EP3674251B1 - Industrial truck, loadable and unloadable relative to a carrier vehicle, system and method therefor - Google Patents

Description

FIELD OF THE INVENTION

[The present invention relates generally to a handling machine, in particular a forklift truck, loadable at the rear of a carrier vehicle, in particular a truck trailer.

PRIOR ART

It is known from the state of the art to embed a forklift truck at the rear of a truck trailer by engaging the forks of the forklift truck in housings, called sheaths, present at the rear of the truck. trailer.

The driver of the truck controls the movement of the forks in the direction of approaching the front wheels of the truck (lowering control of the forks), so that the forks are taken in the housings at the rear of the trailer, such Fork movement control causes the lifting of the handling trolley with respect to the ground.

The industrial truck is then lifted to a given height, cantilevered from the trailer.

However, it appears that with the solutions known from the state of the art, the operation of loading or unloading the handling machine with respect to the carrier vehicle is tedious for the operator and can also prove to be dangerous.

We know from the document WO 2009/092767 A1 a forklift with a lifting assembly that includes a remote control unit allowing the operator of the forklift to mount the forklift to the transport vehicle from a position remote from the forklift. The document WO 2009/092767 A1 discloses the features of the preamble of independent claim 1.

The document EP0905083A1 describes a mast trolley, suitable for being loaded at the rear of a carrier vehicle, the front part of the trolley being articulated to pivoting so as to pivot between a position of use and a boarding position.

The document US 2017/372184 A1 describes an industrial vehicle associated with an electronic badge detection system.

The object of the present invention is to alleviate all or part of the problems set out above.

SUMMARY OF THE INVENTION

• un système d'actionnement du système de manutention, tel que des vérins et un circuit hydraulique ;
• une unité de pilotage, telle qu'un processeur, pour piloter le système d'actionnement ;
• un module de communication radio ;

caractérisée en ce que le système de pilotage comprend en outre une mémoire dans laquelle sont mémorisés :

• des identifiants de véhicules-porteurs, tels que des numéros de plaque d'immatriculation des véhicules-porteurs, et
• des séquences de commandes du système de manutention associées à ces identifiants de véhicules-porteurs,

et en ce que le système de pilotage est configuré pour :

• transmettre à un terminal les identifiants de véhicules-porteurs, et
• recevoir une requête pour sélectionner l'une desdites séquences de commandes associée à l'un desdits identifiants de véhicules-porteurs,
• recevoir une requête de chargement ou de déchargement de la machine de manutention et exécuter la séquence de commandes sélectionnée en fonction de ladite requête de chargement ou de déchargement.

To this end, the invention relates to a handling machine, such as a handling trolley, said handling machine comprising a handling system, such as a lifting arm equipped with a tool holder provided with forks. , said handling machine comprising a control system which comprises:

• a system for actuating the handling system, such as jacks and a hydraulic circuit;
• a control unit, such as a processor, for controlling the actuation system;
• a radio communication module;

characterized in that the control system further comprises a memory in which are stored:

• carrier vehicle identifiers, such as carrier vehicle license plate numbers, and
• handling system command sequences associated with these carrier vehicle identifiers,

and in that the control system is configured for:

• transmit carrier vehicle identifiers to a terminal, and
• receive a request to select one of said command sequences associated with one of said carrier vehicle identifiers,
• receive a loading or unloading request from the handling machine and execute the sequence of commands selected as a function of said loading or unloading request.

Such a combination of machine handling system command sequences with carrier vehicle identifiers allows the operator to easily and reliably control the loading or unloading of the handling machine with respect to different carrier vehicles. .

In particular, such a combination makes it possible to benefit from a reliable and repeatable positioning of the handling machine with respect to the carrier vehicle chosen both for its loading and for its unloading.

The command sequence being adapted to the carrier vehicle with which it is associated, the risk of error or malfunction is reduced, which limits the need for operator intervention and therefore promotes his safety.

Thanks to the terminal, the operator can control the execution of a sequence of commands outside the handling machine.

The terminal makes it possible to control the loading and unloading of the handling machine in relation to different carrier vehicles, for different handling machines, without it being necessary to provide a terminal per handling machine whose loading is to be controlled. or unloading.

In addition, as explained below, the execution of the sequence of commands can be conditioned on the distance between the terminal and the machine to improve the safety of the operator.

In particular, the terminal can be implemented in the form of a smart phone and a computer application executed by a processor of said smart phone.

The use of the communication terminal allows the operator to stay away from the handling machine. The operator does not need to get on or off the handling machine to lower (unload) it by relative to the carrier vehicle to the rear of which it is coupled, or to raise it (load).

The handling machine may also have one or more of the following features taken from any technically permissible combination.

According to an advantageous characteristic of the invention, the handling machine comprises a connection element containing a set of data, for example in the form of a code, such as a QR code, applied to the outside of the handling machine. handling, the data of which are accessible by a communication terminal,
said set of data comprising identification data of the handling machine and connection data allowing the terminal to connect to the control system of the handling machine, and the control system is configured to accept the connection with a terminal , such as an intelligent telephone, when the connection request received from the terminal comprises connection data corresponding to those of said connection element.

• une commande de pivotement du porte-outil ; et/ou
• une commande de pivotement du bras de levage ; et/ou
• une commande de rentrée ou de sortie du bras, lorsque le bras de levage est un bras télescopique.

According to an advantageous characteristic of the invention, the handling system comprising a lifting arm mounted to pivot relative to the frame of the handling machine, and a tool holder provided with forks and articulated to the lifting arm,
each sequence of commands includes a series of commands including:

• a pivoting control of the tool holder; and or
• a pivoting control of the lifting arm; and or
• an arm retraction or exit control, when the lifting arm is a telescopic arm.

• déterminer une information représentative de la distance entre le terminal et la machine de manutention, et
• autoriser ou non l'exécution de tout ou partie de la séquence de commandes sélectionnée en fonction de l'information de distance déterminée.

According to an advantageous characteristic of the invention, the control system is configured for:

• determine information representative of the distance between the terminal and the handling machine, and
• authorize or not the execution of all or part of the sequence of commands selected according to the determined distance information.

According to an advantageous characteristic of the invention, the terminal having two control elements, for example of the button type, making it possible, by pressing the user on one or the other of said control buttons, to transmit to the control system of the handling machine a request to load or unload the handling machine,
the handling machine control system is also configured to detect that the user has released the pressure on one of said loading or unloading control elements, and following this detection interrupt the execution of the sequence of corresponding commands for loading or unloading the handling machine.

According to an advantageous characteristic of the invention, the handling machine comprising a control interface of the handling system, such as a joystick, the control system comprises a learning module configured to record actions performed by an operator on the device. command interface as a sequence of commands associated with a given carrier vehicle identifier.

• par un système de capteur positionné sur la machine de manutention et/ou sur le véhicule-porteur, et connecté audit système de pilotage, ou
• automatiquement lorsque le système de pilotage ne reçoit pas d'instruction de chargement ou déchargement pendant une durée donnée.

According to an advantageous characteristic of the invention, the control system is configured to detect the end of loading or unloading of the handling machine:

• by a sensor system positioned on the handling machine and / or on the carrier vehicle, and connected to said control system, or
• automatically when the control system does not receive a loading or unloading instruction for a given period of time.

• acquisition d'un code, tel qu'un QR Code,
• récupération à partir du code acquis, de données permettant au terminal de se connecter au système de pilotage de la machine de manutention,
• à l'état connecté du terminal au système de pilotage de la machine de manutention, récupération des identifiants de véhicules-porteurs, tels que des numéros de plaque d'immatriculation des véhicules- porteurs,
• sélection, par action de l'utilisateur sur le terminal, d'un des identifiants de véhicules-porteurs récupérés par le terminal ;
• transmission au système de pilotage de la machine de manutention d'une requête pour que le système de pilotage sélectionne, parmi plusieurs séquences de commandes, une séquence de commandes données associée à l'identifiant de véhicule-porteur sélectionné ;
• transmission par le terminal au système de pilotage de la machine de manutention d'une requête de chargement ou de déchargement pour l'exécution, par le système de pilotage de la machine de manutention, de la séquence de commandes sélectionnée selon la requête de chargement ou de déchargement.

The invention also relates to a non-transient computer program product comprising program code instructions for the execution of the steps of a method of controlling a handling machine which comprises a control system, when said program is executed by a processor of a communication terminal, such as a smart phone, said communication terminal also comprising a radio communication module,
characterized in that said method comprises the following steps:

• acquisition of a code, such as a QR Code,
• recovery from the acquired code of data allowing the terminal to be connect to the handling machine control system,
• in the connected state of the terminal to the control system of the handling machine, recovery of identifiers of carrier vehicles, such as license plate numbers of carrier vehicles,
• selection, by user action on the terminal, of one of the carrier vehicle identifiers retrieved by the terminal;
• transmission to the control system of the handling machine of a request for the control system to select, from among several command sequences, a given command sequence associated with the selected carrier vehicle identifier;
• transmission by the terminal to the handling machine control system of a loading or unloading request for the execution, by the handling machine control system, of the sequence of commands selected according to the loading request or unloading.

• acquisition d'un nouvel identifiant d'un véhicule-porteur, autre que les identifiants reçus par communication avec le système de pilotage,
• transmission à un serveur de données externe d'une requête contenant un numéro d'identification de la machine de manutention avec laquelle communique le terminal, ainsi que le nouvel identifiant de véhicule-porteur,
  ledit serveur de données externe contenant une séquence de commandes associée audit numéro d'identification de la machine de manutention et audit nouvel identifiant de ce véhicule-porteur,
• de préférence, récupération par le terminal de ladite séquence de commandes et transmission au système de pilotage de la machine de manutention ;
• mise à jour des identifiants de véhicule-porteur reçus par le terminal depuis le système de pilotage de la machine de sélection, pour afficher le nouvel identifiant de véhicule-porteur,
• sélection, par action de l'utilisateur sur le terminal, dudit nouvel identifiant de véhicule-porteur ;
• transmission au système de pilotage de la machine de manutention d'une instruction pour que le système de pilotage sélectionne une séquence de commandes de la machine de manutention associée à l'identifiant de véhicule-porteur sélectionné.

According to an advantageous characteristic of the invention, said method comprises the following steps:

• acquisition of a new identifier of a carrier vehicle, other than the identifiers received by communication with the control system,
• transmission to an external data server of a request containing an identification number of the handling machine with which the terminal communicates, as well as the new carrier vehicle identifier,
  said external data server containing a sequence of commands associated with said identification number of the handling machine and said new identifier of this carrier vehicle,
• preferably, recovery by the terminal of said sequence of commands and transmission to the control system of the handling machine;
• updating of the carrier vehicle identifiers received by the terminal from the control system of the selection machine, to display the new carrier vehicle identifier,
• selection, by user action on the terminal, of said new carrier vehicle identifier;
• transmission to the handling machine control system of an instruction so that the control system selects a sequence of handling machine controls associated with the selected carrier vehicle identifier.

According to an advantageous characteristic of the invention, said method comprises the display of two control elements, for example of button type, allowing the terminal by pressing the user on one or the other of said control elements to transmit to the handling machine control system a request to load or unload the handling machine.

• une machine de manutention telle que décrite ci-dessus, et
• un produit de programme informatique tel que décrit ci-dessus.

The invention also relates to a system for loading and unloading a handling machine with respect to a carrier vehicle,
characterized in that said system comprises:

• a handling machine as described above, and
• a computer program product as described above.

According to an advantageous characteristic of the invention, the system further comprises an external data server which comprises a sequence of handling system commands associated with another identifier of the carrier vehicle and with an identifier of the handling machine.

• acceptation d'une connexion d'un terminal, tel qu'un téléphone intelligent, à un système de pilotage de la machine de manutention ;
• à l'état connecté du terminal au système de pilotage, transmission au terminal par le système de pilotage, d'identifiants de véhicules-porteurs, tels que des numéros de plaque d'immatriculation des véhicules mémorisés dans ledit système de pilotage, et
• réception par le système de pilotage de la machine de manutention d'une requête de sélection pour sélectionner une séquence de commandes de la machine de manutention associée à l'identifiant de véhicule-porteur sélectionné,
• réception par le système de pilotage de la machine de manutention d'une requête de chargement ou de déchargement de la machine de manutention, et exécution par le système de pilotage de la machine de manutention de la séquence de commandes sélectionnée selon la requête de chargement ou de déchargement.

The invention also relates to a method of controlling a handling machine for its loading or unloading with respect to a carrier vehicle, characterized in that the method comprises the following steps:

• acceptance of a connection of a terminal, such as a smart phone, to a control system of the handling machine;
• in the connected state of the terminal to the piloting system, transmission to the terminal by the piloting system, of carrier vehicle identifiers, such as vehicle license plate numbers stored in said piloting system, and
• reception by the handling machine control system of a selection request to select a sequence of handling machine commands associated with the selected carrier vehicle identifier,
• reception by the handling machine control system of a request to load or unload the handling machine, and execution by the handling machine control system of the sequence of commands selected according to the loading or unloading request.

Brief description of the drawings

• [Fig. 1] est une vue schématique partielle conformément à un mode de réalisation de l'invention, d'une machine de manutention comprenant des fourches engagées dans des fourreaux présents à l'arrière d'un véhicule-porteur, un système de pilotage de la machine communiquant avec un terminal de communication extérieur à la machine ;
• [Fig. 2] est une vue schématique partielle conformément à un mode de réalisation de l'invention, d'un terminal de communication, tel que celui de la figure 1, affichant des informations d'identification de véhicules-porteurs par rapport auxquels une machine de manutention peut être chargée ou déchargée ;
• [Fig. 3] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant un serveur de données externe avec lequel un terminal de communication, tel que celui de la figure 1 ou 2, peut communiquer ;
• [Fig. 4] est une vue schématique partielle conformément à un mode de réalisation de l'invention, qui reprend la machine de manutention, le véhicule-porteur et le terminal de la figure 1, avec des données supplémentaires de séquence de commandes et d'identifiant de véhicule-porteur mémorisées dans la machine de manutention, chaque identifiant de véhicule-porteur associé à une séquence de commandes et à la machine de manutention correspondante étant affiché sur le terminal ;
• [Fig. 5] est une vue schématique partielle conformément à un mode de réalisation de l'invention, d'un terminal de communication, tel que celui de la figure 1, affichant une interface de commande d'une machine de communication pour piloter l'exécution d'une séquence de commandes donnée ;
• [Fig. 6a] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6b] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6c] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6d] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6e] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6f] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 6g] est une vue schématique partielle conformément à un mode de réalisation de l'invention, illustrant une autre étape d'une séquence de chargement d'une machine de manutention à l'arrière d'un véhicule-porteur ;
• [Fig. 7] est un exemple de logigramme conformément à un mode de réalisation de l'invention.

Other characteristics and advantages of the invention will emerge from the following description, which is purely illustrative and non-limiting and should be read in conjunction with the appended drawings, in which:

• [ Fig. 1 ] is a partial schematic view in accordance with one embodiment of the invention, of a handling machine comprising forks engaged in sleeves present at the rear of a carrier vehicle, a control system of the machine communicating with a communication terminal external to the machine;
• [ Fig. 2 ] is a partial schematic view in accordance with one embodiment of the invention, of a communication terminal, such as that of the figure 1 , displaying identification information of carrier vehicles against which a material handling machine can be loaded or unloaded;
• [ Fig. 3 ] is a partial schematic view in accordance with one embodiment of the invention, illustrating an external data server with which a communication terminal, such as that of the figure 1 or 2 , can communicate;
• [ Fig. 4 ] is a partial schematic view in accordance with one embodiment of the invention, which shows the handling machine, the carrier vehicle and the terminal of the figure 1 , with additional command sequence and carrier vehicle identifier data stored in the handling machine, each carrier vehicle identifier associated with a command sequence and the corresponding handling machine being displayed on the terminal;
• [ Fig. 5 ] is a partial schematic view in accordance with one embodiment of the invention, of a communication terminal, such as that of the figure 1 , displaying a command interface of a communication machine for controlling the execution of a given command sequence;
• [ Fig. 6a ] is a partial schematic view in accordance with one embodiment of the invention, illustrating a step in a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6b ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6c ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6d ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6th ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6f ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 6g ] is a partial schematic view in accordance with one embodiment of the invention, illustrating another step of a sequence for loading a handling machine at the rear of a carrier vehicle;
• [ Fig. 7 ] is an example of a flowchart according to one embodiment of the invention.

Description of embodiment (s)

The concept of the invention is described more fully below with reference to the accompanying drawings, in which embodiments of the concept of the invention are shown. In the drawings, the size and relative sizes of the elements may be exaggerated for the sake of clarity. Like numbers refer to like elements in all the drawings. However, this concept of the invention can be implemented in many different forms and should not be interpreted as being limited to the modes of achievement exposed here. Instead, these embodiments are provided so that this description is complete, and communicate the scope of the concept of the invention to those skilled in the art. The following embodiments are discussed, for the sake of simplicity, in connection with the terminology and structure of a forklift truck.

Reference throughout the specification to "an embodiment" means that a particular functionality, structure, or feature described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the appearance of the phrase "in one embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Further, the features, structures, or particular features may be combined in any suitable manner in one or more embodiments.

A handling machine is provided which comprises a handling system, as well as a control system for the handling system which allows it to be loaded or unloaded with respect to different carrier vehicles by cooperation of the handling system of the machine. handling with a given carrier vehicle.

In particular, the handling machine is a machine with forks which are engaged in sheaths at the rear of the carrier vehicle so that, in the loaded state of the handling machine, the machine is carried by the carrier vehicle. cantilevered from the rear of said carrier vehicle.

Drawers coupled to the carrier vehicle can be positioned under the handling machine in the loaded state of the handling machine at the rear of the carrier vehicle.

In the unloaded position of the handling machine, the wheels of the machine touch the ground and the forks are in a position away from the front wheels compared to the loading (loaded) position of the handling machine. Indeed, in the loading position (loaded) of the handling machine, the forks are in a position close to the front wheels of the handling machine.

According to a particular aspect, the control system of the handling machine is placed under electrical voltage, for its power supply by the battery of the handling machine, for example by using the ignition key of the handling machine.

The handling machine comprises a load handling system, and a control system configured to make it possible to execute a sequence of controls of the handling system, which is chosen from several sequences of controls, depending on the carrier vehicle with respect to which the handling machine must be loaded or unloaded.

A sequence of handling system commands, which is associated with a carrier vehicle, enables the corresponding handling machine to be loaded or unloaded with respect to this carrier vehicle
In the example detailed in the figures, the handling machine is a handling trolley 2 with a telescopic arm. As a variant, provision can be made for the arm not to be telescopic. Provision can also be made for the handling trolley to be a mast trolley provided with forks which can be moved up and down along the mast.

Handling system

In the example illustrated more particularly in figures 1 , 4 and 6a to 6f , the handling system comprises a telescopic lifting arm 25 equipped with a tool holder 26 provided with forks 27. The forks 27 are able to be engaged in sleeves 36 present at the rear of the carrier vehicle 3, which can be a truck trailer.

In the example illustrated in the figures, the telescopic arm 25 comprises a main section 25A mounted to pivot relative to the frame of the handling trolley, and a secondary section 25B equipped, at its end opposite to the main section 25A, with the tool holder 26 provided of forks 27. The arm 25 can thus be pivoted between a so-called lowered position close to the front wheels of the carriage and a so-called lifted position further away from the front wheels of the carriage. The tool holder 26 provided with forks 27 is articulated to the lifting arm 25, in particular to the secondary section 25B.

The secondary section 25B is slidably mounted relative to the main section 25A between a so-called retracted position, corresponding to a given length of arm 25, and a so-called extended position corresponding to a greater length of arm 25. According to a particular aspect, the section secondary 25B extends partly inside the main section 25A.

An actuation system 24 makes it possible to move the secondary section 25B relative to the main section 25A, to pivot the arm 25 at a given angle relative to the frame of the carriage and to pivot the tool holder 26 provided with forks 27 relative to the lifting arm 25. The actuation system 24 usually comprises a hydraulic circuit provided with a pump, jacks connected to the elements to be moved, and a system of valves, preferably solenoid valves, making it possible to manage the power supply. jacks associated with the elements of the handling system to be moved.

In particular, the pivoting of the lifting arm 25 is controllable using a jack (not shown). The length of the telescopic arm 25, by sliding of the secondary section 25B relative to the main section 25A, can also be controlled by a jack (not shown). The pivoting of the tool holder 26 can also be controlled using a jack 28.

A control unit 21, which comprises for example a processor (such as a microprocessor or microcontroller), makes it possible to control the actuation system 24. It is thus possible to provide for the processor to be configured so as, according to the instructions received, to transmit. control signals to the solenoid valves of the actuation system 24 to actuate the corresponding jacks in order to execute the command sequences presented below.

According to a particular aspect, the control unit comprises program code instructions, preferably recorded in a non-volatile memory, for the execution of the steps of a method making it possible to communicate with a terminal 1 outside the carriage (presented below. -after) and to control the handling system according to a given sequence of commands.

According to a particular aspect, the trolley comprises a radio communication module 22, such as a WIFI chip, making it possible to communicate with the communication terminal 1.

It can be considered that the control unit 21, the memory 23 presented below, the actuation system 24 and the communication module 22 form part of the control system 200 of the industrial truck.

Connection of a terminal to the industrial truck

In the example illustrated in the figures, the handling trolley 2 is provided with a connection element 9 which contains a set of data. According to a particular aspect, the connection element 9 is in the form of a code, such as a QR code, preferably applied to the outside of the industrial truck 2. The connection element 9 can thus be applied for example on the body, the windshield or a window.

The data of this connection element 9 are accessible by a communication terminal 1. According to one embodiment, the terminal 1 is configured to acquire the image of the QR code and decrypt the data contained. Alternatively, the code may be contained in an RFID tag and the terminal may be provided with an RFID reader.

Said set of data comprises connection data allowing the terminal 1 to connect to the control system 200 of the industrial truck 2.

• un identifiant de réseau de communication associé au chariot de manutention (par exemple un nom de réseau tel que le SSID pour un réseau WIFI ou un identifiant de réseau Bluetooth) ;
• un mot de passe pour se connecter audit réseau de communication.

Said data set may include the following data:

• a communication network identifier associated with the industrial truck (for example a network name such as the SSID for a WIFI network or a Bluetooth network identifier);
• a password to connect to said communication network.

According to a particular aspect, said set of data also comprises a datum for identifying the handling truck 2, such as a serial number. Provision can be made for this identification datum to be formed by the network identifier itself.

The truck control system 200 is configured to accept the connection with the terminal 1 when the connection request received from the terminal 1 comprises connection data corresponding to those of said connection element 9.

In the example illustrated in the figures, the terminal 1 comprises a control unit 10, such as a processor, and a computer application 11 executable by said control unit 10. The terminal also comprises a radio communication module 12, for example. according to the WIFI and / or Bluetooth protocol, to communicate with the radio communication module 22 of the truck. Provision can be made for the radio communication module or another module of the terminal to make it possible to communicate with an external data server 4 presented below. In particular, the terminal 1 can be an intelligent telephone (“smartphone” in English) which executes the computer application 11.

In the remainder of the description when operations are performed by the computer application executed by the terminal 1, it will be considered for simplicity that these operations are performed by the terminal 1.

Carrier vehicle identifiers and command sequences

A memory 23 present in the industrial truck contains identifiers IDV1, IDV2 of the carrier vehicle. These identifiers are for example license plate numbers of carrier vehicles.

The memory 23 also contains sequences of commands SC1, SC2 of the handling system of the truck, associated with these identifiers IDV1, IDV2 of carrier vehicles.

In other words, the truck 2 has in memory identifiers IDV1, IDV2 of carrier vehicle 3 against which it can be loaded or unloaded, as well as the command sequences SC1, SC2 of its handling system which allow it to be loaded. or unloading.

As explained below in connection with the figure 4 , it is also possible to add a carrier vehicle (with a corresponding identifier IDV3) which is not yet stored in the truck as well as a sequence command (SC3) for loading or unloading with respect to this vehicle. carrier added.

It is also possible, as explained below, to implement a process of learning a given sequence of commands associated with a given carrier vehicle, according to which the operator controls the handling system in order to load or unload the vehicle. truck with respect to the carrier vehicle according to a sequence of commands which is then recorded with the identifier of the corresponding carrier vehicle, in order to be able to be repeated subsequently.

The control system 200 transmits via the communication module 22 to the terminal 1, the identifiers IDV1, IDV2 of the carrier vehicles present in the memory 23 of the carriage 2 to enable the operator to determine the carrier vehicles compatible with the load / unloading from the industrial truck and for which there are associated command sequences.

The operator can then select on terminal 1, the carrier vehicle (via a displayed identifier IDV1, corresponding IDV2) in relation to which he wishes to unload or load the industrial truck.

Following the selection by the operator on terminal 1 of a given carrier vehicle, provision can be made for the control system 200 of the truck, in particular the control unit 21, to receive from terminal 1 and via the communication module 22 a request (for example comprising the identifier of the selected carrier vehicle) to select a sequence of commands associated with the selected carrier vehicle.

Each sequence of commands associated with a carrier vehicle may include a sub-sequence of loading commands and a sub-sequence of unloading commands. Provision can also be made for a sequence of commands to correspond to a loading sequence when it is executed in one direction and to correspond to an unloading sequence when it is executed in the reverse direction.

According to a particular aspect, each sequence of commands comprises a series of commands including a command for pivoting the tool holder 26; and / or a control for pivoting the lifting arm 25. The series of controls may also include a control for retracting or exiting the arm 25, when the lifting arm 25 is a telescopic arm.

Each sequence of commands can comprise a combination of these commands, in different orders, with or without repetition of one or more commands, and according to ranges of given pivot or sliding values.

It will thus be understood that depending on the truck and / or the carrier vehicle, the associated command sequences may be different. Thus, a first command sequence may involve a combination of arm movements within given ranges of values, while a second sequence of commands may or may not involve a combination of these movements according to another range of given values.

An example of a sequence of commands executed for loading an industrial truck is shown in figures 6a to 6f explained below. It will be understood that the execution of the commands in the opposite direction makes it possible to load the carriage.

The end of a process of loading or unloading the industrial truck can be detected by a sensor system (not shown) positioned on the industrial truck 2 and / or on the carrier vehicle 3, and connected to said control system. 200. It is in particular possible to provide a contact sensor configured to detect the contact of one or more rear wheels of the industrial truck with the ground, which can then be interpreted by the control system 200 as the end of the unloading sequence. .

The end of a loading or unloading process can also be detected automatically when the control system 200 no longer receives a loading or unloading instruction for a given period of time. Terminal 1 can then display information relating to whether the loading or unloading maneuver has been completed.

According to one particular aspect, provision can be made for the end of the loading or unloading maneuver to be indicated by the operator who orders the sending of an end of maneuver validation information from the terminal 1 to the control system 200. of the industrial truck (which then interprets said information as validation of the end of the maneuver).

Distance control

According to a particular embodiment, provision is made for the control system 200 to condition the execution of all or part of a sequence of commands as a function of the distance between the terminal 1 and the industrial truck 2.

This distance determination can be carried out by measuring the power of the radio signal exchanged (for example according to the Bluetooth or WIFI protocol) between the terminal 1 and the control system 200 of the industrial truck.

Provision can also be made for the terminal 1 to determine said distance and / or which conditions the execution of the sequence of commands at this distance.

Terminal control interface

The terminal 1 allows the operator who has selected the carrier vehicle in relation to which the trolley is to be loaded or unloaded, to control the loading or unloading of said trolley.

To this end, the terminal 1 has two control elements C1, D1, for example of the button type, making it possible, by pressing the operator on one or the other of said control buttons, to transmit to the control system 200 of the handling trolley 2 a control for loading or unloading the trolley. Provision can thus be made for the pressing, preferably maintained, on the button C1, respectively on the button D1, causes the truck to execute a sequence of commands (associated with the carrier vehicle previously selected) in the direction of 'loading, respectively in the direction of unloading. In particular, it can be provided that pressing the button C1 causes the execution of a sub-sequence corresponding to a loading and that pressing the button D1 causes the execution of a sub-sequence corresponding to an unloading. Provision can be made for the control system to be configured to determine and / or store at which point in the sequence of commands the current configuration of the handling system of the truck relative to the carrier vehicle corresponds, in order, if possible, to continue the operation. sequence of commands from there, in one direction for a load instruction, and in reverse for an unload instruction.

The control buttons can be obtained by displaying graphic elements on terminal 1, or by assigning corresponding functions to physical buttons on terminal 1.

The control system 200 of the handling trolley 2 is also configured to detect that the user has released the pressure on one of said loading or unloading control elements C1, D1, and following this detection, interrupt the execution. the corresponding instruction to load or unload the truck 2.

In other words, the fact that the pressing of the button C1, respectively D1 is maintained, can be a condition for proceeding or continuing the loading, respectively the unloading, of the trolley 2 with respect to the carrier vehicle 3.

External data server

According to one embodiment, an external data server is provided which comprises a sequence of commands SC3 which is associated with another identifier IDV3 of the carrier vehicle and with an identifier IDM of the truck 2. The external data server can of course understand several sequences of commands associated with different identifiers of carrier vehicles, for one or more industrial trucks.

Advantageously, the external data server also contains the sequences of commands and identifiers of the carrier vehicle stored in each industrial truck. The external data server 4 can thus serve as a central storage server for the sequence data of commands SC1, SC2, SC3, and identifiers of carrier vehicles IDV1, IDV2, IDV3 and of handling trucks 2, to put updates the memory of an industrial truck 2 with the corresponding data.

In the event that, after terminal 1 is connected to trolley 2, the identifier of the carrier vehicle IDV3 with respect to which the operator wishes to load or unload the trolley, does not appear, it can be provided that the terminal 1 connects to the external data server 4 to download, if present, a sequence of commands SC3 associated with the carrier vehicle 3 desired. Provision can be made for this sequence of commands SC3 to then be loaded into the memory 23 of the carriage 2, for example via the terminal 1 which then serves as a gateway between the server 4 and the handling trolley 2, by being associated with the identifier IDV3 of the desired carrier vehicle.

Provision can also be made for a sequence of loading or unloading commands with regard to a given carrier vehicle to be the subject of a learning process as explained below.

Learning

According to a particular aspect, the control system 200, in particular the control unit 21, comprises a learning module configured to record in the memory 23 of the carriage actions performed by an operator on a control interface of the carriage, in as a sequence of commands SC3 associated with a given carrier vehicle identifier IDV3.

The carrier vehicle identifier to which the sequence of commands must be associated can be supplied by the operator performing the maneuver, via a data entry interface of the industrial truck and / or via terminal 1 which can be used to the data entry interface user for providing said carrier vehicle identifier to the control system 200 of the industrial truck.

Preferably, once learned, this sequence of commands, as well as the associated carrier vehicle identifier, is also transmitted to the external server 4 so that it records it in association with the identifier of the truck IDM.

The control interface of the handling system is for example a joystick for controlling the carriage, usually used by an operator inside the carriage to control the handling system. Provision can also be made for the control interface to be formed by a control module for the application 11 of the terminal 1 which is connected with the control system 200 of the truck.

Process

The handling trolley, the terminal and the carrier vehicle presented above make it possible to implement different methods of loading and unloading the trolley with respect to the carrier vehicle.

An example of a loading process is presented below in connection with the figures 6a to 6f and the flowchart of the figure 7 .

In step 701, the operator uses the terminal 1 to acquire ("flash") a QR code present on the carriage. To this end, the terminal 1 executes a computer application 11 previously installed on the terminal or executed remotely.

The access or download link for this application can be provided, for example, in the operating instructions for the truck 2. According to a particular aspect, the execution of the application is secured by an authorization system, such as access by username and password.

In step 703, the acquired QR code is decrypted by the terminal 1 in order to extract therefrom connection data allowing the terminal 1 to connect to the control system 200 of the truck.

In the connected state of the terminal 1 to the control system 200 of the truck 2 (step 705), the terminal 1 retrieves in step 707 identifiers IDV1, IDV2 of the carrier vehicle, such as license plate numbers of the vehicles. carrier vehicles, stored in memory 23 of truck 2.

The terminal 1 displays in step 707A the identifiers IDV1, IDV2 recovered, which allows the operator, in step 707B, to determine whether or not he finds among these identifiers that of the carrier vehicle 3 with respect to which he wants to be able to load or unload cart 2.

If the identifier of the carrier vehicle 3 which interests the operator is displayed, the operator then selects it in step 709. The truck thus receives from the terminal 1 a request containing the identifier selected by the operator. The control system 200, in particular the control unit 21, of the truck can then, in step 711, select in the memory 23 of the truck the command sequence associated with the identifier of the carrier vehicle 3 which has been selected. selected by the operator in order to execute a loading sub-sequence or a loading sub-sequence according to the instructions to come from the terminal.

The terminal 1 displays a control interface with, for example, a loading control button C1 and an unloading control button D1. The operator can then command in step 715 by pressing and holding on button C1, respectively D1, the execution of the sequence of commands in the direction of loading (or sub-sequence of loading), respectively in the direction of unloading (or sub-sequence of unloading).

An example of a sequence of commands in the direction of loading is shown in figures 6a to 6f . Unloading can be obtained by executing the commands in reverse order.

To the figure 6a , the forks of the carriage 2 are engaged in the sleeves of the carrier vehicle 3. The wheels of the carriage 2 rest on the ground.

To the figure 6b , the command executed corresponds to a relative pivoting of the tool holder of the carriage 2 with respect to the arm 25 in the direction of raising of the forks. The forks of the carriage 2 remain engaged in the sleeves of the carrier vehicle 3 so that it is the remainder of the carriage 2, and therefore the arm 25, which pivots while rising. The wheels of the carriage 2 are thus raised relative to the ground.

To the figure 6c , the relative pivoting between the tool holder of the carriage 2 and the arm 25 continues in a direction corresponding to a command for raising the forks. The forks remain in engagement with the carrier vehicle so that it is the remainder of the carriage 2 which continues to be pivoted in the direction of lifting of its rear wheels.

The figure 6d illustrates the retraction movement of the telescopic arm of the trolley 2, with a relative movement of bringing together the section 25A and the section 25B, so that, with the forks remaining in engagement with the carrier vehicle 3, the frame of the trolley 2 is brought closer of the carrier vehicle (by sliding) along the end portion of the telescopic arm.

To the figure 6e , the tool holder 26 of the carriage 2 is controlled in the direction of bringing the arm closer to the front wheels of the carriage, so that it is the remainder of the carriage 2 which pivots by raising the front wheels towards the forks.

The retraction movement of the telescopic arm of the carriage 2 continues as illustrated in figure 6f , for example until reaching the end of the stroke, the frame of the carriage 2 still being brought closer to the carrier vehicle.

To the figure 6g , the telescopic arm 25 of the trolley 2 is pivoted in the direction of bringing said arm closer to the front wheels of the trolley, and, the telescopic arm 25 being in engagement with the carrier vehicle via the forks, it is the rest of the carriage 2 which pivots in the direction of lifting of its front wheels.

In this example, the loading steps shown in figures 6a to 6g are obtained by keeping button C1 pressed. The reverse unloading operation can be carried out by keeping button D1 pressed.

In the event of an interruption in pressing the button C1 or D1 hitherto requested, the control unit 21 of the carriage interrupts the loading or unloading operation, and possibly emits an alert (step 713B). The process then returns to a step 713 presented below.

Furthermore, according to a particular embodiment, it is provided that before authorizing the execution of a sequence of commands for loading or unloading the carriage, the control unit 21 checks in step 713 that the distance between terminal 1 and the truck is greater than a given safety threshold value or within a given range of values.

If the distance condition is met, then the execution of the command sequence as presented in step 715 is authorized.

Otherwise, the execution of the sequence is interrupted and / or an alert message is sent (step 713A), and the process then returns to step 713.

The execution of the command sequence following the pressing of the button C1 for loading or the button D1 for unloading (step 715) continues with step 717 where the maneuver end state is verified. If the end of maneuver state is not detected (step 713C), for example due to the fact that the command sequence is not completed and that the pressure on the button Nail D1 is maintained, then the control unit piloting 21 returns to step 713 of distance verification.

If the end of maneuver state is detected, for example because the last command in the sequence is executed and / or a limit switch sensor has issued a corresponding end of maneuver signal, then the corresponding loading or unloading is considered completed in step 719.

According to a particular aspect, if in step 707B, the operator notices that the identifier IDV3 of the desired carrier vehicle is not present among the identifiers displayed on the terminal, the operator provides information in step 721 in the application 11 of the terminal 1, the identifier of the desired carrier vehicle, for example the identifier IDV3.

The terminal 1 then interrogates in step 723 the external data server 4 to determine whether a sequence of commands SC3, associated with this identifier of the carrier vehicle and with the identifier IDM of the trolley 2, is recorded in this server 4.

If so, the command sequence SC3 is then transmitted to the carriage 2 (step 733), preferably via the terminal 1 (step 731), which stores it in its memory 23 in association with said identifier IDV3 of the carrier vehicle desired.

The identifiers of carrier vehicles compatible with the trolley 2 which are displayed by the terminal 1 are then updated (step 735) so as to display the identifier IDV3 of the desired carrier vehicle whose associated SC3 command sequence has been recorded in the trolley 2. The operator can then select from his terminal 1 this identifier IDV3 of the desired carrier vehicle, which corresponds to step 709. The operations which follow this step 709 can be implemented as explained below. above.

If in step 723, it turns out that the server 4 does not contain a sequence of commands associated with this desired carrier vehicle identifier and with the identifier of the trolley 2, then the operator can trigger a function of learning in step 791 according to which the operator commands from the terminal 1 or from the same interface for controlling the truck the loading or unloading of the truck according to commands which are stored by the control system 200 in the memory 23 in as a sequence of commands in association with the identifier of the desired carrier vehicle.

In particular, the operator can then carry out with the carriage a series of operations corresponding to the control of the actuation system which are stored as a sequence of commands associated with the new carrier vehicle in the truck's memory. The start of recording can be controlled by a specific operation of the user, for example by pressing a specific button on the control interface of the truck such as a button on the control joystick. The end of the recording sequence and therefore of the learning mode can be defined in a similar manner by a particular operation of the operator on the control interface.

The control unit of the terminal 1 and / or of the carriage 2 is for example in the form of a microprocessor and a data memory in which are stored computer instructions that can be executed by said processor, or else in the form of a microprocessor. 'a microcontroller.

When it is specified that the unit or means or module of said unit are configured to perform a given operation, this means that the unit includes computer instructions and the corresponding execution means which make it possible to perform said operation and / or that the unit includes corresponding electronic components.

The functions and steps described can thus be implemented as a computer program or via hardware components (eg programmable door arrays). In particular, the functions and steps performed by a control unit or its modules can be performed by instruction sets or computer modules implemented in a microprocessor or microcontroller or be performed by dedicated electronic components or FPGA or ASIC type components. . It is also possible to combine computer parts and electronic parts.

The invention is not limited to the embodiments illustrated in the drawings.

In addition, the term "comprising" does not exclude other elements or steps. In addition, features or steps which have been described with reference to one of the embodiments set forth above can also be used in combination with other features or steps of other embodiments set forth above, to provided that they come within the scope of the appended claims.

Claims (13)

1. A handling machine (2), such as a handling truck, said handling machine (2) comprising a handling system, such as a lifting arm (25) equipped with a tool holder (26) provided with forks (27), said handling machine (2) comprising a control system (200) which comprises:

   - an actuating system (24) for actuating the handling system, such as jacks and a hydraulic circuit;

   - a control unit (21), such as a processor, for controlling the actuating system (24);

   - a radio communication module (22);

   characterized in that the control system (200) further comprises a memory (23) in which are stored:

   - identifiers (IDV1, IDV2) of carrier vehicles, such as license plate numbers of the carrier vehicles, and

   - command sequences (SC1, SC2) of the handling system associated with these identifiers (IDV1, IDV2) of carrier vehicles,

   and in that the control system (200) is configured to:

   - send (707) to a terminal (1) the identifiers (IDV1, IDV2) of carrier vehicles, and

   - receive a request to select (711) one of said command sequences (SC1, SC2) associated with one of said identifiers (IDV1, IDV2) of carrier vehicles,

   - receive (715) a request to load or unload the handling machine and carry out the selected sequence of commands as a function of said loading or unloading request.
2. The handling machine (2) according to claim 1, characterized in that the handling machine (2) comprises a connection element (9) containing a data set, for example in the form of a code, such as a QR code, applied on the outside of the handling machine (2), the data of which are accessible (701, 703) by a communication terminal (1),
   said data set comprising an identification datum of the handling machine (2) and connection data allowing the terminal (1) to connect to the control system (200) of the handling machine (2),
   and in that the control system (200) is configured to accept the connection (705) with a terminal (1), such as a smartphone, when the connection request received from the terminal (1) comprises connection data corresponding to those of said connection element (9).
3. The handling machine (2) according to one of the preceding claims, characterized in that, the handling system comprising a lifting arm (25) mounted pivoting relative to the chassis of the handling machine (2), and a tool holder (26) provided with forks (27) and articulated to the lifting arm (25),
   each sequence of commands (SC1, SC2) comprises a series of commands including:

   - a pivoting command of the tool holder (26); and/or

   - a pivoting command of the lifting arm (25); and/or

   - a command to retract or deploy the arm (25), when the lifting arm (25) is a telescoping arm.
4. The handling machine (2) according to one of the preceding claims, characterized in that the control system (200) is configured to:

   - determine (713) information representative of the distance between the terminal (1) and the handling machine (2), and

   - allow or not allow (713A) the performance of all or part of the selected sequence of commands based on the determined distance information.
5. The handling machine (2) according to one of the preceding claims, characterized in that, the terminal (1) having two command elements (C1, C2), for example of the button type, making it possible, by pressing by the user on one or the other of said command buttons, to transmit a request to the control system (200) of the handling machine (2) to load or unload the handling machine, the control system (200) of the handling machine (2) is also configured to detect that the user has released the pressure on one of said loading or unloading command elements (C1, C2), and following this detection, interrupt (713B) the performance of the corresponding sequence of loading or unloading commands of the handling machine (2).
6. The handling machine according to one of the preceding claims, characterized in that, the handling machine (2) comprising a command interface of the handling system, such as a joystick,
   the control system (200) comprises a learning module configured to record (791) actions performed by an operator on the command interface as sequence of commands (SC3) associated with a given carrier vehicle identifier (IDV3).
7. The handling machine (2) according to one of the preceding claims, characterized in that the control system (200) is configured to detect the end of loading or of unloading of the handling machine:

   - by a sensor system positioned on the handling machine (2) and/or on the carrier vehicle (3), and connected to said control system (200), or

   - automatically when the control system (200) does not receive a loading or unloading instruction during a given duration.
8. A non-transient computer program product comprising program code instructions for carrying out steps of a control method of a handling machine (2), when said program is run by a processor of a communication terminal (1), such as a smartphone, said communication terminal (1) also comprising a radio communication module (12), said handling machine (2) being a handling machine according to claim 1,
   characterized in that said method comprises the following steps:

   - acquiring (701) a code (9), such as a QR code,

   - recovering (703), from the acquired code (9), data allowing the terminal (1) to connect (705) to the control system (200) of the handling machine (2),

   - in the connected state of the terminal (1) to the control system (200) of the handling machine (2), recovering (707) identifiers (IDV1, IDV2) of carrier vehicles, such as license plate numbers of the carrier vehicles,

   - selecting (709), by action of the user on the terminal (1), one of the carrier vehicle identifiers (IDV1, IDV2) recovered by the terminal (1);

   - sending to the control system (200) of the handling machine (2) a request so that the control system (200) selects (711), among several command sequences (SC1, SC2), a given command sequence associated with the selected carrier vehicle identifier;

   - sending (715), by the terminal (1) to the control system (200) of the handling machine (2), a loading or unloading request for the performance, by the control system (200) of the handling machine (2), of the selected command sequence according to the loading or unloading request.
9. The product according to claim 8, characterized in that said method comprises the following steps:

   - acquiring (721) a new identifier (IDV3) of a carrier vehicle, other than the identifiers (IDV1, IDV2) received by communication with the control system (200),

   - sending (723) to an external data server (4) a request containing an identification number (IDM) of the handling machine (2) with which the terminal (1) is communicating, as well as the new carrier vehicle identifier (IDV3),

   said external data server (4) containing a sequence of commands (SC3) associated with said identification number (IDM) of the handling machine (2) and said new identifier of this carrier vehicle (IDV3),

   - preferably, recovering (731), by the terminal (1), said sequence of commands (SC3) and sending (733) to the control system (200) of the handling machine (2);

   - updating (735) the carrier vehicle identifiers received by the terminal from the control system (200) of the selection machine, in order to display the new carrier vehicle (IDV3) identifier (IDV3),

   - selecting (709), by action by the user on the terminal (1), said new carrier vehicle identifier (IDV3);

   - sending to the control system (200) of the handling machine (2) an instruction so that the control system (200) selects (711) a sequence of commands (SC3) of the handling machine (2) associated with the selected carrier vehicle identifier (IDV3).
10. The product according to claim 8 or 9, characterized in that said method comprises displaying two command elements (C1, D1), for example of the button type, allowing the terminal (1), by pressing by the user on one or the other of said command elements (C1, D1), to send to the control system (200) of the handling machine (2) a request to load or unload the handling machine.
11. A system for loading and unloading a handling machine (2) relative to a carrier vehicle (3), characterized in that said system comprises:
    a handling machine (2) according to one of claims 1 to 7, and a computer program product according to one of claims 8 to 10.
12. The system according to claim 11, characterized in that the system further comprises an external data server (4) which comprises a sequence of commands (SC3) of the handling system associated with another carrier vehicle identifier (IDV3) and a handling machine identifier (IDM).
13. A method for controlling a handling machine (2) for the loading or the unloading thereof relative to a carrier vehicle (3), said handling machine (2) being a handling machine according to claim 1,
    characterized in that the method comprises the following steps:

    - accepting a connection (705) by a terminal (1), such as a smartphone, to the control system (200) of the handling machine (2);

    - in the connected state of the terminal (1) to the control system (200), sending (707) to the terminal (1), by the control system (200), carrier vehicle identifiers (IDV1, IDV2), such as license plate numbers of the vehicles stored in said control system (200), and

    - receiving, by the control system (200) of the handling machine (2), a selection request to select (711) a sequence of commands of the handling machine associated with the selected carrier vehicle identifier (IDV1, IDV2),

    - receiving (715), by the control system (200) of the handling machine (2), a request to load or unload the handling machine (2), and performance by the control system (200) of the handling machine (2) of the selected sequence of commands according to the loading or unloading request.

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