Safety system for a handling machine

Abstract

Safety System for a Handling Machine The invention relates to a safety system for a handling machine comprising: a controller (32, 271, 202, 19) configured to: - determine a stability state of the handling machine; - determine an permissible deceleration of the handling machine as a function of the stability state, the permissible deceleration being capable of stopping the handling machine without causing it to tip over; - determine a minimum stopping distance as a function of the current travel speed of the handling machine and the permissible deceleration; - determine a maximum permissible stopping distance; - in response to the determination that the minimum stopping distance is or becomes greater than the maximum permissible stopping distance, transmit a signal to an element of the handling machine to reduce its travel speed. Figure for the abstract: 4

Description

Title of the invention: Safety system for a handling machine. Technical field.

[0001] The invention relates to the field of safety systems for handling machinery, and in particular to the field of anti-tipping systems, anti-collision systems, and braking systems. Specifically, the invention relates to systems for preventing handling machinery from tipping over during braking.

[0002] The invention finds a particular application for handling machines comprising a main body mounted on wheels to move on the ground, a handling arm intended to receive a load to be moved, the handling arm being articulated around a horizontal axis relative to the main body, and an actuation device configured to execute a movement of the handling arm relative to the main body, the actuation device comprising a hydraulic lifting cylinder mounted between the handling arm and the main body to execute a movement of the handling arm around the horizontal axis.

[0003] Such a machine may, in particular, be in the form of a telescopic handler, lifting crane, aerial work platform, bucket loader, or other. Technological background

[0004] A material handling machine may include an anti-collision system to prevent unintentional collisions with objects, such as other machinery, people, or structures. Such an anti-collision system may include a sensor to detect objects and control one or more braking devices to prevent the material handling machine from colliding with a detected object.

[0005] However, at certain speeds during braking, excessive deceleration may be applied to the handling machine according to the anti-collision system command. This excessive deceleration then results in an undesirable forward tilting in the direction of travel.

[0006] It is desirable to avoid such a situation.

[0007] Publication US202215083 proposes an anti-collision system that slows down or stops a handling machine in response to the detection of an obstacle, taking into account the requirement for stability during braking. Summary of the invention

[0008] One idea at the base of the invention is to adapt the speed of movement of the handling machine so that the handling machine is at all times able to stop safely.

[0009] The invention provides a safety system for a handling machine, the safety system comprising:

[0010] a controller configured for:

[0011] - determine a state of stability of the handling machine,

[0012] - determine an permissible deceleration of the handling machine as a function of the state of stability, the permissible deceleration being capable of stopping the handling machine without causing the handling machine to tip over,

[0013] - determine a minimum stopping distance as a function of a travel speed current handling machine and permissible deceleration,

[0014] - determine a maximum permissible stopping distance,

[0015] - in response to the determination of what the minimum stopping distance or a reference stopping distance dependent on the minimum stopping distance is or becomes greater than the maximum permissible stopping distance, transmit an adaptation signal to an element of the handling machine to reduce the current travel speed so that the minimum stopping distance or the reference stopping distance becomes or remains less than or equal to the maximum permissible stopping distance.

[0016] According to embodiments, such a security system may include one or more of the following characteristics.

[0017] Certain aspects of the invention are based on the idea of ​​taking into account the location data of the handling machine.

[0018] In particular, an idea underlying certain aspects of the invention is to take into account a relative position of the handling machine in its environment or an absolute position of the handling machine to determine a speed of movement of the machine ensuring that the handling machine is at all times able to stop safely.

[0019] For this purpose, according to one embodiment, the safety system further includes a location system configured to acquire location data of the handling machine and the controller is configured to determine the maximum permissible stopping distance based on the location data of the handling machine.

[0020] Thanks to these characteristics, it is possible to guarantee that the handling machine is at all times able to stop safely under the conditions imposed by the location of the handling machine, in particular by complying with the road regulations applicable to the current position of the handling machine.

[0021] According to one embodiment, the calculator is configured to determine the maximum permissible stopping distance further according to a meteorological situation in a geographical area and / or a number of handling machines present in a geographical area, the geographical area being determined from the location data of the handling machine.

[0022] According to one embodiment, the calculator is configured to determine the maximum permissible stopping distance based on timestamp data.

[0023] According to one embodiment, the localization system is adapted to determine a relative or absolute position of the telescopic arm trolley and the computer is able to determine the maximum permissible stopping distance from the relative or absolute position of the telescopic arm trolley.

[0024] For example, the calculator determines the maximum permissible stopping distance defined by applicable regulations for the relative or absolute position of the handling machine.

[0025] According to one embodiment, the location system includes one or more environmental sensors configured to recognize a traffic sign and a regulatory indication contained in the traffic sign.

[0026] Thanks to these characteristics, the localization system can determine a relative location of the machine in relation to elements of its environment, in particular in relation to road signs, and extract information from the analysis of these images, for example regulatory information.

[0027] Thus, the calculator can determine the maximum permissible stopping distance according to the regulatory indication contained in the sign.

[0028] According to one embodiment, the computer is configured to determine the maximum permissible stopping distance from the absolute location of the handling machine, and from one or more regulatory information applicable to this absolute location, the regulatory information being contained in one or more of the databases accessible by the computer.

[0029] According to one embodiment, the location system comprises a satellite geolocation positioning system or a GSM geolocation positioning system using the antennas and technologies of mobile telephone networks, designed for voice and data transfer, such as GSM, UMTS or LTE.

[0030] Certain aspects of the invention are based on the idea of ​​taking into account the detection range of certain sensors of the handling machine.

[0031] In particular, an idea underlying certain aspects of the invention is to take into account a coverage area of ​​a distance determination sensor for determine a travel speed of the handling machine ensuring that the handling machine is at all times capable of stopping safely.

[0032] For this purpose, according to one embodiment, the safety system includes a distance determination sensor mounted in the handling machine, the distance determination sensor being configured to determine a distance between the handling machine and an object positioned in a coverage area, the computer being configured to determine the maximum permissible stopping distance as a function of a dimension representative of the coverage area of ​​the distance determination sensor.

[0033] According to one embodiment, the distance determination sensor comprises one or more object sensors configured to generate an object signal indicating the detection of all or part of an object in the coverage area, the distance determination sensor being configured to determine the distance between the handling machine and the object positioned in the coverage area from the object signals generated by the object sensor(s).

[0034] According to one embodiment, the object sensor(s) are each characterized by a perception zone, the object sensor(s) being able to detect an object positioned within their perception zone, the coverage area being the union of the perception zones.

[0035] According to one embodiment, the object sensor(s) comprise one or more imagers, one or more light detection and ranging sensors (LIDAR), one or more sound navigation sensors (SONAR), and / or one or more radio detection and ranging sensors (RADAR).

[0036] According to one embodiment, the representative dimension of the coverage area is included in one of the following ranges: [0m ;175m], [0m ;150m], [0m ;125m], [0m ;100m], [0m ;75m], [0m ;50m], [0m ;25m].

[0037] According to one embodiment, at least one representative dimension of the coverage area is a representative dimension forming a zero angle with the direction of movement of the handling machine.

[0038] According to one embodiment, at least one dimension representing the coverage area is a smaller dimension among a plurality of dimensions representing the coverage area.

[0039] For example, at least one representative dimension of the coverage area is selected by the calculator taking into account the current speed of the handling machine.

[0040] According to one embodiment, at least one dimension representative of the coverage area is predetermined and recorded in a database accessible by the computer.

[0041] According to one embodiment, the safety system further comprises an anti-collision system configured to automatically detect a risk of collision with an object positioned in the coverage area of ​​the handling machine from the distance between the handling machine and the object positioned in the coverage area and to activate a braking system of the handling machine in order to reduce the speed of the handling machine and avoid the collision or mitigate its consequences.

[0042] Such a safety system may stipulate that the reference stopping distance exceeds the minimum stopping distance by a safety distance or a safety margin. In this case, the reference stopping distance is, for example, an activation distance corresponding to the sum of the minimum stopping distance and the safety distance. The safety distance is, for example, determined by taking into account the reaction time of the handling machine component.

[0043] In one embodiment, the safety system includes a tipping detector, for example, arranged on a rear axle of the handling machine. In one embodiment, the tipping detector is configured to produce a signal related to a tipping moment applied to the chassis of the handling machine about a tipping axis, for example, located on the front axle. In one embodiment, the stability state is determined based on the signal produced by the tipping detector.

[0044] In one embodiment, the safety system includes a load weighing system for determining the mass and position of a load transported by the handling machine, the controller being configured to determine the stability state based on the mass and position of the load determined by the load weighing system. In one embodiment, the weighing system includes a pressure sensor for producing a signal related to the pressure in a hydraulic lifting cylinder of a handling arm of the handling machine.

[0045] According to one embodiment, the calculator is further configured to:

[0046] - determine or predict a future geographical location from the location current geographical location and / or past geographical locations

[0047] - a future stability state from the current stability state and / or states of past stability

[0048] - determine the minimum stopping distance from the location prediction future geographical and future state of stability.

[0049] According to one embodiment, the invention also provides a handling machine comprising the aforementioned safety system. Such a handling machine may also comprise a main body mounted on wheels for movement on the ground, a handling arm for receiving a load to be moved, the arm of handling being articulated around a horizontal axis relative to the main body, and an actuation device configured to execute a movement of the handling arm relative to the main body, the actuation device comprising a hydraulic lifting cylinder mounted between the handling arm and the main body to execute a movement of the handling arm around the horizontal axis.

[0050] The handling machine includes an element capable of receiving the adaptation signal and reducing the travel speed of the handling machine in response to the adaptation signal. In some embodiments, the element for reducing the current travel speed is part of a transmission chain or a braking system of the handling machine.

[0051] According to another aspect, the handling arm comprises at least two telescopic segments deployable by means of an extension cylinder arranged between the at least two segments.

[0052] According to one embodiment, the handling machine is configured in the form of a telescopic arm forklift. Brief description of the figures

[0053] The invention will be better understood, and other objects, details, features and advantages thereof will become more apparent from the following description of several particular embodiments of the invention, given solely by way of illustration and not limitation, with reference to the accompanying drawings.

[0054] Fig. 1 is a schematic representation of a telescopic arm forklift in which embodiments of the invention can be implemented.

[0055] Fig. 2 is a schematic representation of a rear view of the telescopic boom forklift.

[0056] Fig. 3 is a schematic representation of the positioning system detecting a road sign.

[0057] Fig. 4 is a schematic representation of the different situations that the anti-collision system faces.

[0058] Fig. 5 illustrates the technical characteristics of an example of an object sensor.

[0059] Fig. 6 is a functional representation of a handling machine comprising a safety system.

[0060] Fig. 7 is an example of a graph defining for a tractor and a handling machine a minimum deceleration as a function of their current travel speed.

[0061] Fig. 8 is a process diagram illustrating a safety control method. Description of the implementation methods

[0062] We will describe below embodiments of a safety system 1 for a telescopic arm forklift 1000.

[0063] 1000 Telescopic Arm Forklift

[0064] With reference to [Fig. 1], the telescopic boom forklift 1000 comprises a chassis 200 supported on the ground by means of a front axle carrying front wheels 300 and a rear axle carrying rear wheels 400. The telescopic boom forklift 1000 comprises a telescopic handling arm 600 mounted on the chassis 200 at one end and orientable about an axis of rotation 70 transverse to the chassis 200.

[0065] In an unrepresented variant, the 1000 telescopic arm trolley may include a rotating turret allowing the handling arm to be oriented around a vertical axis, as described for example in publication EP3187373 A1.

[0066] The handling arm 600 comprises at least two telescopic segments deployable by means of a hydraulic extension cylinder arranged between the at least two segments.

[0067] The handling arm 600 includes a load-carrying tool 140 articulated to a second end of the handling arm 600 by the linkage 150 and configured to carry a payload 90. In the example shown the load-carrying tool 140 is a fork but other tools can be used, for example a bucket.

[0068] The handling arm 600 is rotationally movable by means of a hydraulic lifting cylinder 80 connected to the frame 200 and the handling arm 600. The handling arm 600 comprises at least two telescopic segments deployable by means of an extension cylinder, not shown, arranged between the at least two segments. A slewing actuator, not shown, is arranged to change the orientation of the load-carrying tool 140 around a transverse axis of rotation relative to the frame 200. This slewing actuator may be a hydraulic actuator.

[0069] The 1000 telescopic boom forklift comprises one or more transmission chains including one or more internal combustion or electric motors (not shown) and adapted to transmit energy generated by the motor(s) to the various actuators of the 1000 telescopic boom forklift

[0070] The actuators driven by the transmission chain(s) include handling actuators, such as the handling arm 600 and the load-carrying tool 140, and mobility actuators, such as the front wheels 300 and the rear wheels 400.

[0071] For example, a first motor is configured to drive the front wheels 300 and / or the rear wheels 400 via a first transmission chain 500 and a second motor is configured to operate the handling arm 600 and the load-carrying tool 140 via a second transmission chain, in particular a hydraulic transmission chain.

[0072] The telescopic boom forklift 1000 includes a braking system 26. The braking system 26 includes a brake pedal 262 and one or more brake actuators 261 configured to reduce the speed of the telescopic boom forklift 1000. In addition, the braking system includes a brake controller 263 configured to receive a brake signal indicating a braking force that the brake actuator(s) 261 will apply to the front wheels 300 and / or rear wheels 400.

[0073] The telescopic arm forklift 1000 further includes a demand element 120 configured to manually control the actuators of the handling arm 600, namely the extension cylinder and / or the slewing actuator.

[0074] The demand member 120 allows in particular to raise and lower the handling arm 600, to deploy or retract the handling arm 600 and / or to change the orientation of the load-carrying tool 140 by means of a hydraulic system known per se.

[0075] The demand element 120 can be a hydro-proportional manipulator block that delivers a hydraulic demand signal. This hydraulic signal can then be converted into an electrical signal that can be communicated to a computer 7. Alternatively, the demand element 120 can be an electro-proportional manipulator block that delivers an electrical demand signal that can be communicated to the computer 7. The demand element 120 could take other forms, for example buttons, levers, a touch screen, etc.

[0076] Fig. 1 shows the handling arm 600 carrying the payload 90 in a high and retracted position in a continuous line and in several lower and more deployed positions in a dashed line.

[0077] The telescopic boom forklift 1000 includes a current speed determination system 25 configured to determine a current speed of the telescopic boom forklift 1000. The current speed determination system 25 may include one or more speed sensors mounted on the telescopic boom forklift 1000. The mounted speed sensor(s) may include tachometers measuring the number of revolutions of an element of the transmission system of the telescopic boom forklift 1000 or the speed of one of the front wheels 300 and / or the rear wheels 400.

[0078] The 1000 telescopic boom forklift includes a communication system 71 adapted to communicate with other equipment, for example A computerized fleet management system. The communication system 71 is adapted to transmit signals generated by the safety system 1, and to receive signals, for example, from a remote central server. The communication system 71 is, for example, adapted to transmit the received signals to the safety system 1. In one embodiment, a maximum permissible stopping distance is transmitted by the fleet management system to be enforced by the safety system 1.

[0079] With reference to [Fig.6], the safety system 1 includes an anti-collision system 20, an anti-tipping system 27 and / or a positioning system 19, a first maximum distance determination system 321 and / or a second maximum distance determination system 322 and a speed limit controller 32.

[0080] Anti-collision system 20

[0081] The anti-collision system 20 is capable of automatically detecting a risk of collision of the telescopic forklift 1000 and activating the braking system 26 of the telescopic forklift 1000 in order to reduce the speed of the latter and avoid the collision or mitigate its consequences.

[0082] The anti-collision system 20 comprises one or more object sensors 201 and a distance sensor 203. The object sensor(s) 201 and the distance sensor 203 may be combined or separate. Furthermore, the object sensor(s) 201 and the distance sensor 203 may be separate from the anti-collision system and operate independently within the telescopic handler 1000.

[0083] The anti-collision system 20 includes an anti-collision controller 202 configured to process signals sent by the object sensors 201 and / or the distance determination sensor 203 and to communicate with the other systems of the security system 1.

[0084] The object sensor(s) 201 are configured to generate an object signal indicating the detection of all or part of an object 900 in a coverage area 23.

[0085] The object sensor(s) 201 are characterized by a perception zone SR. They are capable of detecting an object positioned within their perception zone.

[0086] The object sensor(s) 201 are, in particular, adapted to detect an obstacle to the movement of the telescopic arm trolley 1000 or a road sign 10.

[0087] The object sensor(s) 201 may include, for example, one or more imagers (e.g., one or more cameras), one or more light detection and ranging (LIDAR) sensors, one or more sensors navigation by sound (SONAR), or one or more radio detection and rangefinding (RADAR) sensors, or any other suitable type of sensor.

[0088] The object sensor(s) 201 can be mounted on the telescopic handler 1000, for example at the front of the telescopic handler 1000, as illustrated in [Fig. 1]. It is envisaged that one or more object sensors 201 can be mounted in addition, and / or alternatively, at many different locations on the telescopic handler 1000.

[0089] The object sensors 201 make it possible to determine an absolute or relative geographical position of the telescopic arm trolley 1000.

[0090] The anti-collision system 20 is configured to analyze object signals generated by object sensors 201 and identify a relative position of the telescopic arm trolley 1000 with respect to a detected object.

[0091] For this purpose, the anti-collision system 20 includes a distance determination sensor 203. The distance determination system 203 is configured to determine a distance between the handling machine and a detected object from the object signals generated by the object sensor(s) 201. If the geographic position of the detected object is known by the localization system 19, then the anti-collision system 20 can determine the absolute geographic position of the telescopic handler 1000.

[0092] The distance determination sensor 203 is characterized by the coverage area 23. The coverage area 23 represents the union of all the perception areas SR of the object sensors 201. If the localization system comprises a single object sensor 201 then the coverage area 23 is the perception area SR of the single object sensor 201.

[0093] The coverage area 23 of the distance determination system 203 is characterized by one or more representative dimensions. The coverage area 23 can also be characterized by an angle. For example, in the horizontal plane of the environment of the telescopic handler 1000, an opening angle of the coverage area is the smallest angle whose vertex is the position of the telescopic handler 1000 that delimits a portion of the horizontal plane containing the coverage area 23.

[0094] The representative dimension(s) are defined by a length and an angle with respect to a direction of movement of the telescopic trolley 1000.

[0095] For example, the object sensor 201 may be a radar from the OHW range manufactured by Robert Bosch GmbH or a radar from the Sentry range manufactured by Sensata Technologies.

[0096] Fig. 5 illustrates a BOSCH OHW range radar in a Txl antenna configuration and a Tx2 antenna configuration.

[0097] In this example, only one object sensor 201 is used. Thus, the perception area SR of the single object sensor 201 defines the coverage area 23.

[0098] Fig. 5 illustrates in ordinate and abscissa the distance covered by the coverage area 23.

[0099] In this example, the coverage area 23 of the determination sensor 203 comprises three representative dimensions: - a first representative dimension 221 extending along the direction of movement of the telescopic handler 1000, i.e. forming an angle of 0° with the direction of movement of the telescopic handler 1000; - a second representative dimension 222 extending along a direction forming an angle of approximately 15° with the direction of movement of the telescopic handler 1000; - a third representative dimension 223 extending along a direction forming an angle of approximately 40° with the direction of movement of the telescopic handler 1000.

[0100] In the example illustrated in [Fig.5], the first representative dimension 221 is about 170 meters, the second representative dimension 222 is about 60 meters and the third representative dimension 223 is about 80 meters.

[0101] Furthermore, the coverage area 23 includes a maximum dimension. According to the characteristics of the object sensors 201, the maximum dimension extends in a direction forming an angle between 0 and 80° with a direction of movement of the telescopic arm trolley 1000. The angle can be between 0 and 75°, 0 and 40°, 0 and 20° or between 0 and 10°.

[0102] With reference to [Fig.4], the anti-collision system 20 takes into consideration at least three different distances: a minimum stopping distance 260 of the telescopic arm trolley 1000, an activation distance 240 and a dimension representative of the coverage area.

[0103] For example, the representative dimension considered is the first representative dimension 221 extending along the direction of movement of the telescopic handler 1000, i.e. forming an angle of 0° with the direction of movement of the telescopic handler 1000.

[0104] The activation distance 240 corresponds to the minimum stopping distance 260 and a safety margin 250. In other words, the activation distance 240 is the sum of the minimum stopping distance 260 and the safety margin 250.

[0105] The minimum stopping distance 260 is the distance traveled by the telescopic handler 1000 during the total braking time, that is, the distance traveled by the telescopic handler 1000 from the moment a driver begins to operate a braking control device until the telescopic handler 1000 stops.

[0106] The minimum stopping distance 260 corresponds to a braking distance 231 of the telescopic handler when the braking actuators 261 are activated and a reaction distance 232 corresponding to the distance traveled by the telescopic handler during the reaction time of the braking system 26. In other words, the minimum stopping distance 260 is the sum of the braking distance 231 and the reaction distance 232.

[0107] The braking distance 231 takes into account the permissible deceleration determined by the anti-tipping system 27. Indeed, the deceleration of the telescopic arm truck 1000 during the braking phase is determined so that the telescopic arm truck 1000 does not tip forward.

[0108] The stopping distance 260, the activation distance 240, and the representative dimension 221 are not fixed: they are subject to change over time. For example, the braking distance 231 may change depending on the stability of the telescopic handler 1000 and / or the speed of the telescopic handler 1000. Similarly, the representative dimension 221 may change over time depending on the parameters of the object sensors 201 and / or the weather conditions.

[0109] The stopping distance 260, the activation distance 240 and the representative dimension 221 define three cases:

[0110] Case A: no object 900 is detected in the coverage area 23. However, it is possible that an obstacle 900 is positioned outside the coverage area 23, i.e. at a greater distance than the representative dimension 221 relative to the telescopic arm trolley 1000.

[0111] Case B: an object 900 is detected in the coverage area 23, therefore it is located at a distance less than the representative dimension 221 relative to the telescopic arm trolley 1000. In addition, the object 900 is located at a distance greater than the activation distance 240 relative to the telescopic arm trolley 1000.

[0112] Case C: an object 900 is located at a distance less than the activation distance 240 relative to the telescopic arm trolley 1000.

[0113] Case D: an object 900 is located at a distance less than the stopping distance 260 relative to the telescopic arm trolley 1000. The collision is then inevitable.

[0114] In case C, i.e. when the distance determined by the distance determination sensor 203 becomes less than the activation distance 240, the anti-collision system 20 sends a braking signal to the braking system 26 to reduce the speed of the trolley and avoid the collision.

[0115] The braking signal communicates the braking force to be applied to the front wheels 300 and / or the rear wheels 400. Thus, the braking signal determines the deceleration of the telescopic handler 1000 during the braking phase.

[0116] In case B, the anti-collision system 20 detects an object 900, but the telescopic handler 1000 is far enough away to stop in time if an operator brakes. Therefore, the anti-collision system 20 does not trigger braking.

[0117] Case A is accident-prone. Indeed, no object 900 is detected in the coverage area 23. However, by the time an object 900 is detected, the stopping distance may have become large enough that the telescopic handler 1000 is in case D at the time of detection. The speed limitation module 320 of the speed limitation controller 32 is designed to prevent this situation.

[0118] Anti-tipping system 27

[0119] The anti-tipping system is configured to determine a minimum stopping distance at or above which the telescopic handler 1000 will not tip over due, at least in part, to the deceleration of the telescopic handler 1000 from its current travel speed. The current travel speed of the telescopic handler 1000 is the speed at which the telescopic handler 1000 is moving when the braking system 26 receives the braking signal sent by the anti-collision system 20.

[0120] The anti-rollover system 27 includes a stability system 272, a system for determining the permissible deceleration 273 and a system for determining the minimum stopping distance 274. The anti-rollover system includes an anti-rollover controller 271 adapted to process the signals generated by the stability system 272, the system for determining the permissible deceleration 273 and the system for determining the minimum stopping distance 274.

[0121] The stability system 272 is configured to determine a stability state of the telescopic arm truck 1000. The stability state of the telescopic arm truck 1000 characterizes a risk of tipping of the telescopic arm truck 1000.

[0122] Different methods for determining the state of stability are conceivable and usable alone or in combination with each other.

[0123] According to a first method of determining the state of stability, the telescopic boom forklift 1000 further includes a tipping detector 11 configured to produce a signal relating to a tipping moment applied to the chassis 200 around a tipping axis, located at the front axle.

[0124] In one embodiment, the tilt detector 11 is arranged at the rear axle 40.

[0125] In [Fig. 2], the rear axle 40 of the telescopic handler 1000 comprises two wheel support arms 60 carrying rear wheels 62. Each wheel support arm 60 comprises a strain gauge 61 configured to measure a tensile deformation of said wheel support arm 60 in a direction perpendicular to said arm 60. Alternatively, the strain gauges 61 are configured to measure a bending deformation of the wheel support arm 60, in particular a change in length between two spaced terminals on the wheel support arm 60. The measurement signals from the strain gauges 61 can be used to form the indicative signal of the tipping moment, for example, as the average of the two measurement signals. Alternatively, it is possible to use a single strain gauge 61 to produce the indicative signal of the tipping moment.Preferably, the rear axle 40 is connected in an oscillating manner to the chassis 200 by means of a pivot 66 with longitudinal axis passing through a central part 65 of the axle.

[0126] For example, the stability system 272 determines the stability state from the signal produced by the tipping detector 11 and a lookup table associating a tipping moment value with a stability state of the telescopic arm trolley 1000.

[0127] For example, the lookup table is determined by extrapolation from at least two tipping moments measured in two different configurations and / or two different payloads 90. For example, a first tipping moment is determined in a configuration of the telescopic handler 1000 in which the handling arm 600 is retracted and without any payload 90; and a second tipping moment is determined in a configuration of the telescopic handler 1000 in which the handling arm 600 is fully extended with a maximum payload 90. From these two tipping moments, the lookup table is determined by extrapolation.

[0128] According to a determination method, the stability system 272 has access to one or more of the databases comprising the centers of gravity of the components of the telescopic arm truck 1000 in an initial configuration of the telescopic arm truck 1000, for example when the handling arm 600 is retracted, and the masses of the main moving components of the telescopic arm truck 1000.

[0129] For example, the masses and centers of gravity of the chassis 200, the rear axle and the front axle, the foot of the handling arm 600, each of the two telescopic segments of the handling arm 600, the load-carrying tool 140, and the carriage are specified when the telescopic handler 1000 is in its initial configuration. When the telescopic handler 1000 is mounted on a rotating turret, the mass and center of gravity of the turret are also specified.

[0130] Furthermore, according to the method for determining the state of stability, the telescopic arm forklift 1000 further comprises a plurality of displacement detectors 18 configured to produce a signal relating to movements of the handling arm 600 relative to the main body 200.

[0131] These displacement detectors 18 are, for example, configured to produce a signal relating to a position of the handling arm 600, in particular an angle of inclination of the handling arm 600 relative to the chassis 200 and / or an extension length of the handling arm 600 and a signal relating to movement of the load-carrying tool 140. Where applicable, the telescopic boom forklift 1000 further includes a displacement detector 18 configured to produce a signal relating to the movements of the turret, by means of a turret rotation angle sensor.

[0132] The stability system 272 is configured to receive signals from the displacement detectors 18.

[0133] The displacement detectors 18 include, for example, a first sensor located at the axis 70 and arranged to measure the tilt angle of the handling arm 600. The displacement detectors are configured to produce a signal representative of the tilt angle of the handling arm 600 relative to the frame 200 based on the data from the first sensor. The displacement detectors 18 include, for example, a second sensor located at the extension cylinder and arranged to measure a stroke of said extension cylinder. The displacement detectors 18 are configured to produce a signal representative of the extension length of the handling arm 600 based on the data from the second sensor.

[0134] According to a second method of determining the state of stability, the telescopic arm trolley 1000 includes a payload weighing system 152 and a load position determination system 154.

[0135] Furthermore, according to the second method of determination, the payload weighing system 152 is connected to a pressure sensor adapted to measure the pressure in the hydraulic extension cylinder and / or a pressure sensor adapted to measure the pressure in the hydraulic lifting cylinder 80. From the signals generated by the payload weighing system 152, the stability system 272 determines the mass and the position of the center of gravity of the payload 90 mounted on the load-carrying tool 140.

[0136] According to the second method of determining the state of stability, the stability system 272 determines the state of stability of the telescopic arm truck 1000 from the centers of gravity and masses of the main moving components of the telescopic arm truck 1000 and the payload.

[0137] For example, from the position of the centers of gravity and the different moving masses of the telescopic arm truck in an initial configuration of the telescopic arm truck 1000 and the payload 90 and one or more of the signals generated by displacement detectors 18, the stability system 272 determines the current position of the center of gravity of the telescopic arm truck equipped with the payload 90.

[0138] Then, starting from the current position of the center of gravity of the telescopic handler equipped with the payload 90, the stability system 272 determines the static stability of the telescopic handler 1000 and the stability state of the telescopic handler 1000, for example, by applying the fundamental principle of dynamics. For example, the stability state can be the dynamic moment of the telescopic handler 1000.

[0139] The telescopic arm trolley 1000 includes one or more payload sensors 204 configured to generate one or more signals indicating a payload (for example, the weight of the payload 90) carried by the load-carrying tool 140. The payload determination system 152 determines the payload 90 from the signals generated by the payload sensors 204.

[0140] For example, one or more pressure sensors associated with the handling arm 600 and / or one or more pressure sensors associated with the actuator of the load-carrying tool 140 generate signals indicating the pressure in one or more of the hydraulic cylinders, which are indicative of the payload 90 carried by the load-carrying tool 140.

[0141] Other methods of determining the payload 90 implemented by the payload determination system 152 are envisaged, such as estimates based at least in part on, for example, the type of material, the density of the material, and / or the volume of the load-carrying tool 140, and indicative signals of such estimates can be generated and used via the payload determination system 152.

[0142] The telescopic handler 1000 may also include (and / or receive one or more signals from) one or more coupling position sensor(s) 206 configured to generate one or more signals indicating at least one of: - a position of the handling arm 600 and / or the load-carrying tool 140; and / or - an orientation of the handling arm 600 and / or the load-carrying tool 140 relative to the telescopic arm trolley 1000.

[0143] The load position determination system 154 uses these signals to determine an effective position of the payload 90, for example, relative to a center of gravity of the telescopic handler 1000 (for example, without the payload 90). For example, the hitch position sensor(s) 206 include one or more sensors configured to generate one or more signals indicating a pivot position of the handling arm 600 relative to the chassis 200, and / or indicating a pivot position of the load-carrying tool 140 relative to the handling arm 600. In some examples, one or more hitch position sensors 206 are configured to generate one or more signals indicating an extension (or retraction) length of the cylinder 80 and / or a cylinder of the load-carrying tool 140.

[0144] In the example illustrated in [Fig. 1], the pivot position of the handling arm 600 relative to the chassis 200 is fixed. However, another configuration of the handling machine may allow a movable pivot position of the handling arm 600 relative to the chassis 200.

[0145] According to the second method of determining the state of stability, the weight of the payload 90 determined by the payload determination system 152 and the position of the payload 90 determined by the load position determination system 154 are used by the stability system 272 to determine an effective center of gravity of the telescopic arm truck 1000 in its loaded state and a variation of the position of the effective center of gravity relative to a position of the effective center of gravity in an unloaded state of the telescopic arm truck 1000.

[0146] For example, compared to an unloaded state, when the telescopic handler 1000 is carrying a payload 90 in the load-carrying tool 140, the effective center of gravity of the telescopic handler 1000 in its loaded state moves upwards and forwards.

[0147] When the position of the payload 90 changes upwards (for example, the handling arm 600 is raised), the effective center of gravity moves upwards relative to the unloaded center of gravity. When the payload 90 is moved forwards (for example, the boom is positioned with the payload further from the front of a cab 116 of the telescopic handler 1000), the effective center of gravity moves forwards relative to the unloaded center of gravity.

[0148] As the effective center of gravity moves forward and upward, the tendency of the telescopic handler 1000 to tip forward increases. Thus, according to the second method for determining the stability state, the stability system 272 determines the stability state of the telescopic handler 1000 from the determination of the effective center of gravity and / or the variation of the position of the effective center of gravity relative to a position of the effective center of gravity in an unloaded state.

[0149] The anti-tipping system 27 may also include a system for determining the inclination of the telescopic arm trolley 1000 relative to the ground and / or relative to the chassis 200.

[0150] The allowable deceleration determination system 273 is configured to determine an allowable deceleration based on the stability state. The allowable deceleration allows the handling machine to stop without causing it to tip over.

[0151] In some examples, the allowable deceleration can be calculated in real time, by the allowable deceleration determination system 273 from the state of stability on the basis of known physical principles, and / or empirically on the basis, for example, of tests established at different states of stability and / or of known physical principles.

[0152] For example, from the state of stability, the system for determining the permissible deceleration 273 determines the maximum possible deceleration, for example by an analytical approach or by dichotomy.

[0153] When the allowable deceleration is at least partially determined empirically, a plurality of empirical allowable decelerations can be correlated with machine-related parameters in one or more lookup tables.

[0154] The anti-collision system 20 determines the braking force to be applied to the front wheels 300 and / or rear wheels 400 while respecting the permissible deceleration determined by the permissible deceleration determination system 273.

[0155] From the permissible deceleration and a current, or current, travel speed of the telescopic arm truck 1000, the minimum stopping distance determination system 274 determines a braking distance 231.

[0156] Thus, the braking distance 231 takes into account the permissible deceleration determined by the anti-tipping system 27. Indeed, the deceleration of the telescopic arm truck 1000 during the braking phase is less than or equal to the permissible deceleration, so that the telescopic arm truck 1000 does not tip forward.

[0157] From the braking distance 231, the minimum stopping distance determination system 274 determines a minimum stopping distance 260.

[0158] This minimum stopping distance 260 is the stopping distance at or above which the telescopic handler 1000 will not tip over due to its deceleration from the travel speed at which the telescopic handler 1000 is moving until a stopping condition.

[0159] In some examples, the minimum stopping distance 260 can be calculated in real time on the basis of known physical principles and information obtained from the load position determination system 154 and / or the payload determination system 152, and / or can be determined empirically on the basis, for example, of tests and / or known physical principles.

[0160] When the minimum stopping distance 260 is at least partially determined empirically, the empirical minimum stopping distances can be correlated with machine-related parameters in one or more lookup tables, for example, and the minimum stopping distance 260 can be determined on the basis of one or more machine-related parameters.

[0161] The system for determining the minimum stopping distance 274 is further adapted to calculate the minimum stopping distance 260 taking into account a reaction distance 232 corresponding to a distance traveled during a reaction time of an element of the telescopic handler 1000 to reduce the travel speed of the telescopic handler 1000. The reaction distance 232 depends on the reaction time and the current speed of the telescopic handler.

[0162] The system for determining the minimum stopping distance 274 is further adapted to calculate an adaptation distance 240 taking into account the minimum stopping distance 260.

[0163] For example, with reference to [Fig. 4], the adaptation distance 240 is determined based on a safety margin representing the reaction time of the machine element. Thus, the adaptation distance 240 is the sum of the minimum stopping distance 260 and the safety margin 250. The safety margin may be zero. In this case, the adaptation distance 240 is equal to the minimum stopping distance 260.

[0164] The anti-tipping system 27 can also use the tilt detector 11 and / or the displacement sensors 18 to prevent or restrict movements of the handling arm 600 which would jeopardize the stability of the telescopic arm truck 1000, according to the known technique.

[0165] Location system 19

[0166] The telescopic boom forklift 1000 includes a location system 19 for acquiring location data of the handling machine.

[0167] The location system 19 may include one or more positioning systems 191 determining an absolute or relative geographic position.

[0168] The location system 19 may include a satellite geolocation positioning system or a GSM geolocation positioning system using the antennas and technologies of mobile telephone networks, designed for voice and data transfer, such as GSM, UMTS or LTE.

[0169] The location system 19 may also include a Wi-Fi geolocation system. In the same way that a GSM terminal can locate itself on a GSM mobile network, a Wi-Fi terminal can use the same method based on the identifiers of the Wi-Fi access points (SSID or MAC addresses) that it detects.

[0170] The location system 19 may also include an RFID geolocation system. For this purpose, a series of RFID readers equipped with Different types of antennas are positioned to cover an entire desired area, for example a construction site or the inside of a factory.

[0171] Satellite geolocation, GSM geolocation, Wi-Fi or RFID positioning systems allow for the determination of an absolute geographic position of the telescopic arm truck 1000. They can be used in combination with the location system 19.

[0172] Furthermore, the current speed determination system 25 can determine the current speed of the telescopic arm truck from the geographical positions determined by the location system 19.

[0173] Alternatively or cumulatively, the localization system 19 includes one or more of the environmental sensors 192.

[0174] The environmental sensor(s) 192 are capable of detecting an object positioned in the immediate vicinity of the telescopic arm trolley 1000 and are configured to generate an object signal indicating the detection of all or part of an object in the immediate vicinity of the telescopic arm trolley 1000.

[0175] The immediate environment of the telescopic handler 1000 can be an area centered on the telescopic handler 1000, for example, a circle or an ellipse. The immediate environment of the telescopic handler 1000 can be a circle centered on the telescopic handler 1000 with a radius between 0 and 10 meters, 0 and 20 meters, 0 and 30 meters, 0 and 40 meters, or 0 and 50 meters. Similarly, the immediate environment of the telescopic handler can be an ellipse centered on the telescopic handler 1000 with a semi-major axis and / or semi-minor axis between 0 and 10 meters, 0 and 20 meters, 0 and 30 meters, 0 and 40 meters, or 0 and 50 meters.

[0176] As illustrated in [Fig.3], the environmental sensor(s) 192 are, in particular, adapted to detect a road sign 10 in the immediate vicinity of the telescopic handler 1000.

[0177] The environmental sensor(s) 192 may include, for example, one or more imagers (e.g., one or more cameras), one or more light detection and ranging (LIDAR) sensors, one or more sound navigation (SONAR) sensors, or one or more radio detection and ranging (RADAR) sensors, or any other suitable type of sensor.

[0178] The positioning system 19 is adapted to determine a relative position of the telescopic arm trolley 1000 with respect to an object located in the immediate vicinity of the telescopic arm trolley 1000.

[0179] The environmental sensor(s) 192 may include one or more object sensors 201.

[0180] The localization system 19 includes a localization controller 190 configured to process signals generated by the positioning system(s) 191 and / or the or the environmental sensors 192. The location controller 190 is also suitable for communicating with other systems of the security system 1.

[0181] Speed ​​Limit Controller 32

[0182] The safety system 1 includes a speed limiting controller 32 adapted to limit a running speed of the telescopic arm truck 1000.

[0183] To do this, the speed limitation controller 32 includes a speed limitation module 320 configured to compare a maximum permissible stopping distance and the minimum stopping distance 260, or, where appropriate, the adaptation distance 240.

[0184] Several methods for determining the maximum stopping distance can be used by the speed limit controller 32. These methods can be used separately or in combination to determine the maximum stopping distance. For example, a first maximum distance determination system 321 determines a first permissible maximum stopping distance by implementing a first method for determining the maximum permissible stopping distance, and a second maximum distance determination system 322 determines a second permissible maximum stopping distance by implementing a second method for determining the maximum permissible stopping distance.

[0185] The maximum permissible stopping distance retained is then the first maximum stopping distance or the second maximum stopping distance or the smallest distance between the first maximum permissible stopping distance and the second maximum permissible stopping distance.

[0186] The combination of two methods for determining the maximum stopping distance can be generalized to any integer number of methods.

[0187] The speed limit controller 32 includes a first system for determining a maximum distance 321.

[0188] In order to determine the first maximum stopping distance, the first maximum distance determination system 321 may have access to one or more databases 325 containing regulatory information relating to the maximum distance. The database(s) 325 may be accessed via local or remote access. Thus, the first maximum distance determination system 321 can determine the first maximum stopping distance by accessing one or more of the databases 325.

[0189] According to a first method of determination, the first system for determining a maximum distance 321 determines a first maximum permissible stopping distance as a function of the location data of the telescopic arm truck 1000.

[0190] This first method of determination proposes to take into account a relative position of the telescopic handler 1000 in its environment or a absolute position of the telescopic arm trolley 1000 to determine a travel speed of the telescopic arm trolley 1000 ensuring that the telescopic arm trolley 1000 is at all times able to stop safely.

[0191] As described previously, the localization system 19 is adapted to determine a relative or absolute position of the telescopic arm trolley.

[0192] From the relative or absolute position of the telescopic arm trolley 1000, the first maximum distance determination system 321 determines the first maximum permissible stopping distance.

[0193] The first system for determining a maximum distance 321 determines the first maximum permissible stopping distance defined by applicable regulations to the relative or absolute position of the telescopic arm truck 1000.

[0194] The localization system 19 can determine a relative location of the telescopic arm truck 1000 in relation to elements of its environment, in particular in relation to road signs.

[0195] The first maximum distance determination system 321 can extract information from the analysis of these images, for example, regulatory information. The first maximum distance determination system 321 then determines the first maximum permissible stopping distance based on the extracted information, and where applicable, regulatory information applicable to this absolute location contained in one or more of the databases accessible by the first maximum distance determination system 321.

[0196] According to one example, an environmental sensor 192 of the localization system 19 identifies a road sign 10. The localization system 19 determines a relative position of the telescopic handler with respect to this road sign 10 and / or a distance of the telescopic handler with respect to this road sign 10.

[0197] The first maximum distance determination system 321 is adapted to identify, from the signals generated by the object sensor 201, regulatory information contained in the road sign 10.

[0198] The first system for determining a maximum distance 321 can consider that this regulatory information applies to the telescopic handler 1000 as soon as a traffic sign is detected in the immediate environment or if the distance of the telescopic handler from this road traffic sign 10 is or becomes less than a predetermined threshold.

[0199] The first system for determining a maximum distance 321 then determines the first maximum permissible stopping distance based on the regulatory information contained in the road sign 10.

[0200] For example, the road sign indicates a maximum permitted speed of 10 km / h. Using information contained in one or more of the databases to which the first maximum distance determination system 321 has access, the first maximum distance determination system 321 determines a minimum deceleration corresponding to a maximum permitted speed of 10 km / h. For example, the first maximum distance determination system 321 determines that the minimum deceleration is 3.5 m / s² based on EU Directive 167 / 2013, or the first maximum distance determination system 321 determines that the minimum deceleration is 2 m / s² based on ISO 62742. Based on this minimum deceleration, the first maximum distance determination system 321 determines the maximum permissible stopping distance in the vicinity of the road sign.Thus, the first system for determining a maximum distance 321 determined the maximum permissible stopping distance as a function of the relative position of the telescopic arm truck 1000.

[0201] According to another example, the location system 19 determines an absolute position of the telescopic arm truck 1000. The first maximum distance determination system 321 determines the first maximum permissible stopping distance from this absolute location, and where appropriate regulatory information applicable to this absolute location contained in one or more of the databases accessible by the first maximum distance determination system 321.

[0202] For example, the location system 19 determines the GPS coordinates of the telescopic handler 1000.

[0203] Based on these GPS coordinates, the first maximum distance determination system 321 determines that the telescopic handler 1000 is located on a worksite subject to regulations regarding maximum permissible stopping distance. Using information contained in one or more of the databases to which the first maximum distance determination system 321 has access, the first maximum distance determination system 321 determines the regulations applied on the worksite and thus determines the maximum permissible stopping distance. The regulations may stipulate that the maximum permissible stopping distance depends on the current speed of the telescopic handler 1000. Therefore, the first maximum distance determination system 321 determined the first maximum permissible stopping distance based on the absolute position of the telescopic handler.

[0204] According to another example, the localization system 19 determines a passage of the telescopic handler 1000 in a predetermined geographical area, by For example, entering a factory or construction site. In this case, the localization system 19 may not know the absolute position of the telescopic handler 1000 but its passage through a predetermined geographical area determining the first maximum permissible stopping distance.

[0205] Alternatively or cumulatively, the first system for determining a maximum distance 321 can also take into account a meteorological situation of a geographical area in which the telescopic arm truck 1000 is located.

[0206] The geographical area can be a worksite where the telescopic handler is used. It can be determined from information contained in one or more of the databases 325. For example, the database(s) 325 include a map defining the geographical area.

[0207] The geographical area can also be determined by location data acquired by the location system 19.

[0208] For example, one or more of the 325 databases include a plurality of climatic situations and a first maximum permissible stopping distance is associated with each of the climatic situations in the plurality of climatic situations.

[0209] The first maximum distance determination system 321 then determines the first maximum distance corresponding to the current climatic conditions of the geographical area. The current climatic conditions of the geographical area can be determined by the telescopic handler 1000 from one or more suitable sensors known in itself or communicated to the telescopic handler 1000 and transmitted to the first maximum distance determination system 321.

[0210] A variation in the maximum permissible stopping distance can also be associated with each of the climatic conditions of the plurality of climatic conditions. Thus, the first system for determining a maximum distance 321 can determine the first maximum permissible distance from an initial value and the variation associated with the climatic conditions of the geographical area. This initial value can be a maximum permissible stopping distance determined by another method of determination, for example from the location data of the telescopic handler 1000 as described above.

[0211] Alternatively or cumulatively, the first system for determining a maximum distance 321 may also take into account time-stamped data, for example in the form of a timetable. For example, each hour or time slot of the timetable is associated with a first maximum permissible stopping distance or a variation relative to the maximum permissible stopping distance.

[0212] Thus, the first maximum distance determination system 321 can determine the first maximum permissible distance from an initial value and the variation associated with the current hour or time slot. This initial value can be a maximum permissible stopping distance determined by another determination method, for example from the location data of the telescopic handler 1000 and / or according to a meteorological situation in a geographical area in which the telescopic handler 1000 is located as described above.

[0213] Alternatively or cumulatively, the first system for determining a maximum distance 321 may also take into account the number of handling machines present in the geographical area. A plurality of thresholds relating to the number of handling machines present in the geographical area is defined; i.e., ranges of numbers of handling machines are determined according to these thresholds.

[0214] A first maximum permissible stopping distance or a variation relative to the maximum permissible stopping distance is associated with each range of number of handling machines.

[0215] Thus, the first maximum distance determination system 321 can determine the first maximum permissible distance from an initial value and the variation associated with the number of handling machines present in the geographical area. This initial value can be a maximum permissible stopping distance determined by another determination method, for example from the location data of the telescopic handler 1000 and / or according to a meteorological situation of a geographical area in which the telescopic handler 1000 is located and / or according to time-stamped data as described above.

[0216] The first maximum distance determination system 321 can also determine the first maximum stopping distance by receiving this first maximum stopping distance from a separate system, for example a remote central server. In this case, the remote server is adapted to transmit a maximum stopping distance to the first maximum distance determination system 321.

[0217] Finally, the first maximum distance determination system 321 can also determine the first maximum stopping distance by applying a machine parameter previously entered by a user. The first maximum permissible distance is then a parameter of the safety system 1.

[0218] The speed limit controller 32 includes a second system for determining a maximum distance 322.

[0219] According to the second method of determination, the second maximum permissible stopping distance is determined as a function of a dimension representative of the area of Telescopic handler distance determination sensor cover 1000.

[0220] This second method of determination proposes to take into account the coverage area of ​​the distance determination sensor to determine a travel speed of the telescopic arm trolley 1000 ensuring that the telescopic arm trolley 1000 is at all times able to stop safely.

[0221] The second system for determining a maximum distance 322 determines the second maximum permissible stopping distance so that it is equal to or less than a dimension representative of the coverage area.

[0222] As explained above, the coverage area 23 of the distance determination sensor 203 is characterized by one or more representative dimensions and the representative dimension(s) are defined by a length and an angle with respect to a direction of movement of the telescopic trolley 1000.

[0223] According to a first example, the second system for determining a maximum distance 322 considers the representative dimension 221 forming a zero angle with the direction of movement of the telescopic handler 1000. In the example presented above, the representative dimension forming a zero angle with the direction of movement of the telescopic handler 1000 is the first representative dimension 221. The system for determining a maximum distance 32 then determines the second maximum permissible stopping distance so that it is equal to or less than the representative dimension forming a zero angle with the direction of movement of the telescopic handler 1000.

[0224] According to a second example, the second system for determining a maximum distance 322 considers the maximum dimension of the coverage area 23 as the representative dimension of the coverage area 23. The system for determining a maximum distance 32 determines the second maximum permissible stopping distance so that it is equal to or less than the maximum dimension of the coverage area 23.

[0225] The selection of the representative dimension considered by the second maximum distance determination system 322 to determine the second maximum permissible stopping distance is predetermined by a user of the telescopic handler 1000 or determined by the second maximum distance determination system 322. In the latter case, the second maximum distance determination system 322 can select the representative dimension considered taking into account the current speed of the telescopic handler 1000.

[0226] The safety system 1 aims to ensure that the handling machine is at all times able to stop safely under the conditions imposed by the location of the handling machine.

[0227] In particular, the safety system 1 aims to ensure that the telescopic handler 1000 is never in Case D described above.

[0228] To do this, the speed limitation module 320 compares the maximum permissible stopping distance retained and the minimum stopping distance 260, or, where applicable, the adaptation distance 240.

[0229] If the speed limiting module 320 determines that the maximum permissible stopping distance is less than the minimum stopping distance 260, the telescopic handler is not safe and / or it endangers its surroundings. In other words, the minimum stopping distance 260 is greater than the maximum permissible stopping distance.

[0230] In response, the speed limitation controller 32 transmits an adaptation signal to an element of the telescopic arm trolley 1000 to reduce the current travel speed so that the minimum stopping distance 260 becomes less than or equal to the maximum permissible stopping distance.

[0231] The telescopic arm trolley element 1000 is part of the transmission chain or braking system 26 of the telescopic arm trolley 1000.

[0232] For example, the speed limit controller 32 can control one or more of the braking actuators 261 in order to reduce the current travel speed so that the adaptation distance 240 becomes less than or equal to the maximum permissible stopping distance.

[0233] Alternatively or cumulatively, the speed limitation controller 32 can command the thermal or electric motor to reduce the travel speed or one or more elements 501 of the first transmission chain 500 so as to reduce the power transmitted by the motor 5 to the front wheels 300 and / or the rear wheels 400. Thus, the speed of the telescopic arm truck 1000 can decrease until the minimum stopping distance 260 becomes less than or equal to the maximum permissible stopping distance.

[0234] Alternatively or cumulatively, the speed limitation controller 32 can inhibit a request to increase the travel speed transmitted by the requesting element 120 so that the current speed of the telescopic arm truck 1000 decreases and that, in the end, the minimum stopping distance 260 becomes less than or equal to the maximum permissible stopping distance.

[0235] Similarly, if the speed limiting module 320 determines that the maximum permissible stopping distance is less than the adaptation distance 240, the telescopic handler 1000 is not safe and / or it endangers its surroundings. In response, the speed limiting controller 32 transmits an adaptation signal to a component of the material handling machine to reduce the current travel speed so that the adaptation distance 240 becomes less than or equal to the maximum permissible stopping distance.

[0236] The examples described above concerning the transmission of the adaptation signal to the handling machine element to reduce the current travel speed so that the minimum stopping distance 260 becomes less than or equal to the maximum permissible stopping distance can be applied similarly to make the activation stopping distance less than or equal to the maximum permissible stopping distance.

[0237] The safety system 1 described above is a reactive system. Continuously, or in real time, the location system 19 and computer 7 perform the operations described above, ensuring that the handling machine is at all times capable of stopping safely under the conditions imposed by the location of the handling machine.

[0238] The safety system 1 allows the implementation of a safety control process 10,000 illustrated in [Fig.8].

[0239] In step 1, the stability system 272 determines a stability state of the telescopic arm truck 1000.

[0240] In step 2, the allowable deceleration determination system 273 determines an allowable deceleration as a function of the stability state.

[0241] In step 3, the minimum stopping distance determination system 274 determines a minimum stopping distance 260 as a function of the permissible deceleration and a current, or current, travel speed of the telescopic arm truck 1000.

[0242] In step 4, the first maximum distance determination system 321 determines a first maximum permissible stopping distance by implementing the first method for determining the maximum permissible stopping distance and / or the second maximum distance determination system 322 determines the second maximum permissible stopping distance by implementing a second method for determining the maximum permissible stopping distance. If applicable, the shorter of the two maximum stopping distances is retained by the speed limitation module 320.

[0243] At step 5, the speed limitation module 320 compares the maximum permissible stopping distance and the minimum stopping distance 260, or, where applicable, the adaptation distance 240.

[0244] In step 6, in response to the determination that the minimum stopping distance 260 or an adaptation distance 240 is or becomes greater than the maximum permissible stopping distance, the speed limitation controller 32 transmits an adaptation signal to an element of the telescopic handler 1000 to reduce the speed of current displacement so that the minimum stopping distance 260 or the reference stopping distance 240 becomes less than or equal to the maximum permissible stopping distance.

[0245] Step 4 can be carried out at any time during the process.

[0246] Predictive mode

[0247] The security system 1 can also operate in a predictive mode. It is then a predictive system determining a future geographical location and a state of stability over a predetermined time horizon.

[0248] The time horizon can be on the order of seconds or minutes. For example, the safety system can operate in predictive mode with a time horizon between 5 and 60 seconds or between 60 seconds and 5 minutes. As another example, the time horizon is equal to the reaction time of an element of the telescopic handler 1000 configured to reduce the travel speed of the telescopic handler 1000.

[0249] In predictive mode, the safety system 1 is configured to determine or predict a future geographic location from the current geographic location and / or past geographic locations of the telescopic handler 1000.

[0250] The safety system 1 is configured to determine or predict a future stability state from the current stability state and / or past stability states of the telescopic handler 1000, the current geographical location and / or past geographical locations of the telescopic handler 1000.

[0251] For example, the safety system 1 can consider one or more stability state variation profiles and determine the future stability state from the current stability state and / or past stability states of the telescopic handler 1000 and a selected stability state variation profile. The selection can be made based on the current or future geographical location of the telescopic handler 1000.

[0252] According to another example, the safety system 1 can consider the future stability state to be identical to the current stability state. For example, when the time horizon is equal to the reaction time of an element of the telescopic handler 1000 configured to reduce the travel speed of the telescopic handler 1000, the safety system 1 considers the future stability state to be identical to the current stability state.

[0253] Based on the prediction of the future geographical location and the future stability state, the safety system 1 determines a minimum stopping distance 260 or an activation stopping distance according to the steps previously described regarding the reactive mode.

[0254] Similarly, according to the predictive mode, if the safety system 1 determines that the maximum permissible stopping distance is less than the minimum stopping distance 260, the telescopic handler will not be safe and / or it will endanger its environment within the determined time horizon.

[0255] The predictive mode is particularly advantageous when the time horizon is equal to the reaction time of an element of the telescopic arm trolley 1000 configured to reduce the travel speed of the telescopic arm trolley 1000, which allows the adaptation signal to be transmitted earlier and thus the reaction time to be anticipated.

[0256] The operations performed by the braking controller 263, the speed limit controller 32, the rollover control 271, the positioning controller 190, and / or the collision avoidance controller 202 can be implemented in software, hardware, application logic, or a combination of software, hardware, and application logic. The software, application logic, and / or hardware can reside on the telescopic handler 1000, on a separate device, or on a plurality of devices. Optionally, some of the software, application logic, and / or hardware can reside on the telescopic handler 1000, some of the software, application logic, and / or hardware can reside on a separate device, and some of the software, application logic, and / or hardware can reside on a plurality of devices.In one example, the application logic, software, or set of instructions is stored on one of several conventional computer-readable media. For the purposes of this document, "computer-readable media" can be any medium or means capable of containing, storing, communicating, propagating, or transporting instructions for use by or in connection with an instruction-executing system, apparatus, or device, such as a computer. Computer-readable media may include computer-readable storage media, which can be any medium or means capable of containing or storing instructions for use by or in connection with an instruction-executing system, apparatus, or device, such as a computer.

[0257] For example, the operations performed by the safety system 1 are carried out by one or more computers. The computer(s) are configured to perform a plurality of steps or operations, described above, ensuring that the handling machine is at all times capable of stopping safely under the conditions imposed by the location of the handling machine.

[0258] The computer(s) comprise at least one processor; and at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, with the at least one processor, trigger the operations performed by the brake controller 263, the speed limit controller 32, anti-rollover controller 271, location controller 190 and / or anti-collision controller 202.

[0259] The computer(s) have access to one or more databases 325 containing regulatory information relating to a minimum deceleration applicable to a geographical position or geographical area and / or a maximum permissible stopping distance applicable to a geographical position or geographical area.

[0260] For example, regulatory information may include graphs defining a minimum deceleration as a function of a current travel speed to be observed at a geographical position or geographical area.

[0261] For example, [Fig.7] is an example of a graph defining for a tractor T and a handling machine M, for example the telescopic handler 1000, the maximum stopping distance as a function of their current travel speed.

[0262] The safety system 1 has been described in an embodiment applied to a telescopic arm truck 1000.

[0263] The various sensors described above can be used in a common way by several systems of the 1000 telescopic arm truck.

[0264] The safety system 1 which has been described above with reference to a telescopic arm truck 1000 can also be used in various handling machines made, for example, in the form of a lifting crane, aerial work platform, bucket loader or other.

[0265] Although the invention has been described in connection with several particular embodiments, it is clearly evident that it is by no means limited to them and that it includes all technical equivalents of the means described as well as their combinations if these fall within the scope of the invention.

[0266] The use of the verb "comprise", "comprendre" or "include" and its conjugated forms does not exclude the presence of other elements or steps than those stated in a claim.

[0267] In claims, any reference sign in parentheses shall not be interpreted as a limitation of the claim.

Claims

Demands

1. Safety system (1) for a material handling machine (1000), the safety system comprising: a distance-determining sensor (203) mounted in the material handling machine, the distance-determining sensor being configured to determine a distance between the material handling machine and an object (900) positioned in a coverage area (23), a controller configured to: - determine a stability state of the material handling machine, - determine an permissible deceleration of the material handling machine as a function of the stability state, the permissible deceleration being capable of stopping the material handling machine without causing the material handling machine to tip over, - determine a minimum stopping distance (260) as a function of a current travel speed of the material handling machine (1000) and the permissible deceleration, - determine a maximum permissible stopping distance as a function of a representative dimension (221; 222;223) of the coverage area of ​​the distance determination sensor (203), - in response to the determination that the minimum stopping distance (260) or a reference stopping distance (240) dependent on the minimum stopping distance is or becomes greater than the maximum permissible stopping distance, transmit an adaptation signal to an element of the handling machine to reduce the current travel speed so that the minimum stopping distance (260) or the reference stopping distance (240) becomes or remains less than or equal to the maximum permissible stopping distance.;

2. A safety system according to the preceding claim, wherein: - the distance determination sensor (203) comprises one or more object sensors (201) configured to generate an object signal indicating the detection of all or part of an object (900) in the coverage area (23), - the distance determination sensor (203) being configured to determine the distance between the handling machine (1000) and the object positioned in the coverage area from the object signals generated by the object sensor(s) (201).

3. Security system according to the preceding claim in which the object sensor(s) (201) are each characterized by a perception zone (SR), the object sensor(s) being capable of detecting an object positioned within their perception zone (SR), the coverage area (23) being the union of the perception zones (SR).

4. Security system according to any one of claims 2 to 3 wherein the object sensor(s) (201) comprise one or more imagers, one or more light detection and ranging (LIDAR) sensors, one or more sound navigation (SONAR) sensors, and / or one or more radio detection and ranging (RADAR) sensors.

5. Safety system according to any one of the preceding claims wherein at least one representative dimension (221; 222, 223) of the cover area is a representative dimension (221) forming a zero angle with the direction of movement of the handling machine.

6. Security system according to any one of the preceding claims wherein at least one representative dimension (221;222,223) of the coverage area is a smaller dimension among a plurality of representative dimensions of the coverage area.

7. Security system according to any one of the preceding claims wherein at least one representative dimension (221; 222, 223) of the coverage area is predetermined and recorded in a database accessible by the computer.

8. Safety system according to any one of the preceding claims wherein the reference stopping distance (240) exceeds the minimum stopping distance (260) by a safety distance (250).

9. Safety system according to any one of the preceding claims, further comprising a load weighing system (152) for determining a mass and position of a load carried by the handling machine, the controller being configured to determine the state of stability as a function of the mass and position of the load determined by the load weighing system.

10. A safety system according to any one of the preceding claims further comprising an anti-collision system (20) configured to automatically detect a risk of collision with an object positioned in the coverage area (23) of the handling machine based on the distance between the handling machine and the object positioned in the coverage area and to activate a braking system (26) of the handling machine in order to reduce the speed of the handling machine and avoid the collision or mitigate its consequences.

11. Handling machine comprising a safety system according to any one of the preceding claims, the handling machine comprising a main body mounted on wheels for moving on the ground, a handling arm (600) for receiving a load to be moved, the handling arm being articulated about a horizontal axis relative to the main body, and an actuation device configured to execute a movement of the handling arm relative to the main body, the actuation device comprising a hydraulic lifting cylinder mounted between the handling arm and the main body for executing a movement of the handling arm about the horizontal axis, the handling machine comprising an element capable of receiving the adaptation signal and reducing the current travel speed in response to the adaptation signal.

12. Handling machine according to the preceding claim in which the handling arm comprises at least two telescopic segments deployable by means of an extension cylinder arranged between the at least two segments.

13. Handling machine according to any one of claims 11 to 12 configured in the form of a telescopic arm forklift.

14. Handling machine according to any one of claims 11 to 13 wherein the element for reducing the actual travel speed is part of a transmission chain or a braking system (26) of the handling machine.

15. A safety control method (10000) comprising the following steps: - determining a stability state of a handling machine (1000), - determining an permissible deceleration of the handling machine as a function of the stability state, the deceleration admissible, being capable of stopping the handling machine without causing the handling machine to tip over, - determine a minimum stopping distance (260) based on the current travel speed of the handling machine (1000) and the permissible deceleration, - determine a maximum permissible stopping distance as a function of a representative dimension (221; 222; 223) of a coverage area of ​​a distance determination sensor (203) mounted in the handling machine, the distance determination sensor being configured to determine a distance between the handling machine and an object (900) positioned in the coverage area (23), - in response to the determination that the minimum stopping distance (260) or a reference stopping distance (240) dependent on the minimum stopping distance is or becomes greater than the maximum permissible stopping distance, transmit an adaptation signal to an element of the handling machine to reduce the current travel speed so that the minimum stopping distance (260) or the reference stopping distance (240) becomes or remains less than or equal to the maximum permissible stopping distance

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