JP6801417B2 - 産業車両 - Google Patents
産業車両 Download PDFInfo
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- JP6801417B2 JP6801417B2 JP2016238824A JP2016238824A JP6801417B2 JP 6801417 B2 JP6801417 B2 JP 6801417B2 JP 2016238824 A JP2016238824 A JP 2016238824A JP 2016238824 A JP2016238824 A JP 2016238824A JP 6801417 B2 JP6801417 B2 JP 6801417B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- 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
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/005—Suspension locking arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B60W30/143—Speed control
- B60W30/146—Speed limiting
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- 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
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- 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
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- 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
- B66F9/22—Hydraulic devices or systems
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- 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
- B66F9/24—Electrical devices or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/32—Rigid axle suspensions pivoted
- B60G2200/322—Rigid axle suspensions pivoted with a single pivot point and a straight axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/46—Means for locking the suspension
- B60G2204/4605—Means for locking the suspension hydraulically, e.g. interrupting communication between the chambers of a hydraulic cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
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- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/204—Vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/90—Other conditions or factors
- B60G2400/95—Position of vehicle body elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
- B60G2800/0124—Roll-over conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/12—Trucks; Load vehicles
- B60W2300/121—Fork lift trucks, Clarks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/12—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/15—Fork lift trucks, Industrial trucks
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Vehicle Body Suspensions (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
図1に示すように、産業車両としてのフォークリフト10は、前輪駆動及び後輪操舵の四輪車である。フォークリフト10の車体11の前部にはアウタマスト12が前後方向に傾動可能にその下端が支持され、アウタマスト12にはインナマスト13が昇降可能に支持されている。インナマスト13にはフォーク14を支持したリフトブラケット15が昇降可能に支持され、リフトブラケット15はインナマスト13の上部に設けられたスプロケットホイール16に掛装される図示しないチェーンにてアウタマスト12に連結されている。
図2に示すように、車体11にはコントローラ35が搭載されている。コントローラ35はマイクロコンピュータを中心に構成されている。コントローラ35により、旋回中に車軸の揺動を一時的に規制する制御が行われるとともに、車両の走行速度に制限を加える走行制限が行われる。
図4に示すタイムチャートは、上から、車速、横加速度(横G)、旋回中の車軸の揺動の一時的な規制の有無(スイングロック指令のオン・オフ)、車速制限指令のオン・オフ、車速復帰フラグの推移を示す。
旋回が開始されると、図4(b)に示すように、横加速度が大きくなり、最大値を超えた後は横加速度が小さくなる。この旋回時において、図4(c)に示すように旋回中の車軸の揺動の一時的な規制(スイングロック指令)が行われるとともに、図4(d)に示すように車速制限指令が行われる。また、この旋回時において、図4(a)に示すように車速が低下させられるとともに元の車速に戻される。
(1)フォークリフト10の構成として、ヨーレートセンサ36及びコントローラ35と、旋回中に車軸の揺動を一時的に規制するための電磁ソレノイド30を備える。横加速度検出手段としてのヨーレートセンサ36及びコントローラ35により、旋回時に車体11に加わる横加速度を検出する。車速制限手段としてのコントローラ35により旋回時に車両の走行速度に制限を加えることができる。制御部としてのコントローラ35は、検出した横加速度に基づいて電磁ソレノイド30を駆動して旋回中における車軸の揺動を一時的に規制するとともに(車軸の車体に対するロールを規制するとともに)横加速度に基づいて旋回時に車両の走行速度に制限を加える。
○ 横加速度はヨーレートセンサによるヨーレートに基づいて算出したが、これに代わり、タイヤ角センサによるタイヤ角と車速センサによる車速から算出してもよい。詳しくはタイヤ角による旋回半径と車速から算出する。他にも、ヨーレートセンサ、タイヤ角センサ及び車速センサを搭載したフォークリフトであってもよい。
Claims (3)
- 車体に車軸が揺動可能に支持されるとともに前記車軸の揺動を規制可能な産業車両であって、
旋回時に前記車体に加わる横加速度を検出する横加速度検出手段と、
旋回中に前記車軸の揺動を一時的に規制するための車軸揺動規制用アクチュエータと、
旋回時に車両の走行速度に制限を加えるための車速制限手段と、
前記横加速度検出手段により検出した前記横加速度に基づいて前記車軸揺動規制用アクチュエータを駆動して旋回中における前記車軸の揺動を一時的に規制するとともに前記横加速度に基づいて前記車速制限手段により旋回時に車両の走行速度に制限を加える制御部と、を備え、
前記制御部における車両の走行速度に制限を加えるか否かを判定するための横加速度の閾値が、前記車軸の揺動を一時的に規制するか否かを判定するための横加速度の閾値よりも大きくされており、
前記両閾値の差は前記車軸揺動規制用アクチュエータの応答時間に基づいて設定され、前記旋回中の車両において、前記車軸揺動規制用アクチュエータが作動して車軸の揺動が規制された所定時間後に車速が制限されることを特徴とする産業車両。 - 前記制御部における車両の走行速度の制限を解除するか否かを判定するための横加速度の閾値が、前記車軸の揺動の規制を解除するか否かを判定するための横加速度の閾値よりも大きくされていることを特徴とする請求項1に記載の産業車両。
- 前記車軸の揺動の規制を解除するか否かを判定するための横加速度の閾値は、前記車軸の揺動を一時的に規制するか否かを判定するための横加速度の閾値よりも小さいことを特徴とする請求項2に記載の産業車両。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016238824A JP6801417B2 (ja) | 2016-12-08 | 2016-12-08 | 産業車両 |
EP17205113.8A EP3333121B1 (en) | 2016-12-08 | 2017-12-04 | Industrial vehicle |
CN201711276434.4A CN108178103B (zh) | 2016-12-08 | 2017-12-06 | 工业车辆 |
US15/834,136 US11267458B2 (en) | 2016-12-08 | 2017-12-07 | Industrial vehicle |
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JP2016238824A JP6801417B2 (ja) | 2016-12-08 | 2016-12-08 | 産業車両 |
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JP2018094963A JP2018094963A (ja) | 2018-06-21 |
JP6801417B2 true JP6801417B2 (ja) | 2020-12-16 |
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JP2016238824A Active JP6801417B2 (ja) | 2016-12-08 | 2016-12-08 | 産業車両 |
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US (1) | US11267458B2 (ja) |
EP (1) | EP3333121B1 (ja) |
JP (1) | JP6801417B2 (ja) |
CN (1) | CN108178103B (ja) |
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JP6665765B2 (ja) * | 2016-12-08 | 2020-03-13 | 株式会社豊田自動織機 | 産業車両 |
CA3138158C (en) * | 2020-12-14 | 2023-10-31 | Kabushiki Kaisha Toyota Jidoshokki | Engine-type industrial vehicle |
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TW482129U (en) * | 1997-04-23 | 2002-04-01 | Toyoda Automatic Loom Works | A rock controller for industrial vehicle body |
JPH10338011A (ja) | 1997-06-06 | 1998-12-22 | Toyota Autom Loom Works Ltd | 産業車両の車体揺動制御装置 |
JPH10338496A (ja) | 1997-06-11 | 1998-12-22 | Toyota Autom Loom Works Ltd | 産業車両の揺動制御装置及び前後重心位置推定装置 |
JPH115419A (ja) * | 1997-06-18 | 1999-01-12 | Toyota Autom Loom Works Ltd | 産業車両の車体揺動制御装置 |
JPH1135298A (ja) | 1997-07-15 | 1999-02-09 | Toyota Autom Loom Works Ltd | 産業車両用揺動制御装置 |
JPH11129722A (ja) * | 1997-10-30 | 1999-05-18 | Toyota Autom Loom Works Ltd | 産業車両の揺動制御装置 |
JP3129259B2 (ja) | 1997-10-31 | 2001-01-29 | 株式会社豊田自動織機製作所 | 産業車両における車軸揺動制御方法及び車軸揺動制御装置 |
JP3334582B2 (ja) * | 1997-12-02 | 2002-10-15 | 株式会社豊田自動織機 | 産業車両の車体揺動制御装置及び産業車両 |
JP2005096894A (ja) | 2003-09-22 | 2005-04-14 | Toyota Industries Corp | 産業車両の走行制御装置 |
JP3925540B2 (ja) * | 2005-03-23 | 2007-06-06 | トヨタ自動車株式会社 | 車両用走行制御装置 |
JP5556523B2 (ja) * | 2010-09-13 | 2014-07-23 | トヨタ自動車株式会社 | 車両の制御装置 |
CN103492767B (zh) * | 2012-04-26 | 2015-03-18 | 株式会社小松制作所 | 叉车及叉车的微动控制方法 |
JPWO2013190821A1 (ja) * | 2012-06-19 | 2016-02-08 | 住友重機械工業株式会社 | フォークリフト用のモータ駆動装置およびそれを用いたフォークリフト |
JP5842749B2 (ja) * | 2012-06-29 | 2016-01-13 | 株式会社豊田自動織機 | 産業用車両 |
JP6221858B2 (ja) * | 2014-03-13 | 2017-11-01 | 株式会社豊田自動織機 | 産業車両の走行制御装置 |
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US20180162383A1 (en) | 2018-06-14 |
EP3333121B1 (en) | 2019-05-29 |
CN108178103B (zh) | 2019-10-18 |
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JP2018094963A (ja) | 2018-06-21 |
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