• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a control system of a lift truck, comprising: Human control members generating manual control signals of vehicle actuators, these members comprising a hydraulic steering, An automatic control module generating control signals autonomous to one or more actuators of the vehicle, according to setpoint signals, a switching module arranged to select one or more manual control signals and / or one or more autonomous control signals. the system being characterized in that it further comprises an electrohydraulic valve for transforming a control signal from the automatic control module into a signal intended for the hydraulic direction, and the system further comprising a control device servo control of the electrohydraulic valve.
    公开号:FR3068344A1
    申请号:FR1755998
    申请日:2017-06-29
    公开日:2019-01-04
    发明作者:Ivan Modolo
    申请人:Compagnie Generale des Etablissements Michelin SCA；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The invention relates to a control system for an autonomous forklift truck, and to a method for controlling such a cart. More specifically, the invention relates to a control system for a forklift truck normally designed to operate in manual mode.
    A manual forklift is designed to be driven by a forklift operator with a suitable license. Indeed, driving and handling such a vehicle, and its various accessories, requires specific training. The driver thus learns to handle the vehicle, to use the forks to transport equipment, and to comply with all the safety rules relating to the environment in which he operates.
    To overcome these drawbacks, fully autonomous forklifts have appeared on the market. These trolleys, intended for the transport of goods independently, are relatively expensive, and offer only a possibility of use in autonomous mode, which can prove limiting for certain uses.
    Also known, from application WO2013 / 150244, vehicles usually designed to operate in manual mode, and which are adapted to allow a second mode of operation in automatic mode. Thus, it becomes possible to perform many services such as a valet service, a parking service ... However, this document only relates to passenger vehicles, and does not take into account the specifics of a forklift fork, and an evolutionary environment such as a factory.
    In addition, a forklift has the distinction of being equipped with a hydraulic steering, allowing steering of the pivoting of the wheels directly from the steering wheel. In the context of the empowerment of a forklift, it should therefore also be interested in this aspect.
    The present invention therefore aims to provide a control system for forklift which allows to respond to the elements mentioned above. In the preamble, it is specified here that the terms "trolley", "forklift" and "forklift" will be used interchangeably in this text, with the same meaning.
    -2 BRIEF DESCRIPTION OF THE INVENTION Thus, the invention relates to a forklift control system, comprising:
    Human control members generating signals for manual control of vehicle actuators, these members comprising a hydraulic steering,
    A vehicle environment detection module,
    A navigation module for generating pilot setpoint signals based on an instruction received,
    An automatic control module generating autonomous piloting signals intended for one or more actuators of the vehicle, as a function of the setpoint signals and of information coming from the detection module,
    An assisted control module generating manual piloting signals corrected as a function of the manual piloting signals and information coming from the detection module and / or piloting setpoint signals,
    A switching module arranged to select one or more manual and / or corrected manual control signals and / or one or more autonomous control signals.
    the system being characterized in that it further comprises an electrohydraulic valve allowing the transformation of a control signal coming from the automatic control module into a signal intended for the hydraulic direction, and the system further comprising a regulator of servo-control of the electro-hydraulic valve.
    In a particular embodiment, the servo regulator comprises a proportional-integral regulator, an all-or-nothing regulator.
    The use of two different regulators aims to minimize the servo dead times by anticipating the command as much as possible.
    Each of these regulators has advantages and disadvantages, and we therefore aim to optimize regulation by taking advantage of the two types of regulators:
    -3 A PI regulator allows regulation with more precision, but it is relatively slow, and therefore cannot be used beyond a certain speed threshold. Indeed, a PI regulator induces a delay time which it is interesting to be able to eliminate.
    A digital regulator, on the other hand, offers a higher reaction speed, which makes it a good tool for high-speed regulation.
    Thus, in a preferred embodiment, the choice is made between a proportional regulator (PI) and an all-or-nothing regulator (TOR) according to a speed threshold of the carriage. In a preferred example:
    At low speed, for example below a threshold of 2m / s, the proportional regulator (PI) is selected: preference is given to regulating precision, the gains are adapted for proper operation in this speed range,
    At high speed, for example above the threshold of 2m / s, the all-or-nothing regulator (TOR) is selected: the speed of reaction to the change of sign is preferred, this allows better control accuracy to be obtained at high speed by minimizing delay times of the control loop.
    In a preferred embodiment, a system according to the invention further comprises:
    A vehicle environment detection module,
    A navigation module for generating pilot setpoint signals based on an instruction received,
    An assisted control module generating manual piloting signals corrected as a function of the manual piloting signals and information coming from the detection module and / or piloting setpoint signals,
    And the switching module is further arranged to select corrected manual signals.
    The invention also relates to a forklift fitted with a control system according to the invention. All the characteristics which will be described below
    -4 may therefore relate to the control system alone, or the carriage fitted with the control system.
    In a preferred embodiment, the switching module selects the control signals according to four operating modes:
    A manual mode in which only manual signals are selected,
    An all-automatic mode in which only autonomous signals are selected,
    A manual mode with assisted safety, in which the manual control signals are corrected by the information from the detection module,
    A manual mode with assisted navigation, in which the manual piloting signals are corrected by the piloting setpoint signals.
    Advantageously, this switching module is actuated via a selector installed on the forklift. Thus, a control system according to the invention makes it possible, even if an operator wishes to drive the truck himself, to take advantage of the equipment installed for the automation of the truck to offer driving assistance, and thus facilitate the operator's work and reinforce the safety of movement of the truck.
    In a preferred embodiment, the switching module also makes it possible to choose a maintenance mode, in which all of the elements of the control system, with the exception of the organs with human control, are deactivated, in particular by a physical disconnection. This allows, for example, an initial manufacturer of the manual lift truck to be able to intervene for maintenance actions, without being hindered by the additional elements of the control system.
    In another preferred embodiment, the navigation module includes one or more of the following:
    Geolocation means, allowing to know in real time the position of the forklift,
    -5Transmission telecommunications means, for example for transmitting geolocation information to a general management system, so that a supervisor knows at all times the position of different trucks in a factory.
    Telecommunication means in reception, making it possible to receive instructions concerning a route to be covered, or actions to be carried out such as for example an action to fetch material at a point A to then unload it at a point B. Starting from these elements received, the navigation module can then generate control setpoint signals. These setpoint signals advantageously comprise one or more setpoints among: a speed setpoint, a rotation angle setpoint of the wheels of the carriage, a fork elevation setpoint, a fork tilt angle setpoint, a setpoint fork spacing.
    As previously indicated, the control signals which will be effectively transmitted to the actuators are determined as a function of these setpoint signals, determined by the navigation module, but also by taking into account additional parameters issuing from the detection module.
    Thus, in a first embodiment, the environment detection module comprises a fork management sub-module, comprises:
    Load detection sensors on the forks,
    Fork position sensors.
    Depending on the state of the forks (lifted or lowered, full or empty), the steering signals will vary. This is because, for example, a forklift with loaded forks cannot travel at the same speed as a vacuum cart. In the same way, a forklift whose forks are in the high position cannot travel at the same speed or take the same angles as a forklift whose forks are in the low position. These elements from the detection module then make it possible to correct the setpoint signals to make them compatible with the safety requirements for the environment of the truck.
    In another embodiment, the fork management sub-module comprises means for detecting an inconsistency in the loading of the forks, and for emitting a stop signal in the event of inconsistency. Indeed, if the fork management sub-module detects
    -6 a fall of the objects loaded on the forks, or a bad centering of these objects, it is necessary to stop the movement of the carriage immediately, in order to avoid accidents. In this case, the stop signal is then transmitted to the control modules so that it generates corresponding control signals, namely emergency stop control signals.
    In another embodiment, the environment detection module comprises a protection zone detection sub-module, comprising at least one laser making it possible to detect the presence of an obstacle in an area surrounding the vehicle .
    Indeed, a forklift operates in a constrained environment such as a factory or a storage warehouse, and it must therefore take into account the various obstacles, material or human, in order to avoid any collision which could damage the equipment and endanger operators working in the environment of the truck. These elements then make it possible, as before, to correct the set signals to take account of the environment.
    Similarly, the human control members are those generally installed on commercial forklifts, and included in the group comprising: an accelerator pedal, a brake pedal, a steering wheel, a direction selector vehicle running, a lever for controlling the elevation, tilt and spacing of the forks.
    Thanks to all the elements of this control system, a forklift according to the invention can move on degraded or irregular ground without problem for the transport of pallets and reels, at speeds reaching 4m / s. Indeed, the presence of the security systems, through the Eenvironment detection module, allows the speed to be increased without risk for the cart's environment, since we know that in the event of a problem the security systems will activate operation. Such a cart therefore makes it possible to gain productivity while guaranteeing safety in the factory or warehouse, and this for a reasonable cost, since we add elements to an existing cart without making substantial modifications to the architecture of trolley base.
    In general, all of the functionalities which have just been described in the form of modules can be physically broken up in a different way and managed by shared or separate electronics.
    -7 BRIEF DESCRIPTION OF THE FIGURES Other objectives and advantages of the invention will appear clearly in the description which follows of a preferred but nonlimiting embodiment, illustrated by the following figures in which:
    • Figure 1 shows a block diagram of a control system according to the invention, • Figure 2 allows to detail the operation of the switching module of a system according to the invention.
    DESCRIPTION OF THE BEST MODE FOR CARRYING OUT THE INVENTION FIG. 1 shows a control module 1 which includes a set of electronic circuits making it possible to generate autonomous piloting signals or corrected manual piloting signals.
    The control signals thus generated are transmitted to the switching module 2 which selects the signals to be effectively transmitted to the actuators of the vehicle. This switching module will be described in detail using FIG. 2.
    The control module 1 receives as input setpoint signals from the navigation module 3. These setpoint signals include in particular a speed signal and a steering angle signal for the carriage which is transcribed into a signal actuation of the steering wheel. The setpoint signals also include signals for managing the forks, including the height, tilt and spacing of the forks.
    The navigation module 3 includes geolocation means, and also includes a memory in which is stored a map of the er in which the carriage is intended to move, for example a factory or a warehouse. Mapping can be loaded directly into memory from an external source, but it can also be
    -8 established directly by the navigation module by learning during the first movements of the trolley in a place to be mapped.
    The navigation module further comprises means for receiving data from a remote server, for example by Wi-Fi. This data received corresponds to missions to be performed by the truck, and for example includes identification routes to be carried out, or goods to be loaded and unloaded. To do this, the navigation module 3 also receives information from the detection module 4. This detection module makes it possible for example to inform the navigation module as to the presence of obstacles in the environment of the carriage, or even to the position of the forks.
    This detection module 4 also communicates directly with the control module 1, for example to correct control instructions as a function of external parameters which would not have been taken into account by the navigation module, and which can put safety of the truck or operators.
    The control module 1 also receives information from a set of sensors 5, for example sensors for detecting an anomaly in the load. On receipt of this type of information, an emergency stop procedure for the truck could then be activated. This emergency procedure consists, for example, of acting in series on an emergency stop button initially present on the lift truck, which results in the interruption of the supply to the truck, and the stop of the truck. by releasing the pressure on the multi-disc brakes. Thus, the emergency procedure acts exactly as if an operator had pressed the emergency button.
    We will now describe in detail the switching module using FIG. 2. This switching module is connected to the electrical interface 10 of the carriage 11. This interface is the one originally present on the carriage 11, and it is connected to all of the actuators and sensors originally present on the carriage.
    The switching module is connected to a selector installed on the carriage, and which allows to choose the operating mode.
    The switching module comprises a set of switches 12a, 12b, 12c .... which make it possible to switch between the signals coming directly from the organs with human control, and the signals coming from the control module 1.
    We thus see a switch for the handles 13a of the carriage, which make it possible to choose the direction of travel of the carriage, and also to control the operation of the forks in manual mode.
    We also see a switch for the brake pedal 13b, one for the accelerator pedal 13b, and one for the steering wheel 13c.
    It can be seen in this figure that the case of the steering wheel is particular, since the electrical signals for controlling the steering angle must be transformed into hydraulic signals and transmitted directly to the carriage 11 by a hydraulic connection 14. To do this, a control system according to the invention advantageously comprises a hydraulic valve allowing the transformation of the signals.
    Depending on the operating mode chosen, using a selector installed in the vehicle, one or more of these elements are activated or deactivated, as follows:
    Switching module in manual mode:
    Control module: deactivated
    Navigation module: deactivated
    Detection module: deactivated
    Emergency stop procedure: activated
    In this case, the switching module will select the signals coming directly from human organs to transmit them to the electrical interface 10. The switches will therefore be in the position shown in FIG. 2.
    Switching module in manual mode with assisted safety:
    Control module: activated
    Navigation module: deactivated
    Detection module: activated
    Emergency stop procedure: activated
    - ίο In this case, the switching module will select the manual signals, corrected according to information from the detection module. The switches will therefore be in the position shown in Figure 2.
    Switching module in manual mode with assisted navigation:
    Control module: activated
    Navigation module: activated
    Detection module: deactivated
    Emergency stop procedure: activated
    In this case, the switching module will select the manual signals, corrected according to the information from the navigation module. The switches will therefore be in the position shown in Figure 2.
    All-autonomous mode
    Control module: activated
    Navigation module: activated
    Detection module: activated
    Emergency stop procedure: activated
    In this case, the switching module will select the autonomous signals from the control module 1.
    On reading this description, it can be seen that a system according to the invention is very easy to install on an existing forklift, since the additional modules are easily interfaced with the existing electrical and electronic architecture. In addition, such a control system advantageously takes advantage of the sensors, buttons, selectors ... already present on the trolley, further reducing the costs induced by the equipment of existing trolleys.
    In general, a system according to the invention makes it possible to transform easily and at moderate costs a manual forklift into an autonomous forklift, while respecting the safety constraints due to the specific environment into which are brought to evolve such carts.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Forklift control system, comprising:
    Human control members generating signals for manual control of vehicle actuators, these members comprising a hydraulic steering,
    An automatic control module generating autonomous piloting signals intended for one or more actuators of the vehicle, according to setpoint signals,
    A switching module arranged to select one or more manual control signals and / or one or more autonomous control signals.
    the system being characterized in that it further comprises an electrohydraulic valve allowing the transformation of a piloting signal coming from the automatic control module into a signal intended for the hydraulic direction, and the system further comprising a regulator servo-control of the electro-hydraulic valve.
    [2" id="c-fr-0002]
    2. Control system according to claim 1, in which the servo regulator comprises a proportional-integral regulator, an all-or-nothing regulator.
    [3" id="c-fr-0003]
    3. Control system according to claim 2, wherein the servo controller further comprises means for activating one or the other of the PI and TOR regulators as a function of a speed threshold of the forklift.
    [4" id="c-fr-0004]
    4. Control system according to claim 3, in which the speed threshold is fixed at 2 m / s.
    [5" id="c-fr-0005]
    5. Control system according to one of the preceding claims, further comprising:
    A vehicle environment detection module,
    A navigation module for generating pilot setpoint signals based on an instruction received,
    An assisted control module generating manual piloting signals corrected as a function of the manual piloting signals and information coming from the detection module and / or piloting setpoint signals, • - And in which the switching module is also arranged to select corrected manual signals.
    [6" id="c-fr-0006]
    6. Control system according to claim 5, in which the switching module is arranged to select the control signals according to four operating modes:
    A manual mode in which only manual signals are selected,
    An all-automatic mode in which only autonomous signals are selected,
    A manual mode with assisted safety, in which the manual control signals are selected, corrected by the information from the detection module,
    A manual mode with assisted navigation, in which the manual piloting signals are corrected by the piloting setpoint signals.
    [7" id="c-fr-0007]
    7. The system as claimed in claim 5 or 6, in which the switching module also makes it possible to choose a maintenance mode, in which all of the elements of the control system, with the exception of human-controlled members, are deactivated.
    [8" id="c-fr-0008]
    8. Control system according to claim 7, wherein the navigation module further comprises geolocation means.
    [9" id="c-fr-0009]
    9. The control system as claimed in claim 5 or 6, in which the control setpoint signals comprise a speed setpoint, a rotation angle setting of the wheels of the carriage, a fork elevation setpoint, a setpoint tilt angle of the forks, a fork spacing instruction.
    [10" id="c-fr-0010]
    10. Control system according to one of claims 5 to 9, in which the environment detection module comprises a fork management sub-module, comprising:
    Load detection sensors on the forks, Fork position sensors.
    [11" id="c-fr-0011]
    11. Control system according to claim 10, in which the fork management sub-module comprises means for detecting an inconsistency in the loading of the forks, and for emitting a stop signal in the event of inconsistency.
    5 12. Control system according to one of claims 5 to 11, in which the environment detection module comprises a sub-module for detecting protection zones, comprising at least one laser making it possible to detect the presence of an obstacle in an area surrounding the vehicle.
    13. Control system according to one of the preceding claims, in which the human control members are included in the group comprising: an accelerator pedal, a brake pedal, a steering wheel, a vehicle direction selector , a lever for controlling the elevation, tilt and spacing of the forks.
    [12" id="c-fr-0012]
    15 14. Forklift comprising a control system according to one of the preceding claims.
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    KR20200024246A|2020-03-06|
    US20200133265A1|2020-04-30|
    CN110799444B|2021-03-23|
    FR3068344B1|2019-08-23|
    WO2019002783A1|2019-01-03|
    EP3645445A1|2020-05-06|
    CN110799444A|2020-02-14|
    引用文献:
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    法律状态:
    2019-01-04| PLSC| Search report ready|Effective date: 20190104 |
    2019-06-19| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-19| PLFP| Fee payment|Year of fee payment: 4 |
    2021-06-22| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1755998|2017-06-29|
    FR1755998A|FR3068344B1|2017-06-29|2017-06-29|SYSTEM FOR CONTROLLING A FORKLIFT WITH AUTONOMOUS FORK, AND METHOD FOR CONTROLLING SUCH A TROLLEY.|FR1755998A| FR3068344B1|2017-06-29|2017-06-29|SYSTEM FOR CONTROLLING A FORKLIFT WITH AUTONOMOUS FORK, AND METHOD FOR CONTROLLING SUCH A TROLLEY.|
    US16/626,030| US20200133265A1|2017-06-29|2018-06-21|Autonomous forklift truck control system and method for drivng the forklift truck|
    CN201880042735.7A| CN110799444B|2017-06-29|2018-06-28|Control system for an automatic fork-lift truck and method for operating such a truck|
    KR1020207002181A| KR20200024246A|2017-06-29|2018-06-28|Autonomous Forklift Truck Control System and Methods for Driving a Forklift Truck|
    EP18762566.0A| EP3645445A1|2017-06-29|2018-06-28|Autonomous forklift truck control system and method for driving the forklift truck|
    PCT/FR2018/051600| WO2019002783A1|2017-06-29|2018-06-28|Autonomous forklift truck control system and method for driving the forklift truck|
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