arm or mast for connecting the forks to the chassis,at least one first actuator, called a lifting actuator, configured to control a relative movement of the ground-based movement components and the forks in the direction of moving them apart or together to ensure, when the machine is not coupled to the carrier vehicle, that the forks move upwards or downwards; a second actuator, called a tilting actuator, configured to vary the angle formed between the load-support plane of the forks and a plane passing through the ground-based movement components of the machine to ensure, when the machine is not coupled to the carrier vehicle, that the forks tilt forwards or backwards from the chassis; at least one control system for said first and second actuators, said control system comprising at least one device for issuing a request to load the machine and a request to unload the machine from the carrier vehicle.a control unit configured to control the first and second actuators according to the data provided by the control system, characterized in that the machine comprises a first distance sensor and a second distance sensor, in that the first and second distance sensors are non-contact distance measurement sensors, in that the first distance sensor is disposed vertically on the chassis and below the load support half-plane when the forks are in the lowered position close to the chassis, this first distance sensor being oriented towards the load support half-plane, in that the second sensor is disposed on the chassis, behind the rear end of the forks, at a height greater than the height of the ground-mounted movement elements of the chassis, this second sensor being oriented towards the front of the chassis,in that the machine includes at least one memory for storing setpoint distances and in that the control unit is configured to receive a loading or unloading command request from the control device and to control the first and second actuators based at least on the received request, the data provided by the first and second sensors, and the stored setpoint distances. The presence of two distance sensors for non-contact distance measurement associated with the actuators eliminates the need for an experienced operator and allows the load handling machine to be mounted on any type of carrier vehicle equipped with a dedicated mounting point for the load handling machine's forks without risk of damage to the carrier vehicle or the load handling machine during loading or unloading maneuvers. Furthermore,The presence of two distance sensors allows the two actuators to be operated in parallel over at least part of their stroke during a loading or unloading sequence, which, in addition to the advantages mentioned above, saves time.

[0006] According to one embodiment of the invention, the setpoint distance storage memory includes a storage space for a minimum setpoint distance called the first minimum setpoint distance associated with the first sensor, and the control unit is configured to, in the immobilized state of the forks in height corresponding to a coupled state of the machine to the carrier vehicle and in the state received from a loading request, command an actuation of the first actuator in the direction of a rapprochement of the ground movement elements and the forks until the distance measured by the first sensor is equal to the first memorized minimum setpoint distance.Thus, when the machine is coupled to the carrier vehicle during the loading maneuver, the operator does not need to manually control the first actuator, which is automatically activated based on the distance measured by the first sensor compared to the first stored minimum setpoint distance. During the actuation of the first actuator, the control unit is configured to control its travel so that the distance measured by the first sensor remains greater than or equal to the first stored minimum setpoint distance throughout the entire loading maneuver.

[0007] According to one embodiment of the invention, the setpoint distance storage memory includes a storage space for a minimum setpoint distance, referred to as the second minimum setpoint distance, associated with the second sensor. The control unit is configured to, when the forks are stationary at height (corresponding to a coupled state of the machine to the carrier vehicle) and when a loading request is received, command the second actuator to tilt the chassis forward until the distance measured by the second sensor equals the second stored minimum setpoint distance. Thus, when the machine is coupled to the carrier vehicle during the loading maneuver, the operator does not need to command the second actuator, which is automatically activated based on the distance measured by the second sensor compared to the second stored minimum setpoint distance.The control unit is, during the actuation of the second actuator, configured to control the stroke of the second actuator so that the distance measured by the second sensor is greater than or equal to the second minimum setpoint distance memorized during the entire loading maneuver.

[0008] According to one embodiment of the invention, the device includes a manually operated memorization control element and the control unit is configured to, in the operated state of the memorization control element, command the memorization of the distance measured by the first sensor corresponding to the first minimum setpoint distance in the storage space of a first minimum setpoint distance of the storage memory and the memorization of the distance measured by the second sensor corresponding to the second minimum setpoint distance in the storage space of a second minimum setpoint distance of the storage memory.The values ​​of the first and second minimum setpoint distances can be stored in rewritable memory and recalled on-site after the first loading of the handling equipment, once the equipment is in its loaded position (also known as the loaded state). In this case, the first loading must be carried out manually, with the associated risks. Alternatively, the values ​​of the first and second minimum setpoint distances can be stored at the factory.

[0009] According to one embodiment of the invention, the setpoint distance storage memory comprises a storage space for a maximum setpoint distance, referred to as the first maximum setpoint distance, associated with the first sensor, a storage space for a maximum setpoint distance, referred to as the second maximum setpoint distance, associated with the second sensor, and the control unit is configured to, in the immobilized state of the forks in height corresponding to a coupled state of the machine to the carrier vehicle and in the received state of a loading request, memorize the initial distances measured by the first and second sensors, the initial distance measured by the first sensor corresponding to the first maximum setpoint distance memorized, the initial distance measured by the second sensor corresponding to the second maximum setpoint distance memorized.Storing the maximum setpoint distances allows the unloading maneuver to be performed later. "Initial distances" refers to the distances measured by the first and second sensors before the first and second actuators are activated, both when the machine is coupled to the carrier vehicle and when a loading request has been received.

[0010] According to one embodiment of the invention, the control unit is configured to, in the immobilized state of the forks in height corresponding to a coupled state of the machine to the carrier vehicle and in the state received from an unloading request, command an actuation of the first actuator in the direction of a separation of the ground movement members and the forks until the distance measured by the first sensor is equal to the first maximum setpoint distance, the control unit being configured to, during the actuation of the first actuator, command the first actuator so that the distance measured by the first sensor is, permanently, greater than or equal to the first minimum setpoint distance.

[0011] According to one embodiment of the invention, the control unit is configured to, in the immobilized state of the forks in height corresponding to a coupled state of the machine to the carrier vehicle and in the state received from an unloading request, command an actuation of the second actuator in the direction of a rearward tilt of the chassis until the distance measured by the second sensor is equal to the second maximum setpoint distance, the control unit being configured to, during the actuation of the second actuator, command the first actuator so that the distance measured by the first sensor is, permanently, greater than or equal to the first minimum setpoint distance.

[0012] According to one embodiment of the invention, the control device for issuing a loading request for the equipment and a request to unload the equipment from the carrier vehicle comprises at least two manually actuated control devices, and the control unit is configured to receive a loading request for the equipment onto a carrier vehicle when one of the control devices is activated, and an unloading request for the equipment from the carrier vehicle when the other control device is activated. When the equipment is coupled to the carrier vehicle, the operator simply actuates one control device to initiate the loading or unloading maneuver.

[0013] According to one embodiment of the invention, the first and second actuators are cylinders.

[0014] According to one embodiment of the invention, the first lifting actuator, which is a cylinder, is arranged, when the machine is a boom-type machine, between the chassis and the connecting arm of the forks to the chassis for a pivoting movement of the pivoting arm around a so-called horizontal axis transverse to the front / rear direction of the chassis between a high position away from the ground and a low position close to the ground and, when the machine is a mast-type machine, along the mast for an upward and downward movement of the forks along the mast, and in that the second tilting actuator, which is a cylinder, is arranged, when the machine is a boom-type machine, between the arm and the forks for a relative pivoting movement of the forks and the arm around a so-called horizontal axis transverse to the front / rear direction of the chassis,and when the machine is a machine with a mast pivoting around a so-called horizontal axis transverse to the front / rear direction between the mast and the chassis for an inclination of the mast in the front / rear direction.

[0015] According to one embodiment of the invention, the first and second distance sensors are laser or ultrasonic sensors.

[0016] According to one embodiment of the invention, the control system includes at least one control interface in the form of a pivoting lever also called a joystick.

[0017] The invention further relates to an assembly comprising a carrier vehicle and a load handling device that can be mounted on said carrier vehicle, characterized in that the device is of the aforementioned type and in that the forks of the device are, in the state coupled to the carrier vehicle, arranged inside a dedicated location, such as a pair of sleeves extending under the floor of the carrier vehicle, said location being open towards the rear of the carrier vehicle.

[0018] The invention also relates to a method of controlling a load handling device that can be mounted on a carrier vehicle, characterized in that the handling device being of the aforementioned type, the control method includes, in the coupled state of the forks of the device to the carrier vehicle and the state received by the control unit of a loading command request from the control device, a control step of the first and second actuators based at least on the data provided by the first and second sensors and the stored setpoint distances. Brève description des dessins

[0019] The invention will be better understood upon reading the following description of exemplary embodiments, with reference to the attached drawings in which: [ Fig. 1 ] represents schematic views of a load handling machine with a boom coupled to a carrier vehicle during a loading maneuver; [ Fig. 2 ] represents a schematic profile view of a load-handling machine with a boom in the state coupled to a carrier vehicle before it is loaded onto the carrier vehicle; Fig. 3 ] represents a schematic profile view of a load-handling machine in its loaded state on a carrier vehicle; Fig. 4 ] represents a schematic view of a profile of a mast-mounted load-handling machine coupled to a carrier vehicle before it is loaded onto the carrier vehicle; Fig. 5 ] represents a schematic profile view of a mast-mounted load-handling machine coupled to a carrier vehicle loaded onto said carrier vehicle; Fig. 6 ] represents, in block form, the steps for memorizing the first and second maximum setpoint distances; [ Fig. 7 ] represents, in block form, the loading stages of a machine coupled to a carrier vehicle; [ Fig. 8 ] represents, in block form, the unloading steps of a machine coupled to a carrier vehicle.

[0020] As mentioned above, the invention relates to a handling device 1 with forks 6 that can be mounted on a carrier vehicle 20, such as a truck, as illustrated in the figures.

[0021] As is known, the forks 6 of the handling unit 1 are positioned in a dedicated location 21, such as sleeves, located outside the carrier vehicle 20 under its floor, these sleeves being open towards the rear of the carrier vehicle 20. When the forks 6 are positioned in the dedicated location 21 of the carrier vehicle 20, the handling unit 1 is said to be coupled to the carrier vehicle 20. When coupled to the carrier vehicle 20, the handling unit 1 can be loaded onto the carrier vehicle 20. In the loaded position, the unit 1 is thus carried by the carrier vehicle 20 overhanging the rear of the carrier vehicle 20, as illustrated in the right-hand view of the figure 1 where only the rear of the carrier vehicle 20 is shown. From this loaded position on the carrier vehicle 20, it can also be unloaded from the carrier vehicle 20 by lowering it towards the ground. In the unloaded position of the handling equipment 1, the ground-moving components 5 of the equipment 1, formed by wheels or tracks, are in contact with the ground, and the forks 6 are in a position further away from the wheels compared to the loaded position of the handling equipment 1. Indeed, in the loaded position of the handling equipment 1, the forks 6 are in a position closer to the ground-moving components 5 of the equipment 1. These two loaded and unloaded positions are visible in the figure 1 and are well known to those versed in this art.

[0022] The handling device 1 can be a boom device 8, as illustrated in the figures 1 à 3 , or a 1-masted craft with 9 masts, as illustrated in figures 4 And 5The forks 6 are supported by the arm 8 or the mast 9. These forks 6 have a free end, called the front end 61, and an opposing rear end 62 connecting the forks to the mast 9 or the arm 8. These forks 6, which are used to couple the machine 1 to a carrier vehicle 20 by securing the forks 6 in a dedicated location 21 on the carrier vehicle 20, are also used for handling loads. The fork arm or the fork mast is mounted on a chassis 2 that can be moved on the ground by means of ground-mounted means 5 formed by wheels or tracks. This chassis 2 comprises a front part 3 and a rear part 4 relative to the direction of movement of the chassis 2. This chassis 2 can have a wide variety of shapes. It can include a driver's position, such as a cab, as illustrated in the figures. The control of the vehicle 1 for the movement of the vehicle 1 on the ground can also be done via a remote control or stored data.

[0023] The load handling device 1 further includes a first lifting actuator 10, such as a cylinder, configured to control a relative movement of the ground movement components 5 and the forks 6 in the direction of a separation or a coming together of each other to ensure, in the uncoupled state of the device 1 to the carrier vehicle 20, a movement of the forks 6 up or down.

[0024] In practice, the first lifting actuator 10, which is a cylinder, is positioned when the machine 1 is a machine with an arm 8 between the chassis 2 and the arm 8 connecting the forks 6 to the chassis 2 for pivoting movement of the arm 8 around a horizontal axis XX' transverse to the front / rear direction of the chassis 2 between a high position away from the ground and a low position closer to the ground. The pivot axis XX' is visible, for example, at the figure 2 When the machine 1 is a machine with a mast 9, the first lifting actuator 10, which is always a cylinder, is arranged along the mast 9 for the up and down movement of the forks 6 along the mast 9. As illustrated in the figure 4 , the forks 6 have an active part 7 for the load support formed by the top of the forks 6. This active part 7 of the forks extends in a half-plane, called the load support plane, developing towards the front of the machine 1 from a straight line passing through the rear ends of the forks 6. This half-plane coincides with the upper face of the forks.

[0025] The handling equipment 1 also includes a second actuator 11, such as a tilting cylinder configured to vary the angle formed between the load support plane of the forks and a plane passing through the ground movement elements 5 of the equipment to ensure, in the uncoupled state of the equipment 1 to the carrier vehicle 20, a tilting of the forks 6 towards the front or towards the rear of the chassis 2. This plane passing through the ground movement elements 5 of the equipment can, in the case where the ground movement elements of the chassis are wheels, pass through the axes of rotation of said wheels.

[0026] In the case where the chassis's ground-moving components 5 are tracks, this plane passing through the vehicle's ground-moving components 5 can extend parallel to one of the track strands, which comprises a forward and a return strand. The second tilting actuator 11, which is a cylinder, is positioned, when the vehicle 1 is a machine with an arm 8, between the arm 8 and the forks 6, for a relative movement of the pivoting forks 6 and the arm 8 around a horizontal axis ZZ' transverse to the front / rear direction of the chassis 2. When the vehicle 1 is a machine with a mast 9 pivoting around a horizontal axis transverse to the front / rear direction, the second tilting actuator 11, which is again a cylinder, is positioned between the mast 9 and the chassis 2 for tilting the mast in the front / rear direction. The pivot axis YY' of mast 9 is located at the base of the mast.

[0027] Again, a tilting mast lift is well known to those versed in this field. These first and second actuators allow the loading and unloading of the handling equipment 1 when it is coupled to the carrier vehicle 20. Indeed, it is assumed that the handling equipment 1 is coupled to the carrier vehicle 20, meaning that the forks 6 of the equipment 1 are engaged in the fork pockets of the carrier vehicle 20. It is also assumed that the ground-moving drive components of the handling equipment 1 are in contact with the ground, and that the lifting arm is slightly raised or that the forks are extended approximately halfway up the mast to be positioned in the designated slot on the carrier vehicle 20.Thus, when the first lifting actuator 10 is actuated to lower the forks, since the forks 6 are immobilized, it is the chassis 2 that rises and the chassis 2's ground-displacement mechanisms 5 move away from the ground. This actuation can be continued until the chassis is sufficiently raised to reach the loaded position. It is understood that actuating the first actuator 10 to raise the forks, conversely, generates a downward movement of the chassis, that is, a relative movement of the forks and the chassis in the direction of separation for unloading the handling equipment 1.

[0028] When the handling unit 1 is coupled to the carrier vehicle 20, the actuation of the second actuator 11, when actuated to raise the forks (i.e., tilting the forks towards the rear of the handling unit 1 so that the front ends of the forks are raised relative to the rear ends), causes a displacement of the chassis due to the forks being immobilized. This results in the chassis 2 of the handling unit tilting forward in a front-to-back direction, bringing the upper part of the chassis, particularly the cab, closer to the rear of the carrier vehicle 20. This actuation of the second actuator 11 to raise the forks occurs during the loading maneuver of the handling unit 1 onto the carrier vehicle 20.

[0029] In the state of the art, this actuation of the second actuator 11 takes place at the end of the lifting of the handling equipment 1 for the maximum approach of the rear of the chassis 2.

[0030] In the invention, and as will be described below, the first and second actuators can be actuated in parallel over at least part of their stroke, that is, operate simultaneously, which generates a time saving. Naturally, the second actuator is actuated in the opposite direction, that is, in the direction of a tilting of the forks, resulting in a lowering of the front end of the forks, i.e., a forward tilt of the forks during the unloading maneuver. These relative movements of the chassis and the forks, resulting from the operation of the first and second actuators, are well known to those versed in this art.

[0031] In summary, when the handling unit 1 is coupled to the carrier vehicle 20, with the handling unit 1 resting on the ground, the loading maneuver involves actuating the first actuator 10 to lower the forks by either lowering the arm or sliding the forks along the mast towards the base of the mast, and actuating the second actuator 11 to raise the forks, i.e., tilting them backward. The unloading maneuver from the loaded position involves the reverse movement of the first and second actuators.

[0032] To enable, in the coupled state of the handling equipment 1 to the carrier vehicle 20, an automatic operation of the first and second actuators and an automatic transition of the handling equipment 1 from the ground support position to the loaded position or from the loaded position to the ground support position, the maneuvering equipment 1 includes a control system 12 for the first and second actuators, said control system 12 including at least one control device 13 for issuing a request to load the equipment 1 and a request to unload the equipment 1 from the carrier vehicle 20.

[0033] The device 13 for issuing a loading request for the equipment 1 and an unloading request for the equipment 1 from the carrier vehicle 20 comprises at least two manually operated control elements. Each manually operated control element may be, for example, a button to be pressed by the operator. In the example shown, these manually operated control elements 131 and 132 comprise a loading request control element 131 and an unloading request control element 132. These buttons may be at least partially shared and may, for example, be in the form of a toggle switch. These control elements 131 and 132 are positioned on one side of the driver's seat of the handling equipment 1 at the level of the cab, as illustrated in the figure 2 or on a remote control, with or without a wired connection to the machine so that it can be accessed from the ground by the machine operator positioned next to the handling machine 1. Obviously, other locations for these control and transmission devices can be considered without departing from the scope of the invention.

[0034] The handling unit 1 further includes a control unit 14 configured to control the first and second actuators 10 and 11 based on data provided by the control system 12. It should be noted that the control system 12 includes, in addition to the emission control devices 131 and 132 described above, at least one control interface in the form of a pivoting lever 121, also known as a "joystick." This pivoting lever 121 allows the actuators to be controlled when the unit is not coupled to the carrier vehicle 20, particularly when the forks are used for load handling. This control interface also allows the forks to be inserted into the designated slot on the carrier vehicle 20.

[0035] The control unit 14 is an electronic and computer system that includes, for example, a microprocessor and working memory. In a particular configuration, the control unit can be a programmable logic controller (PLC). In other words, the functions and steps described can be implemented as 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 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 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 performed and / or that the unit includes corresponding electronic components.

[0036] The piloting unit 14 is configured to receive a loading request from the vehicle 1 onto a carrier vehicle in the activated state of the load request emission control device 131 and to receive a request to unload the vehicle 1 from the carrier vehicle in the activated state of the unload request emission control device 132.

[0037] Device 1 further includes a first distance sensor 15 and a second distance sensor 16. These first and second distance sensors 15 and 16 are non-contact distance measurement sensors, such as laser or ultrasonic sensors.

[0038] The first distance sensor 15 is positioned vertically on the chassis 2 and below the load support half-plane in the position of the forks 6 in the lower position close to the chassis 2. This first distance sensor 15 is oriented towards the load support half-plane to measure the distance separating the sensor from an obstacle positioned above said sensor.

[0039] The second sensor 16 is positioned on the chassis 2 behind the rear end of the forks 6, relative to the front / rear direction of the chassis 2, at a height greater than the height of the chassis 2's ground-tracking components 5. Thus, in the example shown, this second sensor 16 is positioned on the chassis 2 at a level higher than that occupied by the wheels. This second sensor 16 is oriented towards the front of the chassis 2 to measure the distance between the second sensor 16 and an obstacle positioned in front of the second sensor 16.

[0040] The device 1 also includes at least one setpoint distance storage memory 17, and the control unit 14 is configured to receive a loading or unloading command request from the control device 13 and to control the first and second actuators 10 and 11 based at least on the received request, the data provided by the first and second sensors 15 and 16, and the stored setpoint distances. The setpoint distance storage memory 17 includes a space 161 for storing a minimum setpoint distance, hereinafter referred to as the first minimum setpoint distance.

[0041] This first minimum setpoint distance constitutes a setpoint distance for the first sensor 15. Similarly, the setpoint distance storage memory 17 includes a storage space 172 for a minimum setpoint distance, hereinafter referred to as the second minimum setpoint distance. This second minimum setpoint distance constitutes a setpoint distance for the second sensor 16. This first minimum setpoint distance and this second minimum setpoint distance can be stored during the manufacturing of the handling equipment 1. Alternatively or in addition, this first minimum setpoint distance and this second minimum setpoint distance can be stored by the operator.For this purpose, the device 1 may include a manually operated memorization control element 18 and the control unit 14 is configured to, in the operated state of the memorization control element 18, command the memorization of the distance measured by the first sensor 15, corresponding to the first minimum setpoint distance, in the storage space 171 of a first minimum setpoint distance of the storage memory and the memorization of the distance measured by the second sensor 16, corresponding to the second minimum setpoint distance, in the storage space 172 of a second minimum setpoint distance of the storage memory 17.

[0042] The actuation of this manually operated memory control device 18 is performed by the operator in the loaded position of the handling equipment 1. This therefore assumes that the operator has first brought the handling equipment 1 into the loaded position in the conventional manner before activating the memory control device 18 to memorize the first and second minimum setpoint distances. This solution is not preferred but may be advantageous when the same carrier vehicle 20 is always used. This allows for optimization of the loaded position. The steps of this memorization are illustrated in the figure 6 where step S11 corresponds to the handling equipment in the loaded position into which it was manually brought by the operator, i.e., by manually controlling the actuators. Step S12 corresponds to a memorization step of the first and second minimum setpoint distances, corresponding respectively to the first and second distances measured by the first and second sensors. Once the memorization step is completed, the memorization is considered finished, as evidenced by step S13. figure 6 .

[0043] The control unit 14 is configured to, in the immobilized state of the forks 6 in height corresponding to a coupled state of the machine 1 to the carrier vehicle 20 and in the received state of a loading request, command an actuation of the first actuator 10 in the direction of a rapprochement of the ground movement elements 5 and the forks 6 until the distance measured by the first sensor 15 is equal to the first minimum setpoint distance.

[0044] The setpoint distance storage memory 17 includes a space 172 for storing a minimum setpoint distance, called the second minimum setpoint distance associated with the second sensor, and the control unit 14 is configured to, in the immobilized state of the forks 6 in height, corresponding to a coupled state of the machine 1 to the carrier vehicle and to the state received from a loading request, command an actuation of the second actuator 11 in the direction of a forward tilt of the chassis 2 until the distance measured by the second sensor 16 is equal to the second minimum setpoint distance stored.

[0045] The setpoint distance storage memory 17 further includes a storage space 173 for a maximum setpoint distance, referred to as the first maximum setpoint distance, associated with the first sensor 15, and a storage space 174 for a maximum setpoint distance, referred to as the second maximum setpoint distance, associated with the second sensor 16. The control unit 14 is configured to store the initial distances, i.e., before the first and second actuators are activated, measured by the first and second sensors 15 and 16, when the forks 6 are stationary at height (corresponding to a coupled state of the machine 1 to the carrier vehicle 20) and when a loading request has been received. The initial distance measured by the first sensor 15 corresponds to the first maximum setpoint distance stored. The initial distance measured by the second sensor 16 corresponds to the second maximum setpoint distance measured.

[0046] In practice, when the handling equipment 1 is coupled to the carrier vehicle 20 with its ground-mounted movement components 5 in contact with the ground, corresponding to step S1 of the figure 7 The operator simply needs to press the load request transmission control device 131 for the control unit 14 to memorize, at the moment it receives this request, the first and second maximum setpoint distances by simply storing the data provided at that moment by the first and second sensors. This step corresponds to S2 in the figure 7 The loading maneuver can then begin by controlled actuation of the first and second actuators based on data provided by the first and second sensors and the stored setpoint distances. Thus, the control unit commands the first actuator 10 to move the ground-mounted movement components 5 and the forks closer together until the distance measured by the first sensor 15 equals the first stored minimum setpoint distance, and the second actuator 11 to tilt the chassis 2 forward until the distance measured by the second sensor 16 equals the second stored minimum setpoint distance.

[0047] This actuation is represented in S3 at the figure 7 During this actuation of the first actuator 10, the control unit 14 is configured to command the first actuator 10 so that the distance measured by the first sensor 15 is permanently greater than or equal to the first minimum setpoint distance. When the first and second minimum setpoint distances are reached, the handling equipment 1 is considered to be in the loaded position, as illustrated in the figure 3 or to the figure 5 and the loading maneuver is considered complete, as illustrated by step S4 of the figure 7 .

[0048] In general and as described above, the control process therefore includes, in the coupled state of the forks 6 of the machine 1 to the carrier vehicle 20 and in the state received by the pilot unit 14 of a loading command request from the control device 13, a control step of the first and second actuators 10 and 11, based at least on the data provided by the first and second sensors 15 and 16, and the stored setpoint distances.

[0049] It is now assumed that handling equipment 1 is in the loaded position, as illustrated in step S21 of the figure 8 The operator simply needs to activate the control unit 132 to send an unloading request. In step S22, the unloading maneuver is performed by the control unit 14. For this purpose, the control unit 14 is configured so that, when the forks 6 are stationary in the raised position (corresponding to a coupled state of the machine 1 to the carrier vehicle 20) and when an unloading request has been received, the first actuator 10 is activated, causing the ground movement components 5 and the forks to move apart, until the distance measured by the first sensor 15 equals the first maximum setpoint distance. During the activation of the first actuator 10, the control unit 14 is configured to maintain the distance measured by the first sensor 15 at or above the first minimum setpoint distance.Similarly, the control unit 14 is configured to, in the immobilized state of the forks 6 in height, corresponding to a coupled state of the machine 1 to the carrier vehicle and to the state received from an unloading request, command an actuation of the second actuator 11 in the direction of a rearward tilt of the chassis 2, until the distance measured by the second sensor 16 is equal to the second maximum setpoint distance, the control unit 14 being configured to, during the actuation of the second actuator 11, command the first actuator 10, so that the distance measured by the first sensor 15 is permanently greater than or equal to the first minimum setpoint distance.Once the first and second maximum setpoint distances have been reached, i.e., once the distances measured by the first and second sensors are equal to these first and second maximum setpoint distances, the unloading maneuver is considered to be complete, which corresponds to step S23 of the . figure 8 .

[0050] In general and as described above, the control process includes, in the coupled state of the forks 6 of the machine 1 to the carrier vehicle 20, and in the state received by the pilot unit 14 of a command request to unload the control device 13, a control step of the first and second actuators 10 and 11, based at least on the data provided by the first and second sensors 15 and 16 and the stored setpoint distances.

[0051] Obviously, the invention also relates to a handling device of the aforementioned type and the associated carrier vehicle.

Claims

1. Load handling device (1) for mounting on a carrier vehicle (20), said device (1) comprising a chassis (2) with a front part (3) and a rear part (4), ground movement components (5) for the chassis in the form of wheels or tracks equipping said chassis (2), forks (6) for load handling and coupling said device (1) to said carrier vehicle (20) by immobilizing the forks (6) in a dedicated location of the carrier vehicle (20), said forks (6) having an active part (7) for load support extending in a half-plane called the load support plane extending towards the front of the device (1) from a straight line passing the so-called rear ends of the forks (6) opposite the free front ends of the forks (6), an arm (8) or a mast (9) for connecting the forks (6) to the chassis (2),at least one first actuator (10) called a lifting actuator configured to control a relative movement of the ground movement elements (5) and the forks (6) in the direction of a separation or a coming together of each other to ensure, in the uncoupled state of the machine (1) to the carrier vehicle (20), a movement of the forks (6) upwards or downwards, a second actuator (11) called a tilting actuator configured to vary the angle formed between the load support plane of the forks (6) and a plane passing through the ground movement elements (5) of the machine (1) to ensure, in the uncoupled state of the machine (1) to the carrier vehicle, a tilting of the forks (6) towards the front or towards the rear of the chassis (2), at least one control system (12) for said first and second actuators (10, 11),said control system (12) comprising at least one control device (13) for issuing a request to load the equipment (1) and a request to unload the equipment (1) from the carrier vehicle (20), a pilot unit (14) configured to control the first and second actuators (10, 11) according to the data provided by the control system (12), , characterized in that the device (1) includes a first distance sensor (15) and a second distance sensor (16), in that The first and second distance sensors (15, 16) are non-contact distance measurement sensors. in that the first distance sensor (15) is arranged on the chassis (2) vertically and below the load support half-plane when the forks (6) are in the lowered position close to the chassis (2), this first distance sensor (15) being oriented towards the load support half-plane, in thatthe second sensor (16) is disposed on the chassis (2), behind the rear end of the forks (6), at a height greater than the height of the ground displacement elements (5) of the chassis (2), this second sensor (16) being oriented towards the front of the chassis (2), in that the device (1) includes at least one memory (17) for storing setpoint distances and in that The control unit (14) is configured to receive a command request to load or unload the control device (13) and to control the first and second actuators (10, 11) based at least on the request received, the data provided by the first and second sensors (15, 16) and the stored setpoint distances.

2. Load handling device (1) that can be mounted on a carrier vehicle (20) according to claim 1, characterized in thatthe setpoint distance storage memory (17) includes a storage space (171) for a minimum setpoint distance, referred to as the first minimum setpoint distance associated with the first sensor (15) and in that The control unit (14) is configured to, in the immobilized state of the forks (6) in height corresponding to a coupled state of the machine (1) to the carrier vehicle (20) and in the state received from a loading request, command an actuation of the first actuator (10) in the direction of a rapprochement of the ground displacement elements (5) and the forks (6) until the distance measured by the first sensor (15) is equal to the first memorized minimum setpoint distance.

3. Load handling device (1) that can be mounted on a carrier vehicle (20) according to one of claims 1 or 2, characterized in thatthe setpoint distance storage memory (17) includes a storage space (172) for a minimum setpoint distance, referred to as the second minimum setpoint distance, associated with the second sensor (16) and in that The control unit (14) is configured to, in the immobilized state of the forks (6) in height corresponding to a coupled state of the machine (1) to the carrier vehicle and in the state received from a loading request, command an actuation of the second actuator (11) in the direction of a forward tilt of the chassis (2) until the distance measured by the second sensor (16) is equal to the second minimum setpoint distance memorized.

4. Load handling device (1) that can be mounted on a carrier vehicle (20) according to one of claims 2 or 3, characterized in that it includes a manually operated memory control element (18) and in thatthe control unit (14) is configured to, in the activated state of the memorization control element (18) by the operator, command the memorization of the distance measured by the first sensor (15) corresponding to the first minimum setpoint distance in the storage space (171) of a first minimum setpoint distance of the storage memory and the memorization of the distance measured by the second sensor (16) corresponding to the second minimum setpoint distance in the storage space (172) of a second minimum setpoint distance of the storage memory (17).

5. Load handling device (1) that can be mounted on a carrier vehicle (20) according to any one of claims 1 to 4, characterized in thatthe setpoint distance storage memory (17) includes a storage space (173) for a maximum setpoint distance, referred to as the first maximum setpoint distance, associated with the first sensor (15), a storage space (174) for a maximum setpoint distance, referred to as the second maximum setpoint distance, associated with the second sensor (16), and in that the control unit (14) is configured to, in the immobilized state of the forks (6) in height corresponding to a coupled state of the machine (1) to the carrier vehicle (20) and in the received state of a loading request, memorize the initial distances measured by the first and second sensors (15, 16), the initial distance measured by the first sensor (15) corresponding to the first maximum setpoint distance memorized, the initial distance measured by the second sensor (16) corresponding to the second maximum setpoint distance memorized.

6. Load handling device (1) that can be mounted on a carrier vehicle (20) according to claim 5 taken in combination with claim 2, characterized in that the control unit (14) is configured to, in the immobilized state of the forks (6) in height corresponding to a coupled state of the machine (1) to the carrier vehicle (20) and in the state received from an unloading request, command an actuation of the first actuator (10) in the direction of a separation of the ground displacement elements (5) and the forks (6) until the distance measured by the first sensor (15) is equal to the first maximum setpoint distance, the control unit (14) being configured to, during the actuation of the first actuator (10), command the first actuator (10) so that the distance measured by the first sensor (15) is, permanently, greater than or equal to the first minimum setpoint distance.

7. Load handling device (1) that can be mounted on a carrier vehicle (20) according to claim 5 taken in combination with claim 2, characterized in that the control unit (14) is configured to, in the immobilized state of the forks (6) in height corresponding to a coupled state of the machine (1) to the carrier vehicle (20) and in the state received from an unloading request, command an actuation of the second actuator (11) in the direction of a rearward tilt of the chassis (2) until the distance measured by the second sensor (16) is equal to the second maximum setpoint distance, the control unit (14) being configured to, during the actuation of the second actuator (11), command the first actuator (10) so that the distance measured by the first sensor (15) is, permanently, greater than or equal to the first minimum setpoint distance.

8. Load handling device (1) that can be mounted on a carrier vehicle according to any one of claims 1 to 7, characterized in that the device (13) for issuing a request to load the equipment (1) and a request to unload the equipment (1) from the carrier vehicle (20) comprises at least two manually operated emission control elements (131, 132) and in that the piloting unit (14) is configured to receive a request to load the device (1) onto a carrier vehicle (20) in the activated state from one of the emission control devices (131, 132) and a request to unload the device (1) from the carrier vehicle (20) in the activated state from the other of the emission control devices (131, 132).

9. Load handling device (1) that can be mounted on a carrier vehicle according to any one of claims 1 to 8, characterized in that The first and second actuators (10, 11) are cylinders.

10. Load handling device (1) that can be mounted on a carrier vehicle (20) according to claim 9, characterized in that The first lifting actuator (10), which is a cylinder, is arranged, when the machine (1) is a machine with an arm (8), between the chassis (2) and the arm (8) connecting the forks (6) to the chassis (2) for pivoting movement of the arm (8) pivoting around a so-called horizontal axis transverse to the front / rear direction of the chassis (2) between a high position away from the ground and a low position closer to the ground and, when the machine (1) is a machine with a mast (9), along the mast (9) for raising and lowering movement of the forks (6) along the mast (9), and in thatthe second tilting actuator (11), which is a cylinder, is arranged, when the machine (1) is a machine with an arm (8), between the arm (8) and the forks (6) for a relative movement of the pivoting forks (6) and the arm (8) around a horizontal axis transverse to the front / rear direction of the chassis (2), and when the machine (1) is a machine with a mast (9) pivoting around a horizontal axis transverse to the front / rear direction, between the mast (9) and the chassis (2), for a tilting of the mast (9) along the front / rear direction.

11. Load handling device (1) that can be mounted on a carrier vehicle (20) according to any one of claims 1 to 10, characterized in that The first and second distance sensors are laser or ultrasonic sensors.

12. Load handling device (1) that can be mounted on a carrier vehicle (20) according to any one of claims 1 to 11, characterized in thatthe control system (12) includes at least one control interface in the form of a pivoting lever (121) also called a joystick.

13. Assembly comprising a carrier vehicle (20) and a load handling device (1) that can be mounted on said carrier vehicle (20), characterized in that the device (1) conforms to one of claims 1 to 12 and in that the forks (6) of the machine (1) are, in the coupled state to the carrier vehicle (20), arranged inside a dedicated location (21), such as a pair of sleeves extending under the floor of the carrier vehicle (20), said location (21) being open towards the rear of the carrier vehicle (20).

14. Method for controlling a load-handling device (1) that can be mounted on a carrier vehicle (20), characterized in thatthe handling machine (1) conforming to one of claims 1 to 12, the control method comprises, in the coupled state of the forks (6) of the machine (1) to the carrier vehicle (20) and the state received by the control unit (14) of a loading command request from the control device (13), a control step of the first and second actuators (10, 11) based at least on the data provided by the first and second sensors (15, 16) and the stored setpoint distances.

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