EP2070863A1 - Procédé de réglage d'un véhicule utilitaire - Google Patents

Procédé de réglage d'un véhicule utilitaire Download PDF

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Publication number
EP2070863A1
EP2070863A1 EP08020913A EP08020913A EP2070863A1 EP 2070863 A1 EP2070863 A1 EP 2070863A1 EP 08020913 A EP08020913 A EP 08020913A EP 08020913 A EP08020913 A EP 08020913A EP 2070863 A1 EP2070863 A1 EP 2070863A1
Authority
EP
European Patent Office
Prior art keywords
commercial vehicle
controlling
vehicle according
driving state
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08020913A
Other languages
German (de)
English (en)
Other versions
EP2070863B1 (fr
Inventor
Norbert Dipl.-Ing. Dr. Techn. Krimbacher
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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
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Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP2070863A1 publication Critical patent/EP2070863A1/fr
Application granted granted Critical
Publication of EP2070863B1 publication Critical patent/EP2070863B1/fr
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/07509—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/07572—Propulsion arrangements

Definitions

  • the present invention relates to a method for controlling a commercial vehicle.
  • the so-called "inch pedal” controls the flow of power between the working hydraulics and the driving hydraulics.
  • the driving speed of the commercial vehicle, here wheel loader regardless of the working hydraulics are controlled.
  • the service brake must also be activated.
  • This service brake can be one or more conventional disc and / or drum brakes, which bring the vehicle to a standstill by friction / clamping action. These service brakes must be present, otherwise no complete standstill would be achieved by the hydraulic drives and their internal leaks.
  • Corresponding service brakes are also known in industrial trucks, for example in Reachstackern. In most cases, a hydraulic converter is used in reachstackers. Due to the power losses of these additional service brakes as a result of the braking heat additional cooling circuits must be provided, which increase the weight of the Reachstackers and its complexity.
  • the driving force and / or the driving torque of the commercial vehicle can be influenced.
  • the driving condition is determined on the basis of the driving speed and / or direction of travel.
  • the driving state is calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle.
  • the driving state is detected by means of additional sensors, acceleration sensors and / or distance measuring devices.
  • the driving condition of the commercial vehicle can be detected by means of ultrasound, radar and / or laser.
  • Another possibility of the embodiment of the method is that the driving state is detected by means of observer models, wherein the current speed is estimated by means of the observer models from state variables of the commercial vehicle.
  • the driving state can be determined by means of the change in position of the commercial vehicle.
  • the position change is determined by means of an external and / or satellite-based positioning system. It is possible that the position change by means of GPS and / or Galileo is determined.
  • Multi-stage control methods have the advantage that with them a higher accuracy can be achieved.
  • the method is configured such that the commercial vehicle is driven hydraulically and / or electrically.
  • variable representing the driving state can be represented by the drive torque.
  • control device is automatically activated or can be activated automatically. This results in the advantage that the driver does not have to intervene even if the commercial vehicle slips in the fall, which significantly increases the safety of the driver as well as the commercial vehicle.
  • the operating mode of the standstill of the commercial vehicle is in the fall. This makes it possible that at standstill of the commercial vehicle in the gradient, the standstill control by means of the control unit according to the invention takes place.
  • a commercial vehicle is provided with a controller connected to the drive of the commercial vehicle, wherein the control device comprises detection means and / or is in communication with detection means.
  • the control device comprises detection means and / or is in communication with detection means.
  • the drive can be used in four-quadrant operation. Another advantage is that in such drives oil cooling devices are integrated for the working hydraulics and it is not necessary to integrate additional elements for cooling the hydraulic medium. Therefore, this braking system is almost free of wear, which significantly simplifies the maintenance of the commercial vehicle.
  • the driving force and / or the drive torque can be influenced. Since forces or torques can be applied to the drive shafts by means of the drive hydraulics, a driving force opposing the slope force can thus be brought to the axles of the utility vehicle, so that the vehicle remains at a standstill.
  • the driving state can be derived from various physical variables.
  • the driving state can be derived from various physical variables.
  • the driving state of the utility vehicle detectable by means of the detection means is the driving speed and / or direction of travel of the utility vehicle is. Both sizes are particularly easy to detect, which allows a particularly reliable standstill control of the commercial vehicle can be realized.
  • the driving state of the commercial vehicle can be calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle. These quantities are also suitable because of their good identifiability as controlled variables.
  • this control variable is always available at any time and is detected by default in the commercial vehicle components. Since very well functioning acceleration sensor systems are available for the measurement of the acceleration, this also enables a cost-effective and reliable detection of a controlled variable for a standstill control of a commercial vehicle.
  • the detection means comprise additional sensors, acceleration sensors and / or distance measuring devices and that the driving state can be detected by means of the additional sensors, acceleration sensors and / or distance measuring devices.
  • the additional sensors include ultrasonic sensors, radar-based sensor systems and / or laser-based sensor systems.
  • ultrasonic sensors include ultrasonic sensors, radar-based sensor systems and / or laser-based sensor systems.
  • Such sensor systems have the advantage that the controlled variables to be detected by these systems can be reliably and reliably detected.
  • these sensor systems have compact dimensions and can therefore be attached to a commercial vehicle without great effort.
  • the driving state can be detected by means of observer models, wherein the speed can be estimated by means of the observer models from state variables of the commercial vehicle.
  • Corresponding observer models can be embodied as a control program within the control device, which simultaneously detect a plurality of state variables of the commercial vehicle, compare the actual values with desired values and adjust the commercial vehicle accordingly.
  • the driving state can be determined by means of the change in position of the commercial vehicle. If, for example, it is known that the commercial vehicle is in an area with a gradient, it can be concluded from the change in position of the commercial vehicle that the standstill control is to be activated.
  • the position change can be determined by means of an external and / or satellite-based positioning system.
  • the change in position can be determined by means of GPS and / or Galileo.
  • control device has a multi-level control chain. This has the advantage that the standstill control can be performed with high accuracy and high reliability.
  • the drive of the utility vehicle is hydraulic and / or electric.
  • hydraulic and electrical concepts can be used as drive units.
  • hydraulic drives for example, traction drives in a closed and open hydraulic circuit would be mentioned.
  • Electric drives could be, for example, DC drives or drives with frequency converter.
  • the commercial vehicle may have a hybrid drive, d. H. that a plurality of drive concepts can be combined with one another, for example a diesel generator as the primary drive source, which drives the commercial vehicle in cooperation with a hydraulic and an electric drive.
  • the size representing the driving state can be represented by the drive torque. This results in the advantage that by inversion the counter torque required for the standstill can be calculated very simply and quickly.
  • control device is automatically activated. This results in the advantage that it is possible to dispense with additional operating elements, which as a rule contribute to the confusion of the driver's cab of the commercial vehicle.
  • the commercial vehicles are industrial trucks, reachstackers, wheel loaders, dumpers or tracked vehicles.
  • the only figure shows a reachstacker on a slope.
  • the single figure shows the reachstacker 10, which carries a container 20 as a load.
  • a downhill force F which causes the reachstacker 10 to experience downhill acceleration, acts on the reachstacker 10.
  • the control unit 30 automatically activates the standstill control. This control thus represents an effect of influence between the measured data such as the current speed or the current driving speed and a corresponding action on the drive units of the reachstackers 10.
  • the Reachstacker 10 has a hybrid drive concept. He has a powerful diesel unit, which provides, among other things, the necessary energy for the drive hydraulics of Reachstackers 10. At the same time not shown electrical drives are provided.
  • both the driving speed and the direction of travel of the reach stacker are detected on a gradient and forwarded to the control unit 30.
  • the control unit 30 can set the corresponding drive torques on the drive elements of the reachstackers 10 such that the travel speed is reduced to zero. This allows a standstill of the Reachstackers 10 by regulation.
  • control can detect by means of an observer model already on the basis of low movements of the backstopper and respond accordingly with a control on it.
  • the control unit 30 increases the drive torque until the speed of the reachstackers becomes zero again. If, on the other hand, the reachstacker 10 moves uphill again due to an overshoot of the control amplitude, the drive unit of the reachstackers 10 is correspondingly reduced again by the control unit 30.
  • the control device 30 is equipped with a multi-stage control chain.
  • the drive hydraulics of the Reachstackers 10 takes place mainly by hydraulically closed circuits.
  • the drive can be used in four-quadrant operation. Since the oil cooling devices for the working hydraulics are already integrated in this embodiment, it is not necessary to additionally integrate elements for cooling the hydraulic medium. This results in a braking system with quasi wear-free properties, which simplifies the maintenance of the device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
EP08020913.3A 2007-12-12 2008-12-02 Procédé de réglage d'arrêt d'un véhicule utilitaire Revoked EP2070863B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007059727A DE102007059727A1 (de) 2007-12-12 2007-12-12 Nutzfahrzeug mit Regeleinrichtung sowie Verfahren zur Regelung eines Nutzfahrzeuges

Publications (2)

Publication Number Publication Date
EP2070863A1 true EP2070863A1 (fr) 2009-06-17
EP2070863B1 EP2070863B1 (fr) 2013-04-24

Family

ID=40445746

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08020913.3A Revoked EP2070863B1 (fr) 2007-12-12 2008-12-02 Procédé de réglage d'arrêt d'un véhicule utilitaire

Country Status (3)

Country Link
US (1) US8275523B2 (fr)
EP (1) EP2070863B1 (fr)
DE (1) DE102007059727A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2471134B (en) * 2009-06-19 2012-10-10 Bamford Excavators Ltd Speed sensitive longitudinal load moment control of a working machine
EP2637961B1 (fr) * 2010-11-12 2016-04-20 JLG Industries Inc. Système de surveillance de stabilité longitudinale
DE102012021403A1 (de) 2012-10-30 2014-04-30 Audi Ag Verfahren zum Identifizieren eines von einer Sensoreinrichtung erfassten Fahrzeugs
GB2516611B (en) * 2013-05-20 2015-09-16 Sevcon Ltd Vehicle controller and method of controlling a vehicle

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998034127A1 (fr) * 1997-01-13 1998-08-06 Sisu Terminal Systems Inc. Systeme de commande de pont-portique automatique destine a une machine manipulant des conteneurs
US5794735A (en) * 1993-11-10 1998-08-18 Robert Bosch Gmbh Vehicle deceleration by engine control followed by brake control
US5938710A (en) * 1996-04-03 1999-08-17 Fiat Om Carrelli Elevatori S.P.A. Selectively operable industrial truck
DE69513697T2 (de) 1994-01-19 2000-06-21 Fiat Om Carrelli Elevatori Elektrischer Gabelstapler
GB2379102A (en) * 2001-08-21 2003-02-26 Nippon Yusoki Co Ltd Lift truck
WO2004009396A1 (fr) 2002-07-18 2004-01-29 Hoerbiger Antriebstechnik Gmbh Vehicule de transport de charges, notamment chariot a fourche
US20040185986A1 (en) * 2003-03-17 2004-09-23 Masayuki Takamura Running control device for industrial vehicle
US20050241873A1 (en) * 2002-07-10 2005-11-03 Hans Hofler Method and device for controlling functions of an occupational vehicle

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3005562A (en) * 1959-10-29 1961-10-24 Towmotor Corp Hydraulic drive for lift truck
US6076350A (en) * 1997-09-24 2000-06-20 Linde Aktiengesellschaft Hydrostatic drive system for a vehicle
SE520894C2 (sv) 1997-10-07 2003-09-09 Bt Ind Ab Förfarande för att bromsa ett elmotordrivet fordon
DE19831262C2 (de) * 1998-07-11 2002-09-19 Wabco Gmbh & Co Ohg Einrichtung zur Unterstützung des Fahrers eines Nutzfahrzeuges bei Rückwärtsfahrt
GB2373302B (en) 2001-03-16 2004-06-30 Boss Mfg Ltd Throttle interlock
DE10210546A1 (de) * 2002-03-09 2003-09-18 Bosch Gmbh Robert Verfahren und System zur automatischen Fahrzeugführung
DE10336333A1 (de) * 2003-08-07 2005-03-03 Robert Bosch Gmbh Fahrerassistenzsystem mit Funktionssperreinrichtung
DE102004045677A1 (de) * 2003-12-30 2005-07-28 Balthasar, Simone Sicherheitseinrichtung für Reisebusse und Gefahrguttransporter
DE102004019164A1 (de) * 2004-04-21 2005-11-10 Robert Bosch Gmbh Verfahren und Vorrichtung zur automatischen Längsregelung eines Kraftfahrzeugs
DE102004024705A1 (de) * 2004-05-19 2005-12-15 Robert Bosch Gmbh Verfahren und Vorrichtung zur Geschwindigkeitsregelung eines Fahrzeugs
DE102004031833A1 (de) * 2004-06-30 2006-01-26 Robert Bosch Gmbh Verfahren und Vorrichtung zur Benachrichtigung des Fahrers
DE102004047462A1 (de) * 2004-09-30 2006-04-20 Robert Bosch Gmbh Verfahren und Vorrichtung zur Längsführung eines Kraftfahrzeugs
DE102004054854A1 (de) * 2004-11-13 2006-05-18 Daimlerchrysler Ag Verfahren und Vorrichtung zur Ermittlung eines Bewertungssignals

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5794735A (en) * 1993-11-10 1998-08-18 Robert Bosch Gmbh Vehicle deceleration by engine control followed by brake control
DE69513697T2 (de) 1994-01-19 2000-06-21 Fiat Om Carrelli Elevatori Elektrischer Gabelstapler
US5938710A (en) * 1996-04-03 1999-08-17 Fiat Om Carrelli Elevatori S.P.A. Selectively operable industrial truck
WO1998034127A1 (fr) * 1997-01-13 1998-08-06 Sisu Terminal Systems Inc. Systeme de commande de pont-portique automatique destine a une machine manipulant des conteneurs
GB2379102A (en) * 2001-08-21 2003-02-26 Nippon Yusoki Co Ltd Lift truck
US20050241873A1 (en) * 2002-07-10 2005-11-03 Hans Hofler Method and device for controlling functions of an occupational vehicle
WO2004009396A1 (fr) 2002-07-18 2004-01-29 Hoerbiger Antriebstechnik Gmbh Vehicule de transport de charges, notamment chariot a fourche
US20040185986A1 (en) * 2003-03-17 2004-09-23 Masayuki Takamura Running control device for industrial vehicle

Also Published As

Publication number Publication date
US8275523B2 (en) 2012-09-25
US20090157266A1 (en) 2009-06-18
DE102007059727A1 (de) 2009-06-18
EP2070863B1 (fr) 2013-04-24

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