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EP1371603A2 - Control system for at least one movement of an industrial truck - Google Patents

Control system for at least one movement of an industrial truck Download PDF

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Publication number
EP1371603A2
EP1371603A2 EP03012622A EP03012622A EP1371603A2 EP 1371603 A2 EP1371603 A2 EP 1371603A2 EP 03012622 A EP03012622 A EP 03012622A EP 03012622 A EP03012622 A EP 03012622A EP 1371603 A2 EP1371603 A2 EP 1371603A2
Authority
EP
European Patent Office
Prior art keywords
truck
permissible
movement
determined
stability
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03012622A
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German (de)
French (fr)
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EP1371603B1 (en
EP1371603A3 (en
Inventor
Ralf Mebert
Michael Meinhardt
Hans-Jörg Schiebel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kion Warehouse Systems GmbH
Original Assignee
Still Wagner GmbH and Co KG
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Publication date
Application filed by Still Wagner GmbH and Co KG filed Critical Still Wagner GmbH and Co KG
Publication of EP1371603A2 publication Critical patent/EP1371603A2/en
Publication of EP1371603A3 publication Critical patent/EP1371603A3/en
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Publication of EP1371603B1 publication Critical patent/EP1371603B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the invention relates to a method for controlling at least one movement of a Industrial truck.
  • the invention is therefore based on the object, a method for controlling at least one movement of an industrial truck to provide, the, under Consideration of all safety aspects, the movement of the truck in the Optimized for the handling capacity of the truck.
  • a special accuracy is used in the calculation of the location of the Overall center of gravity and thus the stability of the truck achieved when this taking into account a possible elastic deformation at least a component of the truck takes place.
  • Picking up and lifting a load leads to elastic in the power-transmitting parts of the truck Deformations, which in turn affects the location of the overall center of gravity.
  • Elastic deformations occur, for example, in the area of the pivoting thrust fork, mast, vehicle frame or tires. The inclusion The elastic deformation leads to a significantly improved accuracy in the Determination of the stability of the truck.
  • the inventive method is used when the Movement of the truck whose permissible volume is determined, the Lifting movement of a lifting device is.
  • the lifting height of the load handling device and thus a recorded load affect the risk of tipping a Material handling considerably. If the risk of tipping exceeds a permissible level, can prevent or further upward movement of the lifting device be slowed down.
  • the invention can be used when the movement of the Truck, whose permissible extent is determined, the driving speed of the Truck in the forward and / or reverse direction is.
  • the maximum travel speed of the truck depending on the position of the overall center of gravity.
  • the permissible travel speed in forward and / or Reverse direction depending on a physically possible Braking acceleration of the truck determined in the appropriate direction.
  • the physically possible braking acceleration depends on the between the braked wheels and the road surface acting normal forces and the Friction conditions. This can be done in forward and backward direction different braking accelerations may be possible.
  • the maximal Driving speed is set so that the prescribed deceleration not fallen below.
  • the permissible travel speed in the forward and / or reverse direction in Dependence on a permissible braking acceleration of the truck in the corresponding direction is determined.
  • the braking acceleration is permissible classified if sufficient stability of the truck is ensured is so no risk of overturning of the truck as a result of during the Braking occurring inertial forces exists.
  • the permissible driving speed is then adjusted so that the required deceleration in the appropriate direction is achieved.
  • the permissible braking acceleration of the truck is, inter alia, in Dependence on the stability of the truck determined.
  • the Stability and thus the risk of overturning of the truck during braking depends on the position of the center of gravity certainly.
  • the permissible travel speed in forward and / or Reverse direction depending on a current steering angle of a steered wheel of the truck determined.
  • the allowed Driving speed reduced with increasing steering angle.
  • a device for moving the load for example, formed by a pivoting push fork be a side thruster, a swivel device and a Additional lifting device comprises.
  • the permissible extent of these movements can For example, defined as allowable speed or allowed acceleration become.
  • the invention is also an industrial truck with a control device to carry out the method described above.
  • the procedure is in the Control device deposited as software.
  • the permissible values for the movements of the truck ie the maximum lifting height, the permissible braking acceleration and the maximum driving speed during the operation of the Truck continuously determined. After activation of the respective movement by the operator, the movement in question is then through the Control device controlled taking into account the determined permissible values.
  • the truck is designed to travel with the load lifted. Even at far lifted load can be at these trucks with a considerable Speed be driven. These trucks are special Stability requirements with those described in the Control device realized procedures are safely adhered to.
  • the figure shows a designed as Hochregalkommissionierer invention Industrial truck in side view.
  • the truck stands with wheels 1 on one Lane 2, which directly or indirectly to a non-liftable Vehicle frame 3 are stored.
  • a driver's cab 4 can work together with one the driver's cab 4 mounted load-carrying means 5 along a telescopic extendable mast 6 are raised.
  • the truck comprises a control device 7 for controlling various Movements of the truck. These movements are for example, the driving speed, the lifting movement or braking the Industrial truck. The permissible extent of these movements is dependent on the position of the overall center of gravity S of the truck determined.
  • the Control device 7 calculates the position of the center of gravity S in the x-direction and y direction from the truck's basic data, the current lifting height of the truck Lifting means 5 and the current load weight.
  • the lifting height is here determined by means of a suitable lifting height sensor whose output signal Control device 7 is supplied.
  • the measurement of the load weight can for example, by means of a arranged on a load chain force measuring sensor take place whose output signal line also with the control device. 7 connected is.
  • In determining the position of the center of gravity S of Truck is also an elastic deformation of the mast 6 due to Load weight is taken into account, reflecting the accuracy of the calculation performed clearly improved.
  • a permissible braking acceleration is determined in both x-directions, which is dimensioned such that the truck during a braking operation has sufficient stability. Starting from the permissible Braking acceleration is then determined the maximum permissible travel speed. As a further influencing factor for the determination of the maximum driving speed can the current steering angle of the truck serve. This is at rising Steering angle reduces the maximum permissible travel speed.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

The height to which the load carrier or fork (5) is lifted is determined. The weight of the load lifted is determined. The collective center of gravity (S) is determined. A magnitude is calculated, which is a function of the fork truck stability in at least one direction. The permissible extent of fork lift truck movement is determined. An Independent claim is included for the corresponding fork lift truck.

Description

Die Erfindung betrifft ein Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs.The invention relates to a method for controlling at least one movement of a Industrial truck.

Bestimmte Arten von Flurförderzeugen, insbesondere Hochregalstapler und Hochhubkommissionierer, sind zum Fahren mit angehobener Last gebaut. Für diese Flurförderzeuge gelten besondere technische Anforderungen. So müssen in Abhängigkeit vom aktuellen Betriebszustand des Flurförderzeugs die verschiedenen Bewegungen des Flurförderzeugs, beispielsweise die Fahrgeschwindigkeit oder die Hubhöhe des Flurförderzeugs, auf zulässige Werte begrenzt werden. Der zulässige Maximalwert der Fahrgeschwindigkeit verändert sich mit der Hubhöhe und dem Gewicht der angehobenen Last. Bei bekannten Flurförderzeugen erfolgt diese Anpassung der Fahrgeschwindigkeit und der Bremsbeschleunigung in Abhängigkeit von der aktuellen Hubhöhe. Üblich ist die Ermittlung der Hubhöhe mittels Positionsschaltern, mit denen festgestellt werden kann, in welchem Teilbereich des Gesamthubs sich das Lastaufnahmemittel befindet. Bekannt ist ebenfalls die Ermittlung der Hubhöhe mit kontinuierlichen Messwertgebern. Die maximale Fahrgeschwindigkeit wird bei diesen bekannten Systemen unabhängig von dem Gewicht der angehobenen Last festgelegt. Nachteilig an einem derartigen Steuerverfahren ist, dass weitere Zustandsgrößen, die die Standsicherheit des Flurförderzeugs ebenfalls beeinflussen, bei der Ermittlung der maximalen Fahrgeschwindigkeit unberücksichtigt bleiben. Aus diesem Grund erfolgt die Festlegung der maximalen Fahrgeschwindigkeit mit erheblichen Sicherheitsreserven, wodurch die Warenumschlagleistung des Flurförderzeugs häufig über das erforderliche Maß hinaus beschränkt wird.Certain types of industrial trucks, in particular high bay stackers and High lift order picker, are built to ride with lifted load. For this Industrial trucks are subject to special technical requirements. So must in Depending on the current operating condition of the truck, the various Movements of the truck, such as the driving speed or the Lifting height of the truck, to be limited to permissible values. The allowed Maximum value of the driving speed changes with the lifting height and the Weight of the lifted load. In known industrial trucks, this takes place Adaptation of the driving speed and the braking acceleration depending on from the current lifting height. The determination of the lifting height by means of Position switches with which it can be determined in which subarea of the Gesamthubs the load-carrying means is located. Also known is the investigation the lifting height with continuous transducers. The maximum speed is raised in these known systems regardless of the weight of the Load set. A disadvantage of such a control method is that more State variables which also influence the stability of the truck, be disregarded in determining the maximum driving speed. Out For this reason, the determination of the maximum speed with considerable safety reserves, thereby reducing the throughput of goods Truck is often limited beyond the required level.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs zur Verfügung zu stellen, das, unter Berücksichtung aller Sicherheitsaspekte, die Bewegung des Flurförderzeugs im Hinblick auf die Umschlagleistung des Flurförderzeugs optimiert. The invention is therefore based on the object, a method for controlling at least one movement of an industrial truck to provide, the, under Consideration of all safety aspects, the movement of the truck in the Optimized for the handling capacity of the truck.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass das Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs, die folgenden Verfahrensschritte umfasst:

  • Ermitteln der Hubhöhe eines Lastaufnahmemittels,
  • Ermitteln des Gewichts einer angehobenen Last,
  • Berechnen der Lage des Gesamtschwerpunkts des Flurförderzeugs,
  • Berechnen einer von der Standsicherheit des Flurförderzeugs in mindestens eine Richtung abhängigen Größe,
  • Bestimmen des zulässigen Umfangs der Bewegung des Flurförderzeugs.
Die Hubhöhe und das Gewicht der Last werden mit geeigneten Messwertgebem fortlaufend und stufenlos gemessen. Aus diesen beiden Messwerten wird daraufhin die Lage des Gesamtschwerpunkts des Flurförderzeugs berechnet, wobei in diese Berechnung unter anderem auch das Leergewicht des Flurförderzeugs und die Schwerpunktslage des leeren Flurförderzeugs mit eingehen. Ausgehend von der Lage des Gesamtschwerpunkts des Flurförderzeugs wird dann die Standsicherheit des Flurförderzeugs berechnet, vorzugsweise in Vorwärts, Rückwärts und Seitwärtsrichtung. Als Maß für die Standsicherheit gilt eine Bodenneigung in die entsprechende Richtung, die gerade nicht zu einem Umkippen des Flurförderzeugs führt. Ausgehend hiervon wird der zulässige Umfang der Bewegung des Flurförderzeugs in die entsprechende Richtung bestimmt. Hierbei kann es sich beispielsweise um die zulässige Fahrgeschwindigkeit, die zulässige Bremsbeschleunigung oder die zulässige Hubhöhe handeln.This object is achieved according to the invention in that the method for controlling at least one movement of an industrial truck comprises the following method steps:
  • Determining the lifting height of a lifting device,
  • Determining the weight of a lifted load,
  • Calculating the position of the overall center of gravity of the truck,
  • Calculating a size dependent on the stability of the truck in at least one direction,
  • Determining the permissible amount of movement of the truck.
The lifting height and the weight of the load are continuously and steplessly measured with suitable measuring devices. From these two measured values, the position of the overall center of gravity of the truck is then calculated, including in this calculation, among other things, the empty weight of the truck and the center of gravity of the empty truck with. Based on the position of the overall center of gravity of the truck then the stability of the truck is calculated, preferably in the forward, backward and sideways direction. As a measure of the stability is a floor inclination in the appropriate direction, which just does not lead to a tipping over of the truck. Based on this, the permissible extent of the movement of the truck in the appropriate direction is determined. This may be, for example, the permissible driving speed, the permissible braking acceleration or the permissible lifting height.

Eine besondere Genauigkeit wird bei der Berechnung der Lage des Gesamtschwerpunkts und damit der Standsicherheit des Flurförderzeugs erzielt, wenn diese unter Berücksichtigung einer möglichen elastischen Verformung mindestens eines Bauteils des Flurförderzeugs erfolgt. Das Aufnehmen und Anheben einer Last führt in den kraftübertragenden Teilen des Flurförderzeugs zu elastischen Verformungen, was wiederum die Lage des Gesamtschwerpunkts beeinflusst. Elastische Verformungen treten beispielsweise im Bereich der Schwenkschubgabel, des Hubgerüsts, des Fahrzeugrahmens oder der Bereifung auf. Die Miteinberechnung der elastischen Verformung führt zu einer deutlich verbesserten Genauigkeit bei der Ermittlung der Standsicherheit des Flurförderzeugs. A special accuracy is used in the calculation of the location of the Overall center of gravity and thus the stability of the truck achieved when this taking into account a possible elastic deformation at least a component of the truck takes place. Picking up and lifting a load leads to elastic in the power-transmitting parts of the truck Deformations, which in turn affects the location of the overall center of gravity. Elastic deformations occur, for example, in the area of the pivoting thrust fork, mast, vehicle frame or tires. The inclusion The elastic deformation leads to a significantly improved accuracy in the Determination of the stability of the truck.

Besondere Vorteile ergeben sich hierbei, wenn die Berechnung des Gesamtschwerpunkts und der Standsicherheit des Flurförderzeugs unter Berücksichtigung einer möglichen elastischen Verformung eines Hubgerüsts des Flurförderzeugs erfolgt.Special advantages arise when the calculation of the Overall center of gravity and the stability of the truck under Consideration of a possible elastic deformation of a mast of Truck takes place.

Mit besonderem Vorteil wird das erfindungsgemäße Verfahren eingesetzt, wenn die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Hubbewegung eines Lastaufnahmemittels ist. Die Hubhöhe des Lastaufnahmemittels und damit einer aufgenommenen Last beeinflussen die Kippgefahr eines Flurförderzeügs erheblich. Wenn die Kippgefahr ein zulässiges Maß überschreitet, kann eine weitere Aufwärtsbewegung des Lastaufnahmemittels verhindert oder verlangsamt werden.With particular advantage, the inventive method is used when the Movement of the truck whose permissible volume is determined, the Lifting movement of a lifting device is. The lifting height of the load handling device and thus a recorded load affect the risk of tipping a Material handling considerably. If the risk of tipping exceeds a permissible level, can prevent or further upward movement of the lifting device be slowed down.

Eine große Betriebssicherheit wird dadurch erreicht, dass eine Aufwärts-Hubbewegung des Lastaufnahmemittels verhindert wird, wenn die berechnete Standsicherheit in mindestens einer Richtung geringer ist, als eine erforderliche Standsicherheit in die gleiche Richtung. Damit wird eine weitere Verringerung der Standsicherheit infolge eines Anhebens des Gesamtschwerpunkts des Flurförderzeugs ausgeschlossen. Die erforderliche Standsicherheit ist dabei so definiert, dass die nach den Maschinenrichtlinien vorgeschriebene Standsicherheit während des Betriebs des Flurförderzeugs jederzeit gewährleistet ist. Eine Aufwärts-Hubbewegung wird damit genau dann verhindert, wenn die nach den Maschinenrichtlinien vorgeschriebene Standsicherheit infolge eines weiteren Anhebens der Last unterschritten werden würde.Great operational safety is achieved by having an upward stroke movement of the load handler is prevented if the calculated stability in at least one direction is less than a required stability in the same direction. This will further reduce the stability due to a lifting of the overall center of gravity of the truck excluded. The The required stability is defined in such a way that the according to the Machinery Safety prescribed stability during operation of the Truck is guaranteed at all times. An upward stroke movement becomes so if and only if prescribed according to the machine guidelines Stability due to a further increase in the load can be undershot would.

Ebenso vorteilhaft ist die Erfindung einsetzbar, wenn die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Fahrgeschwindigkeit des Flurförderzeugs in Vorwärts- und/oder Rückwärtsrichtung ist. Insbesondere kann hier die maximale Fahrgeschwindigkeit des Flurförderzeugs in Abhängigkeit von der Lage des Gesamtschwerpunkts reduziert werden.Likewise advantageously, the invention can be used when the movement of the Truck, whose permissible extent is determined, the driving speed of the Truck in the forward and / or reverse direction is. In particular, here can the maximum travel speed of the truck depending on the position of the overall center of gravity.

Zweckmäßigerweise wird dabei die zulässige Fahrgeschwindigkeit in Vorwärtsund/oder Rückwärtsrichtung in Abhängigkeit von einer physikalisch möglichen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt. Die physikalisch mögliche Bremsbeschleunigung ist abhängig von den zwischen den gebremsten Rädem und der Fahrbahn wirkenden Normalkräften und den Reibungsverhältnissen. Hierbei können in Vorwärts- und Rückwärtsrichtung unterschiedliche Bremsbeschleunigungen möglich sein. Die maximale Fahrgeschwindigkeit wird derart festgelegt, dass die vorgeschriebene Abbremsung nicht unterschritten wird.Conveniently, while the permissible travel speed in forward and / or Reverse direction depending on a physically possible Braking acceleration of the truck determined in the appropriate direction. The physically possible braking acceleration depends on the between the braked wheels and the road surface acting normal forces and the Friction conditions. This can be done in forward and backward direction different braking accelerations may be possible. The maximal Driving speed is set so that the prescribed deceleration not fallen below.

Bezüglich der Standsicherheit des Flurförderzeugs von großer Bedeutung ist es, dass die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einer zulässigen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt wird. Als zulässig wird die Bremsbeschleunigung eingestuft, wenn eine ausreichende Standsicherheit des Flurförderzeugs gewährleistet ist, also keine Gefahr eines Umkippens des Flurförderzeugs infolge der während des Bremsens auftretenden Trägheitskräfte besteht. Die zulässige Fahrgeschwindigkeit wird dann so eingestellt, dass die erforderliche Bremsbeschleunigung in die entsprechende Richtung erreicht wird.Regarding the stability of the truck is of great importance that the permissible travel speed in the forward and / or reverse direction in Dependence on a permissible braking acceleration of the truck in the corresponding direction is determined. The braking acceleration is permissible classified if sufficient stability of the truck is ensured is so no risk of overturning of the truck as a result of during the Braking occurring inertial forces exists. The permissible driving speed is then adjusted so that the required deceleration in the appropriate direction is achieved.

Die zulässige Bremsbeschleunigung des Flurförderzeugs wird unter anderem in Abhängigkeit von der Standsicherheit des Flurförderzeugs ermittelt. Die Standsicherheit und damit die Gefahr eines Umkippens des Flurförderzeugs während eines Bremsvorgangs wird maßgeblich von der Lage des Gesamtschwerpunkts bestimmt. Je genauer die Lage des Gesamtschwerpunkts bestimmt wird, desto genauer kann die von der Standsicherheit des Flurförderzeug abhängige Größe und damit die zulässige Bremsbeschleunigung ermittelt werden.The permissible braking acceleration of the truck is, inter alia, in Dependence on the stability of the truck determined. The Stability and thus the risk of overturning of the truck during braking depends on the position of the center of gravity certainly. The more accurately the location of the overall center of gravity is determined, the more more precisely, depending on the stability of the truck and size so that the permissible braking acceleration can be determined.

Darüber hinaus wird die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einem momentanen Lenkwinkel eines gelenkten Rades des Flurförderzeugs bestimmt. Hierbei wird die zulässige Fahrgeschwindigkeit bei steigendem Lenkwinkel reduziert.In addition, the permissible travel speed in forward and / or Reverse direction depending on a current steering angle of a steered wheel of the truck determined. Here, the allowed Driving speed reduced with increasing steering angle.

Bei Flurförderzeugen, die mit einer Vorrichtung zum Bewegen der Last relativ zu einem Hubgerüst ausgerüstet sind, kann auch der zulässige Umfang dieser Bewegungen nach dem erfindungsgemäßen Verfahren bestimmt werden. Eine solche Vorrichtung zum Bewegen der Last kann beispielsweise von einer Schwenkschubgabel gebildet sein, die eine Seitenschubvorrichtung, eine Schwenkvorrichtung und eine Zusatzhubvorrichtung umfasst. Der zulässige Umfang dieser Bewegungen kann beispielsweise als zulässige Geschwindigkeit oder zulässige Beschleunigung definiert werden.For trucks equipped with a device for moving the load relative to a Mast are equipped, also the permissible extent of these movements be determined by the method according to the invention. Such a device for moving the load, for example, formed by a pivoting push fork be a side thruster, a swivel device and a Additional lifting device comprises. The permissible extent of these movements can For example, defined as allowable speed or allowed acceleration become.

Gegenstand der Erfindung ist ebenfalls ein Flurförderzeug mit einer Steuervorrichtung zur Durchführung des oben beschriebenen Verfahrens. Das Verfahren ist dabei in der Steuervorrichtung als Software hinterlegt. Die zulässigen Werte für die Bewegungen des Flurförderzeugs, also die maximale Hubhöhe, die zulässige Bremsbeschleunigung und die maximale Fahrgeschwindigkeit werden dabei während des Betriebs des Flurförderzeugs fortlaufend ermittelt. Nach Ansteuerung der jeweiligen Bewegung durch die Bedienperson wird die betreffende Bewegung dann durch die Steuervorrichtung unter Berücksichtigung der ermittelten zulässigen Werte gesteuert.The invention is also an industrial truck with a control device to carry out the method described above. The procedure is in the Control device deposited as software. The permissible values for the movements of the truck, ie the maximum lifting height, the permissible braking acceleration and the maximum driving speed during the operation of the Truck continuously determined. After activation of the respective movement by the operator, the movement in question is then through the Control device controlled taking into account the determined permissible values.

Das Flurförderzeug ist zum Fahren mit angehobener Last ausgeführt. Auch bei weit angehobener Last kann bei diesen Flurförderzeugen mit einer erheblichen Geschwindigkeit gefahren werden. Bei diesen Flurförderzeugen gelten besondere Anforderungen an die Standsicherheit, die mit den beschriebenen, in der Steuervorrichtung verwirklichten Verfahren sicher eingehalten werden.The truck is designed to travel with the load lifted. Even at far lifted load can be at these trucks with a considerable Speed be driven. These trucks are special Stability requirements with those described in the Control device realized procedures are safely adhered to.

Üblicherweise sind diese Flurförderzeuge als Hochregalstapler oder als Hochregalkommissionierer ausgeführt. Der Fahrerstand wird bei diesen Flurförderzeugen häufig gemeinsam mit dem Lastaufnahmemittel angehoben.Usually, these trucks are as high stacker or as Hochregalkommissionierer executed. The driver's stand will be at this Industrial trucks often raised together with the load handling equipment.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert.Further advantages and details of the invention will be described with reference to the Schematic figure illustrated embodiment explained in more detail.

Die Figur zeigt ein als Hochregalkommissionierer ausgeführtes erfindungsgemäßes Flurförderzeug in Seitenansicht. Das Flurförderzeug steht mit Rädern 1 auf einer Fahrbahn 2 auf, welche direkt oder indirekt an einem nicht anhebbaren Fahrzeugrahmen 3 gelagert sind. Ein Fahrerstand 4 kann gemeinsam mit einem an dem Fahrerstand 4 befestigten Lastaufnahmemittel 5 entlang eines teleskopisch ausfahrbaren Hubgerüsts 6 angehoben werden.The figure shows a designed as Hochregalkommissionierer invention Industrial truck in side view. The truck stands with wheels 1 on one Lane 2, which directly or indirectly to a non-liftable Vehicle frame 3 are stored. A driver's cab 4 can work together with one the driver's cab 4 mounted load-carrying means 5 along a telescopic extendable mast 6 are raised.

Das Flurförderzeug umfasst eine Steuervorrichtung 7 zur Steuerung verschiedener Bewegungen des Flurförderzeugs. Bei diesen Bewegungen handelt es sich beispielsweise um die Fahrgeschwindigkeit, die Hubbewegung oder ein Bremsen des Flurförderzeugs. Der zulässige Umfang dieser Bewegungen wird in Abhängigkeit von der Lage des Gesamtschwerpunkts S des Flurförderzeugs ermittelt. Die Steuervorrichtung 7 berechnet die Lage des Gesamtschwerpunkts S in x-Richtung und y-Richtung aus den Grunddaten des Flurförderzeugs, der momentanen Hubhöhe des Lastaufnahmemittels 5 und dem momentanen Lastgewicht. Die Hubhöhe wird hierbei mittels eines geeigneten Hubhöhensensors ermittelt, dessen Ausgangssignal der Steuervorrichtung 7 zugeführt wird. Die Messung des Lastgewichts kann beispielsweise mittels eines an einer Lastkette angeordneten Kraftmesssensors erfolgen, dessen Ausgangssignalleitung ebenfalls mit der Steuervorrichtung 7 verbunden ist. Bei der Ermittlung der Lage des Gesamtschwerpunkts S des Flurförderzeug wird ebenfalls eine elastische Verformung des Hubgerüsts 6 infolge des Lastgewichts mit einberechnet, was die Genauigkeit der durchgeführten Berechnung deutlich verbessert.The truck comprises a control device 7 for controlling various Movements of the truck. These movements are for example, the driving speed, the lifting movement or braking the Industrial truck. The permissible extent of these movements is dependent on the position of the overall center of gravity S of the truck determined. The Control device 7 calculates the position of the center of gravity S in the x-direction and y direction from the truck's basic data, the current lifting height of the truck Lifting means 5 and the current load weight. The lifting height is here determined by means of a suitable lifting height sensor whose output signal Control device 7 is supplied. The measurement of the load weight can for example, by means of a arranged on a load chain force measuring sensor take place whose output signal line also with the control device. 7 connected is. In determining the position of the center of gravity S of Truck is also an elastic deformation of the mast 6 due to Load weight is taken into account, reflecting the accuracy of the calculation performed clearly improved.

In Abhängigkeit von der Lage des Gesamtschwerpunkts S kann dann beispielsweise ein weiteres Anheben des Lastaufnahmemittels 5 verhindert werden, wenn hierdurch die Standsicherheit des Flurförderzeugs in unzulässiger Weise beeinträchtigt würde. Weiterhin wird eine zulässige Bremsbeschleunigung in beide x-Richtungen ermittelt, die derart bemessen ist, dass das Flurförderzeug auch während eines Bremsvorgangs eine ausreichende Standsicherheit aufweist. Ausgehend von der zulässigen Bremsbeschleunigung wird dann die maximal zulässige Fahrgeschwindigkeit ermittelt. Als weitere Einflussgröße für die Ermittlung der maximalen Fahrgeschwindigkeit kann der momentane Lenkwinkel des Flurförderzeugs dienen. Hierbei wird bei steigendem Lenkwinkel die maximal zulässige Fahrgeschwindigkeit verringert.Depending on the position of the overall center of gravity S can then, for example further lifting of the load-receiving means 5 can be prevented if this causes the stability of the truck would be impaired in an inadmissible manner. Furthermore, a permissible braking acceleration is determined in both x-directions, which is dimensioned such that the truck during a braking operation has sufficient stability. Starting from the permissible Braking acceleration is then determined the maximum permissible travel speed. As a further influencing factor for the determination of the maximum driving speed can the current steering angle of the truck serve. This is at rising Steering angle reduces the maximum permissible travel speed.

Claims (14)

Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs, umfassend die folgenden Verfahrensschritte: Ermitteln der Hubhöhe eines Lastaufnahmemittels (5), Ermitteln des Gewichts einer angehobenen Last, Berechnen der Lage des Gesamtschwerpunkts (S) des Flurförderzeugs, Berechnen einer von der Standsicherheit des Flurförderzeugs in mindestens eine Richtung abhängigen Größe, Bestimmen des zulässigen Umfangs der Bewegung des Flurförderzeugs. Method for controlling at least one movement of an industrial truck, comprising the following method steps: Determining the lifting height of a lifting device (5), Determining the weight of a lifted load, Calculating the position of the center of gravity (S) of the truck, Calculating a size dependent on the stability of the truck in at least one direction, Determining the permissible amount of movement of the truck. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Berechnung der Standsicherheit und/oder der Lage des Gesamtschwerpunkts (S) des Flurförderzeugs unter Berücksichtigung einer möglichen elastischen Verformung mindestens eines Bauteils des Flurförderzeugs erfolgt.A method according to claim 1, characterized in that the calculation of the stability and / or the position of the center of gravity (S) of the truck takes into account a possible elastic deformation of at least one component of the truck. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Berechnung der Standsicherheit und/oder der Lage des Gesamtschwerpunkts (S) des Flurförderzeugs unter Berücksichtigung einer möglichen elastischen Verformung eines Hubgerüsts (6) des Flurförderzeugs erfolgt.A method according to claim 1 or 2, characterized in that the calculation of the stability and / or the position of the overall center of gravity (S) of the truck takes into account a possible elastic deformation of a mast (6) of the truck. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Hubbewegung eines Lastaufnahmemittels (5) ist.Method according to one of claims 1 to 3, characterized in that the movement of the truck whose permissible extent is determined, the lifting movement of a load-receiving means (5). Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass eine Aufwärts-Hubbewegung des Lastaufnahmemittels (5) verhindert wird, wenn die berechnete Standsicherheit in mindestens einer Richtung geringer ist, als eine erforderliche Standsicherheit in die gleiche Richtung.A method according to claim 4, characterized in that an upward lifting movement of the load receiving means (5) is prevented when the calculated stability in at least one direction is less than a required stability in the same direction. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, die Fahrgeschwindigkeit des Flurförderzeugs in Vorwärts- und/oder Rückwärtsrichtung ist. Method according to one of claims 1 to 5, characterized in that the movement of the truck whose permissible extent is determined, the driving speed of the truck in the forward and / or reverse direction. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einer physikalisch möglichen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt wird.A method according to claim 6, characterized in that the permissible travel speed in the forward and / or reverse direction is determined in dependence on a physically possible braking acceleration of the truck in the corresponding direction. Verfahren nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einer zulässigen Bremsbeschleunigung des Flurförderzeugs in der entsprechenden Richtung ermittelt wird.A method according to claim 6 or 7, characterized in that the permissible travel speed is determined in the forward and / or reverse direction in response to a permissible braking acceleration of the truck in the corresponding direction. Verfahren nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass die zulässige Bremsbeschleunigung des Flurförderzeugs in Abhängigkeit von der Lage der Standsicherheit des Flurförderzeugs ermittelt wird.Method according to one of claims 6 to 8, characterized in that the permissible braking acceleration of the truck is determined in dependence on the position of the stability of the truck. Verfahren nach einem der Ansprüche 6 bis 9, dadurch gekennzeichnet, dass die zulässige Fahrgeschwindigkeit in Vorwärts- und/oder Rückwärtsrichtung in Abhängigkeit von einem momentanen Lenkwinkel eines gelenkten Rades des Flurförderzeugs bestimmt wird.Method according to one of claims 6 to 9, characterized in that the permissible travel speed in the forward and / or reverse direction in dependence on a current steering angle of a steered wheel of the truck is determined. Verfahren nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass die Bewegung des Flurförderzeugs, deren zulässiger Umfang bestimmt wird, eine Bewegung eines Lastaufnahmemittels (5) relativ zu einem Hubgerüst (6) des Flurförderzeugs ist.Method according to one of claims 1 to 10, characterized in that the movement of the truck whose permissible extent is determined, a movement of a load-receiving means (5) relative to a mast (6) of the truck. Flurförderzeug mit einer Steuervorrichtung zur Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 11.Industrial truck with a control device for carrying out a method according to one of claims 1 to 11. Flurförderzeug nach Anspruch 12, dadurch gekennzeichnet, dass das Flurförderzeug zum Fahren mit angehobener Last ausgeführt ist.Truck according to claim 12, characterized in that the truck is designed to travel with lifted load. Flurförderzeug nach Anspruch 12 oder 13, dadurch gekennzeichnet, dass das Flurförderzeug als Hochregalstapler oder als Hochregalkommissionierer ausgeführt ist.Truck according to claim 12 or 13, characterized in that the truck is designed as Hochregalstapler or as Hochregalkommissionierer.
EP03012622A 2002-06-14 2003-06-03 Control system for at least one movement of an industrial truck Expired - Lifetime EP1371603B1 (en)

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DE10226599A1 (en) 2003-12-24
US20040031628A1 (en) 2004-02-19
EP1371603B1 (en) 2010-05-05
ATE466812T1 (en) 2010-05-15
EP1371603A3 (en) 2005-12-14

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