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EP3301068B1 - Industrial truck with an operating lever and a method of operating such an industrial truck - Google Patents

Industrial truck with an operating lever and a method of operating such an industrial truck Download PDF

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Publication number
EP3301068B1
EP3301068B1 EP17193235.3A EP17193235A EP3301068B1 EP 3301068 B1 EP3301068 B1 EP 3301068B1 EP 17193235 A EP17193235 A EP 17193235A EP 3301068 B1 EP3301068 B1 EP 3301068B1
Authority
EP
European Patent Office
Prior art keywords
operating lever
neutral position
deflection
operating
automatic mode
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.)
Active
Application number
EP17193235.3A
Other languages
German (de)
French (fr)
Other versions
EP3301068A1 (en
Inventor
Hendrik Geilsdorf
Jörn Sellentin
Hartwig Grothkopp Dr.
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3301068A1 publication Critical patent/EP3301068A1/en
Application granted granted Critical
Publication of EP3301068B1 publication Critical patent/EP3301068B1/en
Active legal-status Critical Current
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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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the invention relates to an industrial truck with at least one operating means having an operating lever and a restoring device which interacts with the operating lever and generates a restoring force for the operating lever as a function of its deflection.
  • the invention also relates to a method for operating an industrial truck which has at least one operating means having an operating lever and a resetting device which interacts with the operating lever.
  • an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
  • the operating levers are each designed for a two-axis movement and are spaced apart from one another in such a way that with a hand positioned between the levers, the operating lever can be actuated with your fingers without reaching around and the at least one switch between the operating levers can be actuated.
  • Control elements designed as a joystick are known for controlling commercial vehicles, machines, work functions of commercial vehicles or construction machinery and attachments.
  • the use of force feedback is also known for the joysticks.
  • Force feedback is mechanical feedback, which is usually achieved by coupled torque from an electric motor using a gear.
  • Different technical configurations for the actuating lever of the joystick are known for the implementation of force feedback.
  • U.S. 2016/0179128 A1 discloses the features of the preambles of claims 1 and 6.
  • An important aspect when operating an industrial truck is the intuitive handling of the control lever. Particularly in the case of semi-automatic activation or in the case of position-dependent activation of a vehicle function, it is crucial that the operator intuitively activates the operating lever in the correct manner.
  • An ambiguity can arise when an intervention is made in an automatic operating process, when the user deflects the operating lever in the opposite direction. Either means a deflection in the opposite direction only to slow down the existing automatic process or to move in the opposite direction.
  • An ambiguity can also occur in the case of position-dependent activation, in which the position of an element of the industrial truck is predetermined by a position of the operating lever, such as the mast inclination. Here corresponds a vertical alignment of the lifting mast, for example the middle position of the control element. If the actual position of the lifting mast changes as a result of external influences, it is not intuitively understandable whether a movement of the control lever into its middle position should tilt the lifting mast by a defined distance or cause the lifting mast to be positioned vertically.
  • the object of the invention is to provide an industrial truck and a method for operating it, in which intuitive operation is ensured using simple means.
  • the industrial truck according to the invention has at least one operating means that has an operating lever. Vehicle functions can be triggered via associated actuators by moving the control lever. Furthermore, a restoring device is provided, which triggers a restoring force for the operating lever depending on its deflection. An association between the restoring force and the deflection of the operating lever is stored in the restoring device. This assignment can be specified as desired by the restoring device, with each deflection preferably being assigned a value for the restoring force.
  • the reset device for the operating lever generates a neutral position that corresponds to a current activation of the vehicle function.
  • the neutral position of the operating lever is that position of the operating lever in which no force has to be applied to hold the operating lever in its position. If the vehicle function is activated automatically, the neutral position for the operating lever is generated, which would be necessary for the current activation of the vehicle function.
  • the operator who has, for example, visual feedback from the current vehicle function and its activation, always take corrective action, with the operating lever being in the neutral position in a position that corresponds to the current activation of the vehicle function. Incorrect operation due to an ambiguous movement of the operating lever is excluded here.
  • At least two cases can be distinguished.
  • a first case the deflection of the operating lever from its neutral position leads to the automatic mode being terminated.
  • the operating lever when the operating lever is moved out of the neutral position, there is preferably a transition to manual activation, with the current position of the operating lever then also being the signal for the activation.
  • an additional control for continued automatic operation can take place.
  • the operator has the additional option of continuing the automatic mode without interrupting the automatic mode and of carrying out the processes of the automatic mode at a speed controlled by the operating lever.
  • the reset device in an automatic mode for the vehicle function, provides the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever when the vehicle function is activated manually.
  • Manual control means that the operating lever with its neutral position has the deflection that the operating lever would have if the vehicle function would not be controlled automatically, but by actuating the operating lever. Without intervention by the operator, the operating lever always moves in automatic mode in the same way that the operating lever would be moved in the case of manual activation of the same movement of the automatic function. A movement of the control lever is thus clearly defined as the deflection that corresponds to the activation of the vehicle function.
  • the operating lever is also in a position corresponding to x% with its neutral position. Intervening in the automatic mode by moving the operating lever forwards or backwards by a deflection of +/- ⁇ % means that the vehicle function is controlled with x+ ⁇ % or with x- ⁇ %.
  • the deflection of the operating lever from a neutral position corresponds to a manual activation of the associated vehicle function with a deflection that corresponds to a deflection relative to the neutral position.
  • a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.
  • a measuring device which detects the current position of a component set by the vehicle function and applies it to the reset device. Via the feedback of the current position, it is possible to set the neutral position according to the current position of the vehicle function. The feedback also makes it possible to react to external influences, since the adjusted neutral position of the control lever also indicates an external force acting on the vehicle function.
  • the object on which the invention is based is also achieved by a method having the features of claim 6 .
  • the method according to the invention is provided and intended for operating an industrial truck that has at least one operating means.
  • the operating means has an operating lever.
  • a restoring device is provided, which generates a restoring force for the operating lever depending on its deflection.
  • a vehicle function is assigned to the operating means, which is controlled by a deflection of the operating lever.
  • a neutral position is generated on the control lever, which corresponds to a current activation of the vehicle function. Due to the adjusted neutral position, an operator always has the currently correct feedback from the operating lever.
  • automatic operation is provided for the vehicle function. Furthermore, a neutral position with a vanishing restoring force is generated in a position that corresponds to manual activation of the vehicle function.
  • the automatic mode takes over the control of the vehicle function. With its neutral position, the control lever always follows the current control, so that the control lever assumes a neutral position with no restoring force when it is deflected, which corresponds to the current, automatic control.
  • a deflection of the operating lever from its neutral position corresponds to a manual activation of the vehicle function without changing the neutral position.
  • a Deflection by the amount ⁇ % of a control with a value of x+/- ⁇ % takes place. This ensures to a particular degree that an operator intuitively grips and positions the operating lever correctly, as with manual control.
  • the deflection of the control lever out of the neutral position can correspond to the transition to manual activation of the termination of automatic mode.
  • figure 1 shows in a simple schematic view an operating element 10 with an operating lever 12 which can be moved independently in directions A and B.
  • the operating lever 12 is pivotably mounted at its foot and can be pivoted in directions A or B independently of one another.
  • the operating lever 12 is pivoted from a neutral position out, in both positive and negative directions.
  • the deflection of the operating lever 12 is limited in each direction by a maximum deflection.
  • the invention can also be used with an operating lever that can only be pivoted in one direction.
  • figure 2 shows the connection between a restoring force R for the operating lever and the deflection of the operating lever 12.
  • the solid line 14 shows the normal course of the force. With the normal course of force, there is no restoring force at a deflection of 0%; this is the neutral position. The restoring force then increases to 100% up to the maximum deflections +/- 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever through the magnitude of the restoring force.
  • the dashed line 16 shows the course of the force when the neutral position is shifted.
  • the restoring force disappears at a deflection of - 50%.
  • the neutral position is at -50%.
  • the restoring force increases linearly as the deflection increases, with the restoring force exceeding the 100% mark at +50% deflection and increasing to 150% with a deflection in the positive direction. With a further negative deflection of up to +100% deflection, the restoring force increases to a value of then up to 50%.
  • the maximum deflection is provided at - 100%, so that although the restoring force has only reached a value of 50%, it is not possible to adjust the operating lever further towards an even more negative deflection.
  • the shifting of the neutral position has particular advantages when using automatic functions in industrial trucks.
  • the vehicle functions currently being executed are generally not controlled via the operating elements. Remains in spite of the function being carried out conventionally, the corresponding control element is always in its middle position. If the operator now wants to intervene, he must deflect the operating element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers in the direction of lowering, it is not entirely clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example because the load was already lifted too high.
  • the position of the control element can be adapted to the current command of the automatic function at any time.
  • control is currently carried out with a - 50% deflection. This means it is currently lowered by the automatic mode at half speed. If the driver now wants to intervene in this automatic function, he must logically control the lever starting from this neutral position at -50% deflection.
  • the automatic mode is ended by deflecting the operating lever from its neutral position. This means that it is controlled manually by actuating the operating lever and the current position of the operating lever.
  • manual control mode two further aspects can be distinguished.
  • One aspect relates to the variant that the neutral position specified by the automatic mode is retained. This means that when the manually controlled lowering speed of - 40% is released, the control lever returns to its neutral position specified by automatic operation and the lowering process continues at - 50%. At this Configuration is changed from automatic mode to manual mode only as long as the operating lever is moved to a position that deviates from the neutral position specified by automatic mode.
  • the automatic mode is finally ended and when the operating lever is released, it returns to its 0% position as the neutral position and the lifting function is no longer activated.
  • Another variant is when the automatic mode is continued by deflecting the operating lever from its neutral position in automatic mode and the speed of the automatic mode is changed by actuating the operating lever. This means that with a neutral position of - 50% and a lowering speed of - 50% specified by the automatic mode, a deflection of the operating lever to a position of - 40% does not result in manual activation with - 40%, but a continuation of the automatic mode, whereby in the automatic mode the lowering speed is no longer - 50%, but with a value corrected by the current deflection. If one operating lever is then released in this state, it automatically returns to its neutral position currently specified by the automatic mode, since the automatic mode is still present.
  • the operating levers of an industrial truck usually specify the speed of work functions.
  • a half-deflected operating element corresponds, for example, to half the maximum speed of this work function if a linear relationship between deflection and activation is stored.
  • the position of the vehicle function can be specified instead of the speed, for example for a mast advance in reach trucks, a side shift of an attachment or the tilting of the lifting mast.
  • the Speed specified for the vehicle function but by moving the control lever, the position of the vehicle function can be specified. In order to then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle.
  • the neutral position corresponds to a mast advance of a reach truck pushed back by 50%, a sideshift shifted by 50% in one direction or a lifting mast inclined by 50%.
  • the neutral position is shifted so that the operating element remains in its new neutral position even when not actuated.
  • the neutral position can be at a front or rear stop, i.e. ⁇ 100% deflection for the neutral position.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Control Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

Die Erfindung betrifft ein Flurförderzeug mit mindestens einem einen Bedienhebel aufweisenden Bedienmittel und einer mit dem Bedienhebel zusammenwirkenden Rückstelleinrichtung, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt. Ebenfalls betrifft die Erfindung ein Verfahren zur Bedienung eines Flurförderzeugs, das mindestens ein einen Bedienhebel aufweisendes Bedienmittel und eine mit dem Bedienhebel zusammenwirkende Rückstelleinrichtung besitzt.The invention relates to an industrial truck with at least one operating means having an operating lever and a restoring device which interacts with the operating lever and generates a restoring force for the operating lever as a function of its deflection. The invention also relates to a method for operating an industrial truck which has at least one operating means having an operating lever and a resetting device which interacts with the operating lever.

Für die Bedienung und Steuerung von Flurförderzeugen sind zahlreiche unterschiedliche Konzepte und Ansätze für Bedienelemente bekannt. Aus DE 10 2013 012 176 ist beispielsweise ein Bedienelement für ein Flurförderzeug mit zwei Bedienhebeln und mindestens einem zwischen diesen angeordneten Schalter bekannt. Die Bedienhebel sind jeweils für eine zweiachsige Bewegung ausgebildet und derart räumlich voneinander beabstandet, dass mit einer zwischen den Hebeln positionierten Hand mit den Fingern die Bedienhebel ohne Umgreifen und der mindestens eine Schalter zwischen den Bedienhebeln betätigbar ist.Numerous different concepts and approaches for operating elements are known for the operation and control of industrial trucks. Out of DE 10 2013 012 176 For example, an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known. The operating levers are each designed for a two-axis movement and are spaced apart from one another in such a way that with a hand positioned between the levers, the operating lever can be actuated with your fingers without reaching around and the at least one switch between the operating levers can be actuated.

Aus DE 10 2005 000 633 A1 ist bekannt geworden, zur Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen, Erschütterungen an dem Bedienelement und/oder an dem Fahrerarbeitssitz vorzusehen. Es erfolgt hierbei eine haptische Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen. Bei der Ausgestaltung des Bedienelements als Joystick erfolgt eine sichere und direkte Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen über einen Vibrationen erzeugenden Elektromagneten oder einen mit einer Unwucht in Wirkverbindung stehenden Elektromotor.Out of DE 10 2005 000 633 A1 has become known to provide vibrations on the operating element and/or on the driver's work seat for feedback of vehicle states and/or vehicle information. There is a haptic feedback of vehicle states and/or vehicle information. When the control element is designed as a joystick, there is reliable and direct feedback of vehicle states and/or vehicle information via an electromagnet that generates vibrations or an electric motor that is operatively connected to an imbalance.

Aus DE 10 2014 103 988 A1 sind als Joystick ausgebildete Bedienelemente zur Steuerung von Nutzfahrzeugen, Maschinen, Arbeitsfunktionen von Nutzfahrzeugen oder Baumaschinen und Anbaugeräten bekannt. Für die Joysticks ist auch der Einsatz von Force-Feedback bekannt. Bei Force-Feedback handelt es sich um eine mechanische Rückkopplung, was üblicherweise durch ein gekoppeltes Drehmoment eines Elektromotors mit Hilfe eines Getriebes erreicht wird. Für die Umsetzung von Force-Feedback sind unterschiedliche technische Ausgestaltungen für den Betätigungshebel des Joysticks bekannt.Out of DE 10 2014 103 988 A1 Control elements designed as a joystick are known for controlling commercial vehicles, machines, work functions of commercial vehicles or construction machinery and attachments. The use of force feedback is also known for the joysticks. Force feedback is mechanical feedback, which is usually achieved by coupled torque from an electric motor using a gear. Different technical configurations for the actuating lever of the joystick are known for the implementation of force feedback.

Aus DE 10 2007 060 336 A1 ist eine Fahr- und Lenksteuerung für ein Flurförderzeug bekannt geworden, bei der ein Stellelement ausgehend von seiner Nullstellung innerhalb eines X-/Y-Koordinatensystems mit mindestens zwei Quadranten auslenkbar ist, wobei eine Steuervorrichtung Sollwertsignale für die Fahrgeschwindigkeit und für den Lenkwinkel aus der Stellung des Stellelements ermittelt.Out of DE 10 2007 060 336 A1 a driving and steering control for an industrial truck has become known in which an actuating element can be deflected from its zero position within an X/Y coordinate system with at least two quadrants, with a control device determining setpoint signals for the driving speed and for the steering angle from the position of the actuating element.

Aus US 2016/0179128 A1 ist ein Bedienelement bekannt geworden, das auch bei Flurförderzeugen eingesetzt werden kann, und das eine tastbare Rückmeldung an den Bedienhebel kennt. In einer "actual-speed-biased-position" entspricht die aktuelle Geschwindigkeit der Ruheposition eines entsprechenden Bedienhebels. US 2016/0179128 A1 offenbart die Merkmale der Oberbegriffe der Ansprüche 1 und 6.Out of U.S. 2016/0179128 A1 an operating element has become known which can also be used in industrial trucks and which has tactile feedback on the operating lever. In an "actual-speed-biased-position" the current speed corresponds to the rest position of a corresponding control lever. U.S. 2016/0179128 A1 discloses the features of the preambles of claims 1 and 6.

Ein wichtiger Aspekt bei der Bedienung eines Flurförderzeugs ist die intuitive Handhabung des Bedienhebels. Insbesondere bei einer halbautomatischen Ansteuerung oder bei einer positionsabhängigen Ansteuerung einer Fahrzeugfunktion ist entscheidend, dass die Bedienperson intuitiv den Bedienhebel in der richtigen Art und Weise ansteuert. Bei einem Eingriff in einen automatischen Bedienvorgang, wenn der Benutzer den Bedienhebel in eine Gegenrichtung auslenkt, kann eine Mehrdeutigkeit entstehen. Entweder bedeutet ein Auslenken in Gegenrichtung lediglich den vorhandenen automatischen Vorgang zu verlangsamen oder es soll eine Bewegung in die Gegenrichtung stattfinden. Auch bei einer positionsabhängigen Ansteuerung, bei der die Position eines Elements des Flurförderzeugs durch eine Position des Bedienhebels vorgegeben ist, wie beispielsweise die Mastneigung, kann eine Mehrdeutigkeit auftreten. Hier entspricht eine senkrechte Ausrichtung des Hubmastes beispielsweise der Mittelstellung des Bedienelements. Ändert sich nun die tatsächliche Position des Hubmastes durch externe Einflüsse, so ist nicht intuitiv verständlich, ob eine Bewegung des Bedienhebels in seine Mittelstellung den Hubmast um eine definierte Strecke neigen, oder ein Senkrechtstellen des Hubmastes bewirken soll.An important aspect when operating an industrial truck is the intuitive handling of the control lever. Particularly in the case of semi-automatic activation or in the case of position-dependent activation of a vehicle function, it is crucial that the operator intuitively activates the operating lever in the correct manner. An ambiguity can arise when an intervention is made in an automatic operating process, when the user deflects the operating lever in the opposite direction. Either means a deflection in the opposite direction only to slow down the existing automatic process or to move in the opposite direction. An ambiguity can also occur in the case of position-dependent activation, in which the position of an element of the industrial truck is predetermined by a position of the operating lever, such as the mast inclination. Here corresponds a vertical alignment of the lifting mast, for example the middle position of the control element. If the actual position of the lifting mast changes as a result of external influences, it is not intuitively understandable whether a movement of the control lever into its middle position should tilt the lifting mast by a defined distance or cause the lifting mast to be positioned vertically.

Der Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug und ein Verfahren zu seiner Bedienung bereitzustellen, bei dem mit einfachen Mitteln eine intuitive Bedienung sichergestellt ist.The object of the invention is to provide an industrial truck and a method for operating it, in which intuitive operation is ensured using simple means.

Das erfindungsgemäße Flurförderzeug weist mindestens ein Bedienmittel auf, das einen Bedienhebel besitzt. Über ein Verstellen des Bedienhebels können Fahrzeugfunktionen über zugehörige Aktoren ausgelöst werden. Ferner ist eine Rückstelleinrichtung vorgesehen, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung auslöst. In der Rückstelleinrichtung ist eine Zuordnung zwischen Rückstellkraft und Auslenkung des Bedienhebels hinterlegt. Diese Zuordnung kann durch die Rückstelleinrichtung beliebig vorgegeben werden, wobei bevorzugt jeder Auslenkung ein Wert für die Rückstellkraft zugeordnet ist.The industrial truck according to the invention has at least one operating means that has an operating lever. Vehicle functions can be triggered via associated actuators by moving the control lever. Furthermore, a restoring device is provided, which triggers a restoring force for the operating lever depending on its deflection. An association between the restoring force and the deflection of the operating lever is stored in the restoring device. This assignment can be specified as desired by the restoring device, with each deflection preferably being assigned a value for the restoring force.

Erfindungsgemäß erzeugt die Rückstelleinrichtung für den Bedienhebel eine Neutralstellung, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Die Neutralstellung des Bedienhebels ist hierbei diejenige Stellung des Bedienhebels, in der keine Kraft aufgebracht werden muss, um den Bedienhebel in seiner Position zu halten. Bei einer automatischen Ansteuerung der Fahrzeugfunktion wird die Neutralstellung für den Bedienhebel erzeugt, die bei der aktuellen Ansteuerung der Fahrzeugfunktion notwendig wäre. Hierdurch kann die Bedienperson, die beispielsweise eine optische Rückmeldung von der aktuellen Fahrzeugfunktion und ihrer Ansteuerung besitzt, stets korrigierend eingreifen, wobei der Bedienhebel sich durch die Neutralstellung in einer Stellung befindet, die der aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Eine Fehlbedienung durch eine mehrdeutige Bewegung des Bedienhebels ist hier ausgeschlossen.According to the invention, the reset device for the operating lever generates a neutral position that corresponds to a current activation of the vehicle function. The neutral position of the operating lever is that position of the operating lever in which no force has to be applied to hold the operating lever in its position. If the vehicle function is activated automatically, the neutral position for the operating lever is generated, which would be necessary for the current activation of the vehicle function. As a result, the operator, who has, for example, visual feedback from the current vehicle function and its activation, always take corrective action, with the operating lever being in the neutral position in a position that corresponds to the current activation of the vehicle function. Incorrect operation due to an ambiguous movement of the operating lever is excluded here.

Im Hinblick auf den Automatikbetrieb können mindestens zwei Fälle unterschieden werden. Bei einem ersten Fall führt die Auslenkung des Bedienhebels aus seiner Neutralstellung zu einer Beendigung des Automatikbetriebs. Bei dieser Ausgestaltung wird, wenn der Bedienhebel aus der Neutralstellung herausbewegt wird, bevorzugt zu einer manuellen Ansteuerung übergegangen, wobei dann die aktuelle Position des Bedienhebels zugleich das Signal für die Ansteuerung ist.With regard to automatic operation, at least two cases can be distinguished. In a first case, the deflection of the operating lever from its neutral position leads to the automatic mode being terminated. In this embodiment, when the operating lever is moved out of the neutral position, there is preferably a transition to manual activation, with the current position of the operating lever then also being the signal for the activation.

In einer anderen Ausgestaltung kann eine zusätzliche Steuerung für einen fortgesetzten Automatikbetrieb erfolgen. Hierbei wird bei einer Auslenkung des Bedienhebels aus seiner Neutralstellung im Automatikbetrieb dieser fortgesetzt und es erfolgt über den Bedienhebel eine Steuerung einer Geschwindigkeit im fortgesetzten Automatikbetrieb. Bei dieser Ausgestaltung bekommt der Bediener die zusätzliche Möglichkeit, während des Automatikbetriebs diesen ohne Unterbrechung des Automatikbetriebs fortzusetzen und die Vorgänge des Automatikbetriebs mit einer durch den Bedienhebel gesteuerten Geschwindigkeit auszuführen.In another embodiment, an additional control for continued automatic operation can take place. In this case, when the operating lever is deflected from its neutral position in automatic mode, this is continued and a speed is controlled via the operating lever in continued automatic mode. In this embodiment, the operator has the additional option of continuing the automatic mode without interrupting the automatic mode and of carrying out the processes of the automatic mode at a speed controlled by the operating lever.

Erfindungsgemäß sieht in einem Automatikbetrieb für die Fahrzeugfunktion die Rückstelleinrichtung die Neutralstellung für eine Auslenkung des Bedienhebels vor, die einer Position des Bedienhebels bei einer manuellen Ansteuerung der Fahrzeugfunktion entspricht. Manuelle Ansteuerung bedeutet, dass der Bedienhebel mit seiner Neutralstellung die Auslenkung besitzt, die der Bedienhebel besitzen würde, wenn die Fahrzeugfunktion nicht automatisch, sondern durch Betätigung des Bedienhebels angesteuert würde. Ohne Eingreifen der Bedienperson bewegt sich der Bedienhebel bei einem Automatikbetrieb stets so, wie der Bedienhebel also bei einer manuellen Ansteuerung der gleichen Bewegung der Automatikfunktion bewegt werden würde. Eine Bewegung des Bedienhebels ist hierdurch eindeutig festgelegt, als die Auslenkung, die der Ansteuerung der Fahrzeugfunktion entspricht. Wird also in einem Automatikbetrieb eine Fahrzeugfunktion mit x-% angesteuert, so steht auch der Bedienhebel mit seiner Neutralstellung in einer x-% entsprechenden Position. Ein Eingreifen in den Automatikbetrieb durch ein Vor- oder Zurückbewegen des Bedienhebels um eine Auslenkung von +/-Δ% bedeutet also, dass die Fahrzeugfunktion mit x+Δ% oder mit x-Δ% angesteuert wird.According to the invention, in an automatic mode for the vehicle function, the reset device provides the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever when the vehicle function is activated manually. Manual control means that the operating lever with its neutral position has the deflection that the operating lever would have if the vehicle function would not be controlled automatically, but by actuating the operating lever. Without intervention by the operator, the operating lever always moves in automatic mode in the same way that the operating lever would be moved in the case of manual activation of the same movement of the automatic function. A movement of the control lever is thus clearly defined as the deflection that corresponds to the activation of the vehicle function. If a vehicle function is controlled with x% in automatic mode, the operating lever is also in a position corresponding to x% with its neutral position. Intervening in the automatic mode by moving the operating lever forwards or backwards by a deflection of +/-Δ% means that the vehicle function is controlled with x+Δ% or with x-Δ%.

Hierbei entspricht in dem Automatikbetrieb die Auslenkung des Bedienhebels aus einer Neutralstellung einer manuellen Ansteuerung der zugeordneten Fahrzeugfunktion mit einer Auslenkung, die einer Auslenkung relativ zur Neutralstellung entspricht.Here, in the automatic mode, the deflection of the operating lever from a neutral position corresponds to a manual activation of the associated vehicle function with a deflection that corresponds to a deflection relative to the neutral position.

Auch bei einer positionsabhängigen Ansteuerung kann vorgesehen sein, dass eine Neutralstellung des Bedienhebels einer aktuellen Position der dem Bedienhebel zugeordneten Fahrzeugfunktion entspricht.Even with a position-dependent control, it can be provided that a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.

In einer bevorzugten Ausgestaltung ist eine Messeinrichtung vorgesehen, die die aktuelle Position eines durch die Fahrzeugfunktion gestellten Bauteils erfasst und an die Rückstelleinrichtung anlegt. Über die Rückmeldung der aktuellen Position ist es möglich, die Neutralstellung entsprechend der aktuellen Position der Fahrzeugfunktion einzustellen. Die Rückmeldung erlaubt es auch auf externe Einflüsse zu reagieren, da durch die verstellte Neutralstellung des Bedienhebels auch eine extern auf die Fahrzeugfunktion wirkende Kraft angezeigt wird.In a preferred embodiment, a measuring device is provided, which detects the current position of a component set by the vehicle function and applies it to the reset device. Via the feedback of the current position, it is possible to set the neutral position according to the current position of the vehicle function. The feedback also makes it possible to react to external influences, since the adjusted neutral position of the control lever also indicates an external force acting on the vehicle function.

Die der Erfindung zugrunde liegende Aufgabe wird ebenfalls durch ein Verfahren mit den Merkmalen nach Anspruch 6 gelöst.The object on which the invention is based is also achieved by a method having the features of claim 6 .

Das erfindungsgemäße Verfahren ist vorgesehen und bestimmt zur Bedienung eines Flurförderzeugs, das mindestens ein Bedienmittel besitzt. Das Bedienmittel weist einen Bedienhebel auf. Ferner ist eine Rückstelleinrichtung vorgesehen, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt. Dem Bedienmittel ist eine Fahrzeugfunktion zugeordnet, die durch eine Auslenkung des Bedienhebels angesteuert wird. Bei dem erfindungsgemäßen Verfahren wird an den Bedienhebel eine Neutralstellung erzeugt, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Durch die angepasste Neutralstellung hat eine Bedienperson stets die aktuell richtige Rückmeldung von dem Bedienhebel.The method according to the invention is provided and intended for operating an industrial truck that has at least one operating means. The operating means has an operating lever. Furthermore, a restoring device is provided, which generates a restoring force for the operating lever depending on its deflection. A vehicle function is assigned to the operating means, which is controlled by a deflection of the operating lever. In the method according to the invention, a neutral position is generated on the control lever, which corresponds to a current activation of the vehicle function. Due to the adjusted neutral position, an operator always has the currently correct feedback from the operating lever.

Erfindungsgemäß ist ein Automatikbetrieb für die Fahrzeugfunktion vorgesehen. Ferner wird eine Neutralstellung mit einer verschwindenden Rückstellkraft in einer Position erzeugt, die einer manuellen Ansteuerung der Fahrzeugfunktion entspricht. In der Ausgestaltung des Verfahrens übernimmt der Automatikbetrieb die Ansteuerung der Fahrzeugfunktion. Der Bedienhebel folgt mit seiner Neutralstellung hierbei stets der aktuellen Ansteuerung, sodass der Bedienhebel eine rückstellkraftfreie Neutralstellung bei der Auslenkung einnimmt, die der aktuellen, automatischen Ansteuerung entspricht.According to the invention, automatic operation is provided for the vehicle function. Furthermore, a neutral position with a vanishing restoring force is generated in a position that corresponds to manual activation of the vehicle function. In the embodiment of the method, the automatic mode takes over the control of the vehicle function. With its neutral position, the control lever always follows the current control, so that the control lever assumes a neutral position with no restoring force when it is deflected, which corresponds to the current, automatic control.

Weiter ist vorgesehen, dass in dem Automatikbetrieb eine Auslenkung des Bedienhebels aus seiner Neutralstellung einer manuellen Ansteuerung der Fahrzeugfunktion ohne veränderte Neutralstellung entspricht. Dies bedeutet, dass wenn die Neutralstellung sich bei der Position +x% befindet, eine Auslenkung um den Betrag Δ-% einer Ansteuerung mit einem Wert von x+/- Δ-% erfolgt. Hierdurch ist im besonderen Maße sichergestellt, dass eine Bedienperson intuitiv den Bedienhebel richtig ergreift und stellt, so wie bei einer manuellen Ansteuerung.It is further provided that in the automatic mode a deflection of the operating lever from its neutral position corresponds to a manual activation of the vehicle function without changing the neutral position. This means that when the neutral position is at the +x% position, a Deflection by the amount Δ% of a control with a value of x+/- Δ% takes place. This ensures to a particular degree that an operator intuitively grips and positions the operating lever correctly, as with manual control.

Die Auslenkung des Bedienhebels aus der Neutralstellung heraus kann mit dem Übergang zu einer manuellen Ansteuerung der Beendigung des Automatikbetriebs entsprechen. Alternativ ist es auch möglich, dass der Automatikbetrieb fortgesetzt wird, wobei dann durch die Steuerung des Bedienhebels in eine Position abweichend von der Neutralstellung die Geschwindigkeit der Automatikfunktion gesteuert wird. Dies bedeutet, wenn der Bedienhebel aus der Neutralstellung herausbewegt wird, der Automatikbetrieb fortgesetzt wird, wobei er dann schneller oder langsamer fortgesetzt wird, je nachdem, durch welche Auslenkung die Neutralstellung verlassen wurde.The deflection of the control lever out of the neutral position can correspond to the transition to manual activation of the termination of automatic mode. Alternatively, it is also possible for the automatic mode to be continued, in which case the speed of the automatic function is then controlled by moving the operating lever to a position that differs from the neutral position. This means that if the control lever is moved out of neutral, automatic operation will continue, then proceeding faster or slower depending on the deflection that caused the neutral position to be moved.

Ein bevorzugtes Ausführungsbeispiel der Erfindung wird nachfolgend näher erläutert.A preferred embodiment of the invention is explained in more detail below.

Es zeigen:

Fig. 1
ein zweiachsig verschwenkbares Bedienelement und
Fig. 2
eine schematische Ansicht für eine verschobene Neutralstellung.
Show it:
1
a biaxially pivotable operating element and
2
a schematic view for a shifted neutral position.

Figur 1 zeigt in einer einfachen schematischen Ansicht ein Bedienelement 10 mit einem Bedienhebel 12, der unabhängig in die Richtungen A und B bewegt werden kann. In der Regel ist der Bedienhebel 12 an seinem Fuß verschwenkbar gelagert und kann in die Richtungen A oder B unabhängig voneinander verschwenkt werden. Das Verschwenken des Bedienhebels 12 erfolgt dabei aus einer Neutralstellung heraus, sowohl in positiver als auch in negativer Richtung. Die Auslenkung des Bedienhebels 12 ist dabei in jeder Richtung durch eine Maximalauslenkung beschränkt. Die Erfindung kann auch bei einem nur in einer Richtung verschwenkbaren Bedienhebel zur Anwendung gelangen. figure 1 shows in a simple schematic view an operating element 10 with an operating lever 12 which can be moved independently in directions A and B. As a rule, the operating lever 12 is pivotably mounted at its foot and can be pivoted in directions A or B independently of one another. The operating lever 12 is pivoted from a neutral position out, in both positive and negative directions. The deflection of the operating lever 12 is limited in each direction by a maximum deflection. The invention can also be used with an operating lever that can only be pivoted in one direction.

Figur 2 zeigt in Zusammenhang zwischen einer rückstellenden Kraft R für den Bedienhebel und der Auslenkung des Bedienhebels 12. Die durchgezogene Linie 14 zeigt den normalen Kraftverlauf. Bei dem normalen Kraftverlauf wirkt bei einer Auslenkung von 0 % keine rückstellende Kraft, hier ist die Neustralstellung. Bis zu den Maximalausschlägen +/- 100 % nimmt die rückstellende Kraft dann jeweils auf 100 % zu. In dieser Ausgestaltung erhält die Bedienperson durch die Größe der rückstellenden Kraft einen Hinweis auf die Auslenkung des Bedienhebels. figure 2 shows the connection between a restoring force R for the operating lever and the deflection of the operating lever 12. The solid line 14 shows the normal course of the force. With the normal course of force, there is no restoring force at a deflection of 0%; this is the neutral position. The restoring force then increases to 100% up to the maximum deflections +/- 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever through the magnitude of the restoring force.

Die gestrichelte Linie 16 zeigt den Kraftverlauf bei verschobener Neutralstellung. Hierbei verschwindet die rückstellende Kraft bei einer Auslenkung von - 50 %. Die Neutralstellung liegt bei -50%. Hin zu einer größer werdenden Auslenkung nimmt die rückstellende Kraft linear zu, wobei die rückstellende Kraft bei + 50 % Auslenkung die 100 %-Marke übersteigt und bis auf 150 % bei einer Auslenkung in positiver Richtung anwächst. Bei weiter negativer Auslenkung von bis zu + 100 % Auslenkung nimmt die rückstellende Kraft auf einen Wert von dann bis 50 % zu. Bei - 100 % ist der Maximalausschlag vorgesehen, sodass obwohl die rückstellende Kraft nur einen Wert von 50 % erreicht hat, eine weitere Verstellung des Bedienhebels hin zu noch negativeren Auslenkung nicht möglich ist.The dashed line 16 shows the course of the force when the neutral position is shifted. Here, the restoring force disappears at a deflection of - 50%. The neutral position is at -50%. The restoring force increases linearly as the deflection increases, with the restoring force exceeding the 100% mark at +50% deflection and increasing to 150% with a deflection in the positive direction. With a further negative deflection of up to +100% deflection, the restoring force increases to a value of then up to 50%. The maximum deflection is provided at - 100%, so that although the restoring force has only reached a value of 50%, it is not possible to adjust the operating lever further towards an even more negative deflection.

Die Verschiebung der Neutralstellung hat insbesondere bei der Verwendung von Automatikfunktionen in Flurförderzeugen besondere Vorteile. Bei einer Automatikfunktion werden die aktuell ausgeführten Fahrzeugfunktionen in der Regel nicht über die Bedienelemente angesteuert. Trotz ausgeführter Funktion bleibt herkömmlich das entsprechende Bedienelement immer in seiner Mittelstellung. Will der Bediener nun eingreifen, muss er das Bedienelement in die Gegenrichtung ausschlagen, was dann unter Umständen zu einem nicht eindeutigen Kommando führt. Hebt das Fahrzeug beispielsweise automatisch und der Fahrer lenkt in Richtung Senken aus, so ist nicht eindeutig klar, ob er die automatische Bewegung verlangsamen bzw. stoppen will, oder ob er die Last absenken will, beispielsweise weil bereits zu hoch gehoben wurde.The shifting of the neutral position has particular advantages when using automatic functions in industrial trucks. In the case of an automatic function, the vehicle functions currently being executed are generally not controlled via the operating elements. Remains in spite of the function being carried out conventionally, the corresponding control element is always in its middle position. If the operator now wants to intervene, he must deflect the operating element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers in the direction of lowering, it is not entirely clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example because the load was already lifted too high.

Mittels der in Linie 16 dargestellten verschobenen Neutralstellung wird die Position des Bedienelements jederzeit an das aktuelle Kommando der Automatikfunktion angepasst. Im dargestellten Beispiel von Figur 2 erfolgt aktuell eine Ansteuerung mit einer - 50 %-igen Auslenkung. Dies bedeutet, es wird aktuell durch den Automatikbetrieb mit halber Geschwindigkeit gesenkt. Will der Fahrer nun in diese Automatikfunktion eingreifen, so muss er sinnrichtig den Hebel ausgehend von dieser Neutralstellung bei -50 %-Auslenkung steuern. Bei einem Eingriff in den Automatikbetrieb mit seiner Neutralstellung sind nun mehrere Varianten zu unterscheiden. Bei der ersten Variante wird durch die Auslenkung des Bedienhebels aus seiner Neutralstellung der Automatikbetrieb beendet. Dies bedeutet, die Steuerung erfolgt manuell durch die Betätigung des Bedienhebels und die aktuelle Stellung des Bedienhebels. In dem Beispiel der Hubfunktion bedeutet dies, dass bei einem Verstellen des Bedienhebels zu einer Senkgeschwindigkeit von - 40% nicht länger automatisch mit - 50 % gesenkt wird, sondern der Senkvorgang automatisch mit - 40 % erfolgt. Bei diesem Wechsel in den manuellen Steuerbetrieb kann man zwei weitere Aspekte unterscheiden. Der eine Aspekt betrifft die Variante, dass die vom Automatikbetrieb vorgegebene Neutralstellung erhalten bleibt. Dies bedeutet, dass beim Loslassen der manuell angesteuerten Senkgeschwindigkeit von - 40 % kehrt der Bedienhebel in seine durch den Automatikbetrieb vorgegebene Neutralstellung zurück und der Senkvorgang wird mit - 50 % fortgesetzt. Bei dieser Ausgestaltung wird aus dem Automatikbetrieb heraus in den manuellen Betrieb nur so lange gewechselt, wie der Bedienhebel in eine von der durch den Automatikbetrieb vorgegebenen Neutralstellung abweichende Stellung geführt wird. In einer anderen Ausgestaltung wird der Automatikbetrieb endgültig beendet und bei einem Loslassen des Bedienhebels kehrt dieser in seine 0 %-Stellung als Neutralstellung zurück und es erfolgt keine Ansteuerung der Hubfunktion mehr. Eine andere Variante liegt vor, wenn durch ein Auslenken des Bedienhebels aus seiner Neutralstellung im Automatikbetrieb der Automatikbetrieb fortgesetzt und durch das Ansteuern des Bedienhebels die Geschwindigkeit des Automatikbetriebs verändert wird. Dies bedeutet, dass bei einer durch den Automatikbetrieb vorgegebenen Neutralstellung von - 50 % und einer Senkgeschwindigkeit von - 50 %, eine Auslenkung des Bedienhebels in eine Position von - 40 % keine manuelle Ansteuerung mit - 40 % herbeiführt, sondern eine Fortsetzung des Automatikbetriebs, wobei in dem Automatikbetrieb dann allerdings nicht länger mit einer Senkgeschwindigkeit von - 50 % gesenkt wird, sondern mit einer durch die aktuelle Auslenkung korrigierten Wert. Wird in diesem Zustand der eine Bedienhebel dann losgelassen, kehrt er automatisch, da weiterhin der Automatikbetrieb vorliegt, in seine durch den Automatikbetrieb aktuell vorgegebene Neutralstellung zurück.By means of the shifted neutral position shown in line 16, the position of the control element can be adapted to the current command of the automatic function at any time. In the example shown figure 2 control is currently carried out with a - 50% deflection. This means it is currently lowered by the automatic mode at half speed. If the driver now wants to intervene in this automatic function, he must logically control the lever starting from this neutral position at -50% deflection. In the case of an intervention in the automatic mode with its neutral position, a distinction must now be made between several variants. In the first variant, the automatic mode is ended by deflecting the operating lever from its neutral position. This means that it is controlled manually by actuating the operating lever and the current position of the operating lever. In the example of the lifting function, this means that when the operating lever is adjusted to a lowering speed of - 40%, the lowering process is no longer automatically carried out at - 50%, but instead the lowering process takes place automatically at - 40%. With this change to manual control mode, two further aspects can be distinguished. One aspect relates to the variant that the neutral position specified by the automatic mode is retained. This means that when the manually controlled lowering speed of - 40% is released, the control lever returns to its neutral position specified by automatic operation and the lowering process continues at - 50%. At this Configuration is changed from automatic mode to manual mode only as long as the operating lever is moved to a position that deviates from the neutral position specified by automatic mode. In another embodiment, the automatic mode is finally ended and when the operating lever is released, it returns to its 0% position as the neutral position and the lifting function is no longer activated. Another variant is when the automatic mode is continued by deflecting the operating lever from its neutral position in automatic mode and the speed of the automatic mode is changed by actuating the operating lever. This means that with a neutral position of - 50% and a lowering speed of - 50% specified by the automatic mode, a deflection of the operating lever to a position of - 40% does not result in manual activation with - 40%, but a continuation of the automatic mode, whereby in the automatic mode the lowering speed is no longer - 50%, but with a value corrected by the current deflection. If one operating lever is then released in this state, it automatically returns to its neutral position currently specified by the automatic mode, since the automatic mode is still present.

Üblicherweise geben die Bedienhebel eines Flurförderzeugs die Geschwindigkeit von Arbeitsfunktionen vor. Ein halb ausgelenktes Bedienelement entspricht beispielsweise der halben maximalen Geschwindigkeit dieser Arbeitsfunktion, wenn ein linearer Zusammenhang zwischen Auslenkung und Ansteuerung hinterlegt ist. Für einige Funktionen am Flurförderzeug kann vorgesehen sein, anstatt der Geschwindigkeit die Position der Fahrzeugfunktion vorzugeben, beispielsweise für einen Mastvorschub bei Schubmaststaplern, einen Seitenschub eines Anbaugeräts oder das Neigen des Hubmastes. Bei dieser Steuerung wird nicht die Geschwindigkeit für die Fahrzeugfunktion vorgegeben, sondern durch die Bewegung des Bedienhebels kann die Position der Fahrzeugfunktion vorgegeben werden. Um die Position dann zu halten, wird die Neutralstellung des Bedienhebels der aktuellen Position des Fahrzeugs angepasst. Bei dem in Figur 2 dargestellten Kraftverlauf bei verschobener Neutralstellung 14 entspricht die Neutralstellung einen um - 50 % zurückgeschobenen Mastvorschub eines Schubmaststaplers, eines um 50 % in eine Richtung verschobenen Seitenschiebers oder eines um - 50 % geneigten Hubmastes. Um die Stellung dann zu halten, ist die Neutralstellung verschoben, sodass das Bedienelement auch unbetätigt in seiner neuen Neutralstellung bleibt. Bei einem Mastvorschub kann die Neutralstellung bei einem vorderen oder hinteren Anschlag liegen, also ± 100 % Auslenkung für die Neutralstellung sein. Ein besonderer Vorteil bei dieser Ausgestaltung liegt darin, dass der Bediener die Position der Fahrzeugfunktion direkt an seinem Bedienelement fühlen kann, auch wenn externe Kräfte die Position der Fahrzeugfunktion verstellt haben.The operating levers of an industrial truck usually specify the speed of work functions. A half-deflected operating element corresponds, for example, to half the maximum speed of this work function if a linear relationship between deflection and activation is stored. For some functions on the industrial truck, the position of the vehicle function can be specified instead of the speed, for example for a mast advance in reach trucks, a side shift of an attachment or the tilting of the lifting mast. With this controller, the Speed specified for the vehicle function, but by moving the control lever, the position of the vehicle function can be specified. In order to then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle. At the in figure 2 shown force curve with a shifted neutral position 14, the neutral position corresponds to a mast advance of a reach truck pushed back by 50%, a sideshift shifted by 50% in one direction or a lifting mast inclined by 50%. In order to then hold the position, the neutral position is shifted so that the operating element remains in its new neutral position even when not actuated. When the mast is extended, the neutral position can be at a front or rear stop, i.e. ± 100% deflection for the neutral position. A particular advantage of this configuration is that the operator can feel the position of the vehicle function directly on his control element, even if external forces have changed the position of the vehicle function.

Claims (10)

  1. An industrial truck having at least one operating means, comprising an operating lever, and a resetting apparatus which cooperates with the operating lever and which generates a resetting force for the operating lever as a function of the deflection thereof, wherein a vehicle function is assigned to the operating means, wherein
    the resetting apparatus generates a neutral position for the operating lever which corresponds to a current activation of the vehicle function, wherein the neutral position is that position of the operating lever in which a force does not have to be applied in order to keep the operating lever in its position, characterized in that in automatic mode the resetting apparatus predetermines the neutral position for a deflection of the operating lever which corresponds to a position of the operating lever when the vehicle function is manually activated, wherein
    in automatic mode the deflection of the operating lever out of its neutral position corresponds to a manual activation of the assigned vehicle function with a deflection relative to the neutral position.
  2. The industrial truck according to claim 1, characterized in that in automatic mode the deflection of the operating lever out of its neutral position terminates the automatic mode.
  3. The industrial truck according to claim 1, characterized in that in automatic mode the deflection of the operating lever out of its neutral position permits the speed to be controlled in continued automatic mode.
  4. The industrial truck according to claim 1, characterized in that a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.
  5. The industrial truck according to claim 4, characterized in that a measuring apparatus is provided, the measuring apparatus detecting the current position of a component set by the vehicle function and and being in contact with the resetting apparatus.
  6. A method of operating an industrial truck which has at least one operating means, comprising an operating lever, and a resetting apparatus which cooperates with the operating lever and which generates a resetting force for the operating lever as a function of the deflection thereof, wherein a vehicle function is assigned to the operating means, wherein
    a neutral position is generated on the operating lever, the neutral position corresponding to a current activation of the vehicle function, characterized in that
    • an automatic mode is provided for the vehicle function,
    • a neutral position with a fading resetting force is generated in a position which corresponds to a position of the operating lever when the vehicle function is manually activated, and
    in automatic mode a deflection of the operating lever out of its neutral position corresponds to a manual activation of the assigned vehicle function with a deflection relative to the neutral position.
  7. The method according to claim 6, characterized in that the automatic mode is terminated by deflecting the operating lever out of its neutral position.
  8. The method according to claim 6, characterized in that in automatic mode by deflecting the operating lever out of its neutral position a speed is controlled by the operating lever for continued automatic mode.
  9. The method according to claim 6, characterized in that the neutral position of the operating lever corresponds to a current position of a component actuated by the vehicle function.
  10. The method according to claim 9, characterized in that the current position of the component is measured.
EP17193235.3A 2016-09-29 2017-09-26 Industrial truck with an operating lever and a method of operating such an industrial truck Active EP3301068B1 (en)

Applications Claiming Priority (1)

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DE102016118460.8A DE102016118460A1 (en) 2016-09-29 2016-09-29 Truck with a control lever and method for operating such a truck

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EP3301068A1 EP3301068A1 (en) 2018-04-04
EP3301068B1 true EP3301068B1 (en) 2023-07-26

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DE (1) DE102016118460A1 (en)

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Publication number Priority date Publication date Assignee Title
DE102019003510B4 (en) 2019-05-20 2023-02-23 Florian Maier Process and device for controlling motors in film and broadcasting

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US20180093872A1 (en) 2018-04-05
DE102016118460A1 (en) 2018-03-29
EP3301068A1 (en) 2018-04-04

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