NL2015595B1 - Security system for mobile device. - Google Patents

Abstract

Mobile device comprising a main frame with displacement means; a subframe rotatably connected to the main frame; a working arm connected to the subframe comprising at least a first and a second articulation which are hinged to each other, which working arm can be transformed from a working position to a transport position; control members adapted to move at least the first and second articulation of the working arm; driver-operated control instruments provided near a driver position on the sub-frame; measuring instruments configured to measure position data regarding a position of the first articulation and a position of the second articulation; and a control system adapted to receive operating data from the operating means and position data from the measuring instruments; and which is arranged for controlling the control members in function of the received position data and the operating data.

Description

Security system for mobile device

Discipline

The present invention relates to the field of mobile devices, such as, for example, tractors, excavators, wheel loaders, mowers, forestry machines, cranes, high-speed work machines and combinations thereof.

Background

Known excavators have a main frame and a rotating sub-frame. These machine types can have the motor for the drive in the main frame or in the rotating sub-frame. Other known mobile devices are a tractor with a front loader or a wheel loader, also called loading shovel.

The mentioned machine types can have tires or tracks.

The machines mentioned sometimes have an electronic system in which digital command and measurement data is converted into a movement by an electrical, pneumatic, hydraulic or mechanical control. Such a system is implemented, for example, as a so-called controller area network (CAN) bus system. There are different types of CAN bus systems, such as CAN-Open, J1939, Byteflight, D2B, VAN, and the Flex Ray standard. ISO bus, for example, is a standardized system for communication and data exchange between a tractor and tractor implement.

Such machines can be equipped with measuring instruments such as sensors to measure positions of parts of the machine.

The above solutions can be used in mobile devices with a single function, for example a digging function, or a loading shovel function, or a tractor function, or a crane / lift function, or a mowing arm function, or a tree harvesting function. For example, it is known to use sensors to measure the depth of a bucket during operation or to measure the load / mass load in the bucket. In known tractors, sensors are used to measure the height of the lifting device and thus the implement. This is for example to be able to monitor the depth of a plow or cutter.

The degrees of freedom that parts of known "1-function" mobile devices have are often mechanically or hydraulically limited to prevent collisions of different parts of the machine. For example, the angular rotation of a bucket of an excavator and / or the angular rotation of the arm of this excavator is chosen such that a standard bucket cannot move against the bucket or against the cab.

In known loading shovels or front loaders or wheel loaders, the geometry can be chosen such that the tool or the loading shovel bucket has maximum force in the lower position and yet realizes a good restricted angle of the bucket in the highest position of the lifting arm. This is to prevent pouring to the wrong side (side of the cabin). WO003066981 in the name of the Applicant describes a mobile device with a working arm which can be folded from an articulated working arm to a single lifting arm and vice versa. NL 1027370 in the name of the Applicant describes a mobile device with adjustable control patterns. NL 1035694 in the name of the Applicant describes a mobile device with folding arm in combination with a lifting device on the main frame. This lifting device can for instance be used for agricultural, forestry and mowing implements. Versions with tracks are typically not sprung. Versions with tires are typically spring-loaded with tire damping. As a result, the moving speed is typically limited to around 40 km / h because otherwise - due to the "dancing" on the surface and the lack of good contact with the surface - safety is endangered.

Summary of the invention

According to a first aspect the invention relates to a mobile device comprising a main frame with displacement means; a subframe rotatably connected to the main frame; a working arm connected to the sub-frame, control members, operator-operated control instruments, measuring instruments, and a control system. The working arm comprises at least a first and a second articulation (also called arm segment) which are hinged to each other. The working arm can be transformed from a working position to a transport position. The control members are adapted to move at least the first and second articulation of the working arm. The operating instruments are provided near a driver position on the subframe. The measuring instruments are configured to measure position data concerning a position of the first section and a position of the second section. The control system is adapted to receive operating data from the operating means and position data from the measuring instruments; and for controlling the controls in function of the received position data and the operating data.

By taking into account operating data on the one hand and measured position data on the other hand, the control members can be controlled in an improved manner and the movement of the working arm can be better controlled.

According to a preferred embodiment, the operating instruments comprise a transport position command instrument which is operable by a driver for moving the working arm to the transport position and which is adapted to transmit a transport position command to the control system. The control system can then be arranged to control the control members, after receiving a transport position command, on the basis of the position data while moving to the transport position. In this way the working arm can be moved to the transport position in a safe, well-controlled manner. The control system is preferably adapted to receive position data from the measuring instruments at successive times during the movement from the working position to the transport position, and to control the control elements in function of this position data received at successive times.

According to a second aspect, the invention relates to a mobile device comprising a main frame; displacement means; a subframe rotatably connected to the main frame; a working arm connected to the sub-frame; control members adapted to move the working arm; a damping system, driver-operated controls and a control system. The damping system is located between the main frame and at least one displacement means for damping the movement of the main frame relative to the displacement means. The operating instruments are provided near a driver position on the subframe. The control system is adapted to receive operating data from the operating means; and for blocking the damping system in function of the received operating data.

According to an embodiment, a damping system is provided between the displacement means and the main frame. The damping system is also a stabilizing system for stabilizing and aligning the main and sub-frames with respect to the horizon and / or keeping them level. A stabilization and / or leveling system increases efficiency on uneven terrains such as a slope or in the mountains.

In practice, existing mobile devices with an untrained operator appear to be susceptible to collisions between parts of the machine. The working arm can thus collide with the main frame, the displacement means or the lifting device, or the tool can collide with the working arm or the sub-frame. A simple known solution is to limit the degrees of freedom of movement mechanically or hydraulically. However, this also limits performance in the various modes and that is not desirable. Embodiments according to the first aspect can solve this problem.

According to an embodiment, the displacement means comprise tires or tracks. The control system may comprise an electronic control system that is adapted to transfer signals between different components of the mobile device. Optionally, one or more lifting devices can be provided on the main frame for coupling one or more tools or one or more stabilizing devices. The lifting device can for example be coupled to agricultural, forestry mowing or other implements.

According to an embodiment, the control data is transmitted between control members and the control system, and the position data measured by the measuring instruments of one or more parts of the device is transmitted to the control system. The data received in the control system is converted into a movement or combination of movements of parts of the mobile device. These movements can be realized by mechanisms, motors, electricity, hydraulics, pneumatics or a combination thereof. It is possible that the control system can also stop the movements.

In one embodiment, the control system comprises at least one computing unit (also called computer), and / or a bus system, for example a CAN bus system, and / or a controller, and / or an input / output (I / O) interface device, and / or an electronic control unit (ECU) for motor vehicles, and / or a relay, and / or a programmable logic controller (PLC). The CAN bus system can be, for example, CAN Open, J1939, Byteflight, D2B, VAN, the Flex Ray standard, or the ISO bus standard. More simple control systems without a CAN bus are also possible.

According to an embodiment, the displacement means, for example caterpillar tracks or wheels, are provided with a damping system. This system makes higher travel speeds possible.

According to a preferred embodiment, the mobile device comprises a measuring instrument for measuring position data which is representative of the position of the main frame and / or the sub-frame, wherein the control system is adapted to control the damping system in function of the measured position data. The control system can then be adapted to change the position of the sub-frame on the basis of the measured position data with the aid of the damping system. In this way, the subframe can, for example, be positioned almost level or nearly parallel to the horizon in order to work more safely and efficiently. It is also possible to mount the sub-frame at a fixed angle, for example during the execution of work on uneven terrain.

According to yet another possibility, the angle is varied as a function of the measured position data, for example for obtaining a stable road holding when the mobile device is traveling on the road.

The damping system, also known as the spring or stability system, can be controlled by the control system. Measuring instruments in parts of the damping system measure position data and transmit this to the control system. A lifting device with optionally a power take-off can be provided on the spring-mounted main frame.

According to a preferred embodiment, the mobile device comprises measuring instruments, coupled to the control system, wherein the degrees of freedom of movement or positions of parts of the working arm and / or of the tool are controlled as a function of the measuring data of the measuring instruments, for example measuring data representative of the position of the tool relative to sections. A feedback circuit / loop may be provided which ensures that a tool at the end of the working arm in the articulated working arm position does not collide with the mobile device. Thus, the rotation of the tool, and / or the rotation of the last articulation, and / or the rotation of the penultimate articulation can be limited as a function of the measurement data to prevent a collision with, for example, parts of the working arm or with the driver. If the driver operates the controls and wants to go beyond the safety limits, the control system will stop the movement. This stopping can be slow with a speed decrease calculated by the control system.

According to a preferred embodiment, the working arm comprises at least three sections, and the working arm is adapted to fold the at least three sections in the transport position or in a lifting position next to or against each other and / or to lock them relative to each other. In the lifting arm position or transport position, restrictions on the degrees of freedom of movement of the working arm and / or the implement are also possible. For example, positioning of the tool at the end of the working arm can be limited within a certain range. For example, when a loading bucket or pallet fork is coupled, and the working arm is in the transport or lifting position, the angle of rotation in the direction of the position of the driver can be limited to a certain value. In a possible embodiment, a measuring instrument measures the position or rotation of the tool and the height of the tool relative to the mobile device or ground level. Then the control system calculates a limit position and this limit position, just like in the articulated working position, can be reached with a decreasing speed of movement.

According to a preferred embodiment, the control system is adapted to keep the tool parallel or parallel to the sub-frame or the main frame on the basis of measurement data from the measuring instruments. It is also possible to enter the size / dimensions of the tool coupled to the working arm and the size / size of the tool in a lifting device, and the control system can use these dimensions to control the controls.

In one embodiment, the measuring instruments and the control system are used for other purposes. For example, measurement data from the measuring instrument for measuring the position or angular displacement of the tool and from the measuring instrument for measuring the position of the first articulation can be used to hold a tool in the arm plane or in parallel with a set angle relative to from the main or sub-frame.

In one embodiment, the measuring instruments comprise a measuring instrument for measuring the rotation or angle between the main frame and the sub-frame. In this way the control system can calculate whether the tool or the working arm will touch the displacement means. This also applies to the possibility of hitting or colliding with a lifting device on the main frame or a tool in a lifting device. Both the freedom of movement of the working arm and of the lifting device can be restricted. For the work arm this is in particular the last part and the penultimate part.

In one embodiment, the measuring instruments comprise a measuring instrument for measuring the height or position or angular rotation of the lifting device or of a tool in the lifting device. Again, a decreasing speed and end stop of the movement can be calculated by the control system.

When the mobile device is equipped with a damping system, then measurement data from measuring instruments of the displacement means can also serve as input for the control system. In the case of an uneven terrain, for example, in the case of a highly positioned displacement means, it is less possible to work with the working arm close to that side of the mobile device than where a displacement means is positioned lower.

In a possible embodiment, the control system can prevent collisions for each of the different modes by combining the operating data of the control members and the measuring data of the measuring instruments. The control system can be further adapted to take into account the priorities of the driver.

In a possible embodiment, the position data measured by a measuring instrument for a component of the mobile device can be used for several functions. The measuring instrument for measuring the position of the tool on the arm can thus be used in both the articulated working position and the folded lifting position to avoid collisions. The same measuring instrument can be used to limit the rotation of the bucket in the upper position. This measuring instrument can also be used to automatically fold the articulated arm, whereby the quick change system of the tool on the work arm is kept as close as possible to the last arm articulation.

In one embodiment, the measuring instrument for measuring the position of the first section can be used for several purposes. The measurement data of this measuring instrument can be used, for example, for automatically folding and / or for checking the angle between the working arm and the sub-frame or main frame in the articulated working arm position, and / or for checking the angle between the working arm and the main frame. or subframe in the transport position.

In one embodiment, the control system is adapted to use the measurement data of the articulated measuring instruments during the automatic folding of the articulated arm to a lifting position or transport position and vice versa for controlling the control members for holding or rotating the sections. In an exemplary embodiment with at least three sections, the third and last sections are held in position during folding by, for example, building up and maintaining pressure in the case of a cylinder as a control member. This can also be the case for the second section when it is held in position in line with the first section.

In an exemplary embodiment with a quick-change system attached to the last articulation for coupling the tool thereto, the control system controls the controls so that the change-over system becomes as close as possible to the last articulation during the folding or unfolding of the working arm. taken into account. This prevents collisions. In the case of an embodiment with a cylinder as a control member, the pressure is retained in that position. With other types of control elements such as electric actuators or rotary motors, it is ensured that a certain force exerted by a control element retains the position of an articulation.

In one embodiment, the control system is adapted to use the measurement data of the measurement instruments of the sections for controlling the control members during locking and unlocking of sections. Thus, in the case of a cylinder as a control member for folding in the second articulation, the pressure in the cylinder can be retained during locking. After locking, this pressure can be reduced again. This can also be done with unlocking: the pressure is built up so that the mechanical locking has less resistance during the unlocking. The time and pressure to hold the pressure and force in the case of cylinders can be determined by the control system. In another type of control member such as an electrical, mechanical, pneumatic or other control member to move from an articulated position to a single lifting arm, the control system determines the time and force on a control member during folding and unfolding.

In one embodiment, the control system is arranged to block the rotation between main frame and sub-frame during the working arm transformation process. Other functions, apart from those required for the transformation, can also be blocked by the control system. In this way, safety can be guaranteed.

According to an embodiment, a mobile device comprises a main frame with wheels or tracks. On top of the main frame is via, usually a vertical or nearly vertical axis, a rotating sub-frame with or without a driver's workplace or cabin and with at least one work arm. In one embodiment, the working arm can be transformed from an articulated position, with several sections, to a transport position or a single lifting arm position. This changes the function of the working arm from an articulated crane, hoist, mow, forestry man lift or digging arm to a shape that improves visibility from the driver's position on the road. In the lifting position, the working arm can act as a lifting arm (with, for example, a loading shovel, pallet or transport mode) to which tools can be coupled. The number of validations can vary, with three sections being preferred.

According to an embodiment with a damping system between the main frame and the displacement means (for example wheels or tracks) the damping system can be of different types. For example, an independent damping means may be provided per displacement means such as a caterpillar or wheel. The wheels or tracks, or their axles, can be connected to the main frame via longitudinal arms, transverse arms or oblique arms. A double wish-bone suspension, a Mac Phearson suspension or another independent suspension is also possible. Suspended shafts can also be used, wherein several displacement means are mounted on the same shaft. These shafts can have longitudinal arms, leaf springs, coil springs, air springs or other types of suspension. The displacement means can be connected to the main frame via a construction, the main frame having a device for rotating the sub-frame. In the case of longitudinal arms between the main frame and the displacement means, or shafts on which displacement means are positioned, these longitudinal arms are preferably connected to a support structure, such as a bearing or a slewing ring, which allows rotation of the sub-frame.

In one embodiment, a lifting device for coupling tools can be directly connected to a main structure of the main frame, i.e. directly connected to the main structure on which a support structure, typically a bearing or a slewing ring, is provided for the rotatable sub-frame. At least one PTO shaft for driving tools coupled to the lifting device can also be provided on the main structure. This is therefore a suspended lifting device optionally combined with a suspended PTO. In the case of a tool with a mass in the lifting device on the main frame, the tool is therefore also resiliently suspended.

In another embodiment, at least one lifting device for coupling tools and / or at least one PTO shaft is directly connected to one of the displacement means. In that case they are not spring-mounted.

In one embodiment, measuring instruments are provided which directly measure the position of the displacement means. The control system can also be arranged to indirectly determine the position by means of geometric calculations. An embodiment is that a linear measuring instrument is active in or near a damping unit, for example a hydraulic or pneumatic cylinder or bellows. The damping unit can be part of the damping system.

For example, in one embodiment a measuring instrument can be mounted per wheel or caterpillar, and the measurement data can be used by the control system for actively controlling the damping system, such that the damping system fulfills, for example, a resilient or stabilizing function. In one embodiment, it is therefore possible for measuring instruments to measure the 3-dimensional position, including tilt, roll and steering angle of the main frame or sub-frame, and for the control system to control the damping system in function of the measurement data. This can also be the case while driving and thus the measuring instruments and the control system can then ensure a more comfortable driving behavior and at the same time keep the sub-frame with the working arm flat. In one embodiment the damping system can be blocked so that, for example in the digging, loading shovel or hoisting position, a non-spring stable main frame is obtained. The damping system can also be partially blocked, for example only the damping units of the front displacement means or only of the rear displacement means or only from a side or only from a single displacement means. A pre-set height while fixing the damping system is also possible. A still further embodiment provides for fixing the damping units of one or more displacement means, the control system of which measures or predicts, for example on the basis of the rotational speed and / or the angle of the sub-frame and for instance the measured pressure on one or more damping units which because of the rotation of the sub-frame with the working arm, the most force comes on.

In one embodiment, the damping system is combined with an anti-blocking system (ABS) of the displacement means. In one embodiment, the displacement means are provided with measuring instruments for collecting measurement data for use in the ABS system that is part of the control system of the mobile device. This ABS system provides a better and safer braking characteristic of the mobile device and the moving means in particular. This also makes the steering characteristics safer during braking. The measuring instruments are thereby coupled to the control system that determines the driving and / or braking and / or steering behavior of the mobile device. The legal requirements can be taken into account. The values measured in the main frame by the measuring instruments are combined with the accumulated braking pressure in the sub frame. Data for the braking force or braking pressure in the sub-frame goes via a medium (oil, air, or another medium) under pressure or via an electronic control signal to the main frame. For a medium under pressure this is, for example, via a rotary bushing. An electronic control signal for the ABS system can go through a so-called slip ring. Control signals from and to the damping system in the main frame can also go to the subframe via the slip ring. The control system can be a joint system for controlling the ABS system and the damping system, but can also consist of a number of sub-control systems. This joint control system can further be arranged to receive a measurement signal and / or to send a control signal for the control angle of the displacement means. In one embodiment, the front displacement means may have a different even opposite control angle than the rear displacement means. More generally, the front displacement means and the rear displacement means can be co-steered, counter-steered or not steered.

An embodiment transmits signals from the ABS system in the main frame via a slip ring to a warning system in the sub-frame for warning a driver. The warning system can include a digital screen in the cabin why a warning message is displayed. The same screen can be used to display information from the damping system, the one or more control angles and settings of the control of the displacement means, etc. The warning signals of the ABS system and / or the braking system can be presented in accordance with legal requirements.

According to an embodiment, the operating instruments are provided on the rotatable subframe or beyond. The control system, which can comprise a bus system, controls the movements of the working arm and / or the displacement means and / or the associated damping, steering and braking system via the control members. This checking can be, for example, mechanical, hydraulic, pneumatic, electrical or a combination thereof.

In one embodiment, the operating instruments on the sub-frame comprise one or more joysticks, buttons or push screens or a glove with sensors or a combination thereof, which are adapted to transmit the commands of the driver, optionally via a calculating unit, in signals to the control system . In one embodiment, at least two buttons are provided which are adapted to be operated in combination to realize the transformation from articulated working arm to single lifting arm and vice versa. To this end, for example, a first button for the left hand - for example on the left joystick - can be operated simultaneously with a second button for the right hand - for example in the vicinity of the right joystick. According to a variant, a single safety button is provided, wherein several depressions or shifts are required to realize the transformation. A further embodiment makes it possible to continue after an interruption of the transformation, for example when releasing on of the two buttons. The control system recognizes the position and continues the programmed sequence. This is possible both when transforming the articulated arm into a single lifting arm and vice versa. In one embodiment the control system can carry out the transformation in such a way that during the transformation only the working arm can move and the displacement means, and / or the power take-off, or and / or the lifting device are not driven. A condition for the transformation may be that the mobile device is on the parking brake. The control system may also be arranged as a condition for the transformation to verify whether the angle of rotation between main frame and sub-frame is within a certain angle range, for example an angle range in which the sub-frame faces the front in the direction of travel.

In one embodiment, the control system that transmits the bus signals or commands to, for example, a control member of a section, a lifting device or a tool or the damping system comprises a controller which converts electronic signals via various components into mechanical, hydraulic, electrical or pneumatic energy, or combinations thereof. An example is a controller that controls an electrical relay or a hydraulic valve.

In one embodiment, the control system comprises a calculation unit which can calculate a plurality of measurement data from measuring instruments and, together with the operating data of the operating instruments, can set limits of freedom of movement. Multiple calculation units can also be used for this purpose.

In one embodiment, the mobile device comprises measuring instruments of one or more of the following types: a GPS, a gyroscope, a rotation vector sensor, a gravity sensor, an acceleration sensor. In one embodiment, an external computing unit has these sensors. This external calculation unit can be coupled to the control system of the mobile device. Such an external calculation unit with sensors can for instance be a laptop, a tablet computer, or a mobile telephone.

In one embodiment, the mobile device comprises measuring instruments in the form of linear sensors, rotation sensors, or angle sensors, which send measurement data to the control system. The sensors may be mounted directly on the moving parts such as on the main frame, the sub-frame, or an articulation. The sensors can also perform an indirect measurement, for example the deflection of an actuator or an angle of a rotating part, after which the control system converts these measurement data into a linear displacement or an angular displacement of another part of the mobile device by means of calculations. Other possible measuring instruments measure in a 3-dimensional grid, where x, y and z coordinates or distances to parts of the machine are transmitted.

In one embodiment, the mobile device comprises measuring instruments in the form of an integrated linear sensor in a damping unit such as a hydraulic or pneumatic cylinder or bellows, on or at an articulation of the working arm, the measurement data of the linear sensor being converted into an angular displacement or absolute movement of the section. The rotation of each section can thus be measured and thus also the displacement of the tool that is coupled to the last section, optionally via a parallelogram hinge. By measuring the angle or displacement of the tool on the working arm, the 3-dimensional position of each part of a tool is known and can be controlled. An integrated linear sensor can be used as a measuring instrument for this, which measures the angle of rotation of the tool. For example, a linear sensor in a control member is mounted in a cylinder rod.

In one embodiment, the subframe can rotate limited, rotate 360 degrees, or rotate unlimited. The measuring instrument for measuring the angle of rotation between the main frame and the sub-frame is preferably a rotation sensor, but can also be another type of measuring instrument.

In one embodiment, the control system is adapted to control the control element for this part on the basis of measurement data from a measuring instrument for a part of the mobile device such that this part automatically starts moving more slowly. For example, during the transformation of the working arm to a transport position or lifting position, the rotation of an articulation can progressively slow as the end position is reached. The control system can also provide for a slow rotation between main frame and sub-frame and / or for a slow movement or damping of the displacement means at the top of the main frame.

In one embodiment the working arm or the lifting device is provided with a quick-change system to which a tool can be coupled. The angle of the tool is determined by the angle of the quick change system. In one embodiment, the control system has the dimensions of different tools to be coupled. The control system can be arranged to automatically calculate the boundaries of the positions of parts of the mobile device when changing tools and to control the controls accordingly. Here, a driver can manually enter which tool is coupled, or the control system can be arranged to detect which type of tool is coupled. Optionally, the control system can ask the operator for confirmation of the tool type before proceeding.

In one embodiment one or more lifting devices are mounted on the main frame to which tools can be coupled such as a wood chipper, a ground cutter, a salt spreader, a lawn mower, a pallet fork, a stabilizer shield, etc. Many other tools for forestry or agriculture, construction or for landscape management can be coupled via a lifting device on the front, the rear or the side of the main frame. The type of lifting device for coupling a tool can be arbitrary, for example a three-point lifting device. Furthermore, a power take-off can be provided which can drive a tool. One or more measuring instruments can determine the position of a lifting device and / or of a tool in the lifting device. In one embodiment, the control system has the dimensions of different tools to be coupled in a lifting device. The control system can be arranged to automatically calculate the boundaries of the positions of parts of the mobile device when changing tools and to control the lifting device controls accordingly. Here, a driver can manually enter which tool is coupled, or the control system can be arranged to detect which type of tool is coupled. Optionally, the control system can ask the operator for confirmation of the tool type before proceeding.

In one embodiment, the control system is adapted to combine the measurement data of the measuring instruments of the damping system with the measurement data of the position of the working arm and the position of the tool on the working arm, as well as of the rotation angle between the main frame and the sub-frame. As a result, the control system can, for example, position and hold the tool on the working arm at a constant height relative to the environment or ground level during a displacement movement. On uneven terrain such as a slope, a curb or while driving in wooded, rocky or snowy areas, this can increase the effectiveness of the mobile device. In such a situation, both the working arm and the damping system of the mobile device can be controlled simultaneously by, for example, an acceleration sensor, rotation vector sensor or gravity sensor providing data to the control system. The driver can thus be relieved of tasks so that, for example, a higher cutting speed or driving speed with load can be achieved in a loading bucket.

In one embodiment, the mobile device comprises environmental sensors which transmit measurement data to the control system to prevent collisions of the mobile device and the tool on the arm or in the lifting device. Such a sensor comprises, for example, a laser and / or camera that detects objects in the vicinity of the mobile device. The control device of the mobile device can then automatically change the movement and position of the tool to avoid a collision. Examples are bypassing trees, posts and roadside signs during mowing or raising a loading bucket when approaching a curb.

In one embodiment the control system is adapted to check the damping system on the basis of measurement data from an acceleration sensor, a rotation vector sensor or a gravity sensor in order to give the driver a more comfortable driving behavior. The control system can then be adapted to change the position of the sub-frame on the basis of the measured position data with the aid of the damping system. For example, the control system can be arranged to allow the sub-frame to tilt inwards when cornering.

In one embodiment, the control system is adapted to transmit control signals between the rotatable sub-frame and the main frame and vice versa by means of a so-called slip ring or via wireless communication.

In one embodiment, the mobile device comprises a diesel engine, a gasoline engine, a gas engine, an electric motor, a battery pack, a fuel cell or another type of engine or energy source or a combination thereof. These components can be positioned in the rotating sub-frame, but also in the main frame.

According to a third aspect the invention relates to a mobile device comprising a main frame with displacement means; a subframe rotatably connected to the main frame; a working arm connected to the sub-frame; and a bumper system coupled to the working arm in a transport position; which bumper system is designed and designed to limit the impact of the working arm on other road users in the event of a collision.

According to a fourth aspect, the invention relates to a mobile device comprising a main frame with displacement means; a subframe rotatably connected to the main frame; a working arm connected to the sub-frame; a lifting device attached to the main frame; and a bumper system coupled to the lifting device in a transport position; which bumper system is designed and designed to limit the impact of the lifting device on other road users in the event of a collision.

According to a fifth aspect, the invention relates to a mobile device comprising a main frame; displacement means comprising at least a first and a second displacement means; a subframe rotatably connected to the main frame; a working arm connected to the sub-frame; control members adapted to move the working arm; a first damping unit between the main frame and the first displacement means for damping the movement of the main frame relative to the first displacement means; a second damping unit between the main frame and the second displacement means for damping the movement of the main frame relative to the second displacement means, independently of the first damping unit; driver-operated control instruments provided near a driver position on the sub-frame; a control system adapted to receive operating data from the operating means; and which is adapted to control the first and second damping unit in function of the received operating data.

Further advantageous embodiments are described in the dependent claims.

Short figure description

The above and other advantageous features and objects of the invention will become more apparent and the invention will be better understood with reference to the following detailed description when read in conjunction with the attached drawings, in which:

Figure 1A shows a side view of a first embodiment of a mobile device in a first articulated working position;

Figure 1B shows a side view of the first embodiment in a second articulated working position; Figure 1C shows a side view of the first embodiment in a first lifting position;

Figure 1D shows a side view of the first embodiment in a second lifting position;

Figure IE shows a side view of the first embodiment in a transport position, with bumper system;

Figure IF shows a side view of an end portion 31 of the subframe 30 showing how the pivot point moves between the third and the second articulation of the first embodiment during folding of the working arm;

Figure 1G shows a top view of the first embodiment in the transport position with a bumper attached to the working arm and a bumper attached to the lifting device;

Figure 2A shows a schematic side view of a second embodiment of a mobile device in a transport position, wherein the displacement means comprise caterpillars;

Figure 2B shows a schematic side view of a part of the second embodiment, during the transformation of working arm 40 to the transport position;

Figure 3A shows a schematic side view of a third embodiment of a mobile device in an operating position, wherein the displacement means comprise caterpillars;

Figure 3B shows a schematic side view of the third embodiment, in the transport position; Figure 3C shows a schematic top view of the third embodiment, in the transport position;

Figures 4A-4D show four variants of measuring instruments for measuring the position of a first section 41 relative to a second section 42;

Figure 5 shows a diagram of an embodiment of the control system 90 and the components connected to the control system;

Figure 6 shows a schematic front view of an embodiment of a mobile device with a "double wishbone" suspension of the displacement means;

Figure 7 shows a schematic top view of an embodiment of a mobile device with a double wishbone suspension of the displacement means and with a lifting device and PTO;

8A and 8B schematically show a front and top view of an embodiment of a mobile device with a damping system 110 per axis;

Figure 9 schematically shows a side view of an embodiment of a mobile device with a leaf spring damping system;

Figures 10A, 10B, and IOC schematically show a side view, a top view and a partial side view of embodiments of a mobile device with a damping system 110 with additional longitudinal arms 131, 132;

Figure 10D schematically shows a top view of a variant of the embodiment of Figure 10B;

Figure 10E schematically shows a side view similar to the side view of Figure 10C in which a mobile device with a damping system is positioned on a slope;

Figure 10F schematically shows a side view similar to the side view of Figure 10C in which a mobile device with damping system and tracks is positioned on a slope;

Figures 11A and 11B schematically show a top and side view of an embodiment of a mobile device with lifting device and PTO shaft that move with one shaft;

Figures 12A and 12B schematically show a top and side view of an embodiment of a mobile device with lifting device and PTO that move with the main frame;

Figure 13 shows a diagram of an embodiment of the control system 90 and the components connected to the control system; and

Figure 14 shows an embodiment of a damping unit.

Figures 1A-1G illustrate a first embodiment of a mobile device. The mobile device comprises a main frame 10 with displacement means 21, 22, 23, 24, here wheels, a sub-frame 30 rotatably connected to the main frame and a working arm 40 connected to the sub-frame 30. The working arm 40 comprises a first articulation 41, a second articulation 42 and a third section 43 which are hinged to each other, see pivot point 44 between the third section 43 and the second section 42, and pivot point 46 between the second section 42 and the first section 41. The first section 41 is about pivot point 45 connected to the subframe 30. The working arm 40 can be transformed from a working position (figures 1A-1D) to a transport position (figures IE and 1G). The mobile device further comprises first, second and third controls 51a, 51b; 52; 53 adapted to move the first section relative to the subframe, the second relative to the first section, and the third relative to the second section, respectively.

Furthermore, the first embodiment comprises driver-operated control instruments 60 provided near a driver position 70 on the sub-frame 30, and measuring instruments 81, 82, 83 (not shown in Figures 1A-1G but shown in Figure 5) configured for measuring position data regarding a position of the first section and a position of the second section; and a control system 90 (not shown in Figs. 1A-1G but shown in Fig. 5) which is adapted to receive operating data from the operating means 60 and position data from the measuring instruments 81, 82, 83; and which is arranged for controlling the control members in function of the received position data and the operating data. An embodiment thereof is shown in Figure 5.

The operating instruments 60 may include a transport position command instrument which is operable by a driver for moving the working arm to the transport position and which is adapted to transmit a transport position command to the control system; and the control system 90 may be arranged, upon receipt of a transport position command, to control the control members 51a, 51b, 52, 53 on the basis of the position data while moving to the transport position. A control member 55 for locking the articulations (see Figure 1F) and a control member 54 for controlling the position of a tool relative to the third articulation 43 can be controlled by the control system 90.

The measuring instruments 81, 82, 83, 85, etc. can be arranged for measuring position data representative of a position of the second section relative to the first section or relative to the sub-frame; and / or a position of the first section relative to the sub-frame; and / or position data representative of a position of the third section with respect to the first section and / or with respect to the second section and / or with respect to the sub-frame; and / or position data representative of the distance between the main frame and the displacement means and / or for the rotation of the sub-frame relative to the main frame.

The measuring instruments 81, 82, 83, 85 etc. may comprise one or more of the following: a linear measuring instrument 80 (for example an MTS sensor), in which this measuring instrument is provided in a control member 50 between a first section 41 and a second section 42 see Figure 4C or beyond, see Figure 4D; an angle measuring instrument 80, see Fig. 4B for measuring the inclination of the second section 42; a rotation measuring instrument 80, see Figure 4A for measuring the rotation of the first articulation 41 relative to the second articulation 42; a position or contact measuring instrument. In the embodiment of Fig. 1A, for example, measuring instruments may be provided in one or more of the control members 51a, 51b, 52, 53, 54, 55.

The working arm can form an articulated working arm 40 in an articulated working position; wherein the first articulation is connected to the subframe and wherein a tool 100 may be attached to the third articulation; wherein the working arm is adapted to fold the first, second and third sections adjacent to or against each other to transform the working arm 40 into a single lifting arm in a lifting position; wherein a tool 100 may be attached to the third articulation in the lifting position. The measuring instruments may comprise a measuring instrument adapted to measure the position of the first articulation with respect to the subframe in the articulated working position, and for measuring the position of the lifting arm with respect to the subframe in the lifting mode position, and / or comprise a measuring instrument adapted to measure the position of the tool in the articulated working position and in the lifting working position.

The control system 90 may be arranged to receive position data from the measuring instruments 81, 82, 83 at successive times during the movement from the working position to the transport position, and to control the control members 51-55 as a function of this position data received at successive times ; and / or - to fold the at least three sections in the transport position next to or against each other and to lock them relative to each other; and / or - folding the third section 43 against the second section 42, and folding this third and second section together along the first section 41, locking at least one of the second and third sections 42, 43 relative to the first section section 41 or with respect to the subframe 30; and / or - for controlling the rotation of the tool in the direction of the sub-frame or the main frame as a function of the measured position of the tool and of the first articulation or the lifting arm: - to apply a transformation to the transport position as soon as the angle between the main frame and the sub-frame is within a predetermined range; and / or - to receive quick coupling angle data representative of the angle between a quick coupling 105 attached to the working arm 40 and the working arm, and to control movement to the transport position as a function of the quick coupling angle data; and / or - to allow a transformation to the transport position only when the angle between the first section and the subframe is in a predetermined range; and / or - to perform the transformation to the transport position in a first and a second phase; wherein in the first phase the working arm is brought into a starting position in which the first articulation makes an angle with the subframe that is within a predetermined range and the second articulation makes an angle with the first articulation that is in a predetermined range; and wherein in the second phase the working arm is moved to the transport position. Note that the first phase can also be done manually by a driver to prevent the work arm from colliding with other elements in the environment; and / or - during the transformation of the work arm to the transport position and vice versa, to control only the articulations of the work arm, and optionally a articulation lock and no other movements of the mobile device can be controlled; and / or - to control the control members such that the speed at which the second articulation moves relative to the first articulation and / or the third articulation relative to the second articulation is adjusted as a function of the position data; and / or - to control the controls such that a control of the second articulation 42 and / or a control of the third articulation 43 continues to provide power after reaching an end point to hold the articulation in position during locking and / or unlock one of the sections. See also figure 1F: during the transformation, pivot 44 (with a pin) moves to pivot 45 along a path B, the movement slowing down as pivot 44 approaches pin pivot 45 and the control device in question continues to provide power during locking by locking control 55. To that end, the control system 110 may be adapted to control the control member 52 of the second articulation 42 and / or the control member 53 of the third articulation 43 such that they continue to provide power after reaching the end point about the articulations 42, 43 in position to hold while locking and / or unlocking the sections. Furthermore, a (non-illustrated) measuring instrument can be provided to judge whether pin 44 at the correct location coincides with pivot 45 before an unlocking and movement of the second and / or third articulation in articulated position or just a locking and then the movement of the second and / or third section can be used in transport or in a single work arm position.

The measuring instruments may comprise a measuring instrument 85 for measuring a value representative of the angle through which the sub-frame is rotated about a vertical axis with respect to the main frame, see also figure 5 and figure 3C. In the transport position of the first embodiment (Figure IE), the third articulation is folded against the second articulation, and this third and second articulation are folded together along the first articulation, and the working arm thus folded is inclined downwardly from the subframe and is located the arm 40 is located between the displacement means. In the variant of figures 2A and 2B, the transport position (figure 2A) is an unfolded position of the working arm 40. In the variant of figures 3A and 3B and 3C, in the transport position, the first section 41 is folded against the second section 42 and is the folded working arm 40 directed obliquely upwards over the subframe 30 (see figures 3B and 3C).

The mobile device may further comprise a lifting device 170 attached to the main frame 10, the measuring instruments may include a measuring device adapted to measure the position of lifting device 170, and the control system 90 may be adapted to collide between the lifting device 170 and other parts of the mobile device based on the measured position of the lifting device.

The control system 90 can include a bus system.

Figures IE and 1G illustrate a mobile device in a transport position. The mobile device comprises a main frame 10 with displacement means 20; a subframe 30 rotatably connected to the main frame; a working arm 40 connected to the subframe 30; a lifting device 170, a first bumper system 200 coupled to the working arm 40; and a second bumper system 210 coupled to the redesign 170. The first bumper system 200 is arranged and configured to limit the impact of the working arm 40 on other road users in the event of a collision. The second bumper system 210 is arranged and configured to limit the impact of the lifting device on other road users in the event of a collision. The first bumper system 200 is coupled to the last articulation of the working arm 40, via a quick-change system 105 which is attached via a parallelogram hinge to one end of the last articulation of the working arm 40. According to another variant, a pivot and / or tilting piece may for example, a so-called tiltrotator can be used. The first bumper system 200 comprises a bumper extending from the displacement means up to and including the last articulation of the working arm 40. The lifting device 170 is coupled to the second bumper system 210 on a rear side of the mobile device. As previously described, the working arm 40 has three sections, and the working arm 40 is adapted to fold the at least three sections adjacent to or against each other in the transport position.

The first bumper system 200 can then be attached after bringing the working arm 40 into the transport position.

Figures 6-12 show a mobile device comprising: a main frame 10; moving means 21, 22, 23, 24; a subframe 30 rotatably connected to the main frame; a working arm 40 connected to the sub-frame and comprising at least a first and a second articulation which are hinged to each other; a damping system 110 between the main frame and at least one displacement means for damping the movement of the main frame relative to the displacement means; driver-operated control instruments (not shown) provided near a driver position on the sub-frame; a control system (not shown in Figs. 6-12 but shown in Fig. 13) adapted to receive operating data from the operating means; and which is adapted to block the damping system in function of the received operating data. The damping system 110 is active between the main frame and all displacement means. The mobile device preferably comprises a measuring instrument 87 between at least one displacement means and the main frame and / or a measuring instrument 87 between all displacement means and the main frame, see also figure 13. The one or more measuring instruments can comprise one or more of the following: a linear measuring instrument, a position or contact measuring instrument, an angle measuring instrument, a rotation measuring instrument. A measuring instrument 87 can be integrated in the damping system 110. The damping system 110 comprises at least one damping unit 113, also called a spring unit, which comprises, for example, a cylinder or a bellows under pressure. Figure 14 shows a damping unit 113 with a cylinder pressurized by a pressure medium 118 via an adjustable valve 117 for controlling or blocking the damping cylinder. The damping unit 113 typically has an associated damping characteristic, and the control system 90 may be arranged to adjust the or each damping characteristic. The damping system can comprise a plurality of damping units 113 and the control system 90 can be arranged to block one or more of the damping units in a blocked position, which blocked position is for instance a high blocked position in which the main frame is in a highest position relative to the displacement means a low blocked position in which the main frame is in a lowest position with respect to the displacement means, or a blocked intermediate position between the highest and lowest position.

In the embodiment of figures 6 and 7, the damping system 110 comprises a double wishbone suspension 110 for each displacement means. The double wishbone suspension 110 comprises a damping unit 113 and a number of hinge arms 111, 112.

In the variant of figures 8A and 8B, the damping system 110 comprises a damping unit 113 between a first axis 141 of the displacement means and the main frame. The mobile device comprises a support structure 15 provided on the main frame, which support structure is provided with a turntable or pivot bearing for the sub-frame, and between the first axis 141 and the support structure 15 an arm 120 is provided which are hingedly connected at its ends. The cross arm 120 is operative between the first axis 141 and the main frame to laterally stabilize the first axis 141 with respect to the main frame.

In the variant of Figure 9, leaf springs are used in the damping system 110.

In the variant of figures 10A-10C, a first and a second arm 131, 132 are provided which extend in the direction of travel, one end of the first arm 131 being positioned near a first displacement means 21 on the first axis, and the other end of the first arm is positioned adjacent a first exterior 18 of the support structure 15; and wherein one end of the second arm 132 is positioned near a second displacement means 23 on the first axis 141, and wherein the other end of the second arm is positioned near a second outside 19 of the support structure 15. The mobile device comprises a second axis 142 which is connected to displacement means 22, 24, and between the second shaft 142 and the support structure 15 one or more arms 131, 132 are provided which are hingedly connected at their ends. Furthermore, the first axis 141 is pivotally coupled to the support structure by a V-shaped arm 150, the V-shaped arm 150 being adapted to realize lateral stabilization of the first axis with respect to the support structure 15. The second axis is also axis 142 of the main frame is provided with a V-shaped arm 150 between the second axis 142 and the support structure 15. It is noted that the V-point of the V-shaped arms 150 which is now connected to the first axis 141 and second shaft 142 can also be connected to the support structure 15, the ends of the V then being connected to the first shaft 141 and second shaft 142. This is illustrated in Figure 10D. Instead of V-shaped arms, two separate arms can also be used that can jointly effect the operation of the V-shaped arms.

Figures 10E and 10F illustrate a first and a second embodiment in which the mobile device is provided with tires and tracks, respectively, and in which a damping system is provided. The mobile device comprises a first shaft 141 and a second shaft 142 which are connected to respective displacement means 21, 22. Between each shaft 141, 142 and the main frame 10 one or more arms 131, 132 can be provided which are hingedly connected at their ends . Furthermore, each shaft 141, 142 can be hingedly coupled to the main frame 10 by a V-shaped arm 150, the V-shaped arm 150 being adapted to realize lateral stabilization of each shaft 141, 142 relative to the main frame 10 Furthermore, a non-illustrated measuring instrument is provided for measuring position data representative of the position of the main frame 10 and / or of the sub-frame 30. The mobile device comprises a control system (provided in the sub-frame 30 or in the main frame 10). which is arranged to control the damping system 110 as a function of the measured position data. The control system can then be adapted to change the position of the sub-frame 30 on the basis of the measured position data with the aid of the damping system 110. In this way, the sub-frame 30 can for instance be positioned substantially level or substantially parallel to the horizon in order to be safer and more efficient operate as illustrated in Figures 10E and 10F. It is also possible to mount the subframe 30 at a fixed angle, for example during the execution of work on an uneven terrain. According to yet another possibility, the angle is varied as a function of the measured position data, for example for obtaining a stable road holding when the mobile device is traveling on the road.

In the variant of Figs. 1A and 11B, a lifting device 170 and a PTO shaft 160 are connected to at least one displacement means or to an axis coupled to a displacement means, and therefore not spring-loaded and / or damped with respect to at least the said displacement means.

In the variant of figures 12A and 12B, a lifting device 170 and a power take-off shaft 160 are connected to a spring-mounted part of the main frame, and thereby spring-loaded and / or damped with respect to at least one displacement means or an axis with displacement means.

Those skilled in the art understand that the invention is not limited to the embodiments described above, and that many modifications and variations are possible within the scope of the invention, which is only determined by the following claims.

Claims (76)

A mobile device comprising: a main frame (10) with displacement means (21, 22, 23, 24); a subframe (30) rotatably connected to the main frame; a working arm (40) connected to the subframe comprising at least a first and a second articulation (41, 42, 43) which are hinged to each other, which working arm can be transformed from a working position to a transport position; control members (51a, 51b, 52, 53) adapted to move at least the first and second articulation of the working arm; driver-operated control instruments (60) provided near a driver position (70) on the sub-frame; measuring instruments (80, 81, 82, 85) configured to measure position data regarding a position of the first articulation and a position of the second articulation; and a control system (90) adapted to receive operating data from the operating means and position data from the measuring instruments; and which is arranged for controlling the control members in function of the received position data and the operating data. A mobile device according to claim 1, characterized in that the operating instruments (60) comprise a transport position command instrument which is operable by a driver for moving the working arm to the transport position and which is adapted to transmit a transport position command to the control system; and that the control system is arranged, after receiving a transport position command, to control the control elements on the basis of the position data while moving to the transport position. A mobile device according to claim 2, characterized in that the control system is adapted to receive position data from the measuring instruments at successive times during the movement from the working position to the transport position, and to control the control elements as a function of this at successive times received position data. A mobile device according to any one of the preceding claims, characterized in that the working arm (40) comprises at least three articulations (41, 42, 43), and in that the work arm is adapted to fit the at least three articulations in the transport position next to or to fold against each other. A mobile device according to any one of the preceding claims, characterized in that the working arm comprises at least a first, a second and a third articulation (41, 42, 43), the third articulation being foldable against the second articulation, and this third and second articulation can be folded together along the first articulation, wherein at least one of the second and third articulation (42, 43) is locked relative to the first articulation (41) or relative to the subframe (30). A mobile device according to any one of the preceding claims, characterized in that the measuring instruments are adapted to measure position data representative of at least: a position of the second section relative to the first section or relative to the sub-frame; a position of the first section relative to the subframe. Mobile device as claimed in claims 4 or 5 and 6, characterized in that the measuring instruments are further adapted to measure position data which are representative of a position of the third section with respect to the first section and / or with respect to the second section and / or with respect to the subframe. A mobile device according to any one of the preceding claims, characterized in that the measuring instruments are adapted to measure position data which are representative of the distance between the main frame and the displacement means and / or for the rotation of the sub-frame relative to the main frame . A mobile device according to any one of the preceding claims, characterized in that the measuring instruments comprise one or more of the following: a linear measuring instrument, a position or contact measuring instrument, an angle measuring instrument, a rotation measuring instrument. A mobile device according to any one of the preceding claims, characterized in that the working arm comprises a first, a second and a third articulation (41, 42, 43) for forming an articulated work arm in an articulated working position; that the working arm is adapted to fold the first, second and third sections next to or against each other to transform the working arm into a lifting arm in a lifting position; and that the measuring instruments comprise a measuring instrument which is adapted to measure the position of the first articulation with respect to the sub-frame in the articulated working position, and for measuring the position of the lifting arm relative to the sub-frame in the lifting working position A mobile device according to any one of the preceding claims, characterized in that the working arm comprises a first, a second and a third articulation for forming an articulated work arm in an articulated working position; wherein the first section is connected to the subframe and wherein a tool may be attached to the third section; wherein the working arm is adapted to fold the first, second and third sections adjacent to or against each other to transform the working arm into a single lifting arm in a lifting position; wherein a tool may be attached to the third articulation in the lifting position; and that the measuring instruments comprise a measuring instrument which is adapted to measure the position of the tool in the articulated working position and in the lifting working position. A mobile device according to claims 10 and 11, characterized in that the control system is adapted to control the rotation of the tool in the direction of the sub-frame or the main frame in function of the measured position of the tool and of the first articulation or the lifting arm. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to allow a transformation to the transport position only when the angle between the main frame and the sub-frame is within a predetermined range. A mobile device according to any one of the preceding claims, characterized in that the measuring instruments comprise a measuring instrument (85) for measuring a value representative of the angle through which the sub-frame is rotated relative to the main frame about a vertical axis. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to receive quick coupling angle data representative of the angle between a quick coupling (105) attached to the working arm (40) and the working arm or for the angle between the quick link and the sub or main frame or for the angle between the quick link and a horizontal plane, and to control movement to the transport position as a function of the quick link angle data. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to allow a transformation to the transport position only when the angle between the first section and the subframe is in a predetermined range. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to perform the transformation to the transport position in a first and a second phase; wherein in the first phase the working arm is brought into a starting position in which the first articulation makes an angle with the subframe that is within a predetermined range and the second articulation makes an angle with the first articulation that is in a predetermined range; and wherein in the second phase the working arm is moved to the transport position. A mobile device according to any one of the preceding claims, characterized in that in the transport position the first articulation lies substantially next to or against the second articulation. A mobile device according to any one of the preceding claims, characterized in that the working arm comprises at least a first, a second and a third articulation (41, 42, 43), wherein in the transport position the third articulation is folded against the second articulation, and this third and second articulation is folded together along the first articulation, and the working arm thus folded is directed obliquely downwards from the subframe and extends between the displacement means. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to control, during the transformation of the working arm to the transport position and vice versa, only the articulations of the work arm, and optionally a articulation lock and no other movements of the mobile device. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to control the control members such that the speed at which the second articulation moves relative to the first articulation and / or the third articulation relative to the second articulation section is adjusted in function of the position data. A mobile device as claimed in any one of the preceding claims, characterized in that the control system is adapted to control the control members such that a control member of the second section and / or a control member of the third section continues to provide power after reaching an end point to hold the articulation in position while locking and / or unlocking one of the articulations; and / or that a measuring instrument is provided to determine whether locking members of an articulation are in the correct position before performing the locking / unlocking. A mobile device according to any one of the preceding claims, characterized in that the mobile device comprises a lifting device (170) attached to the main frame, and that the measuring instruments comprise a measuring device adapted to measure the position of the lifting device, and that the control system is arranged to avoid collisions between the lifting device and other parts of the mobile device based on the measured position of the lifting device. A mobile device according to any one of the preceding claims, characterized in that the control system (90) comprises a bus system. A mobile device comprising: a main frame (10); moving means (21, 22, 23, 24); a subframe (30) rotatably connected to the main frame; a working arm (40) connected to the subframe; control members (51a, 51b, 52, 53) adapted to move the working arm; a damping system (110) between the main frame and at least one displacement means for damping the movement of the main frame relative to the displacement means; driver-operated control instruments (60) provided near a driver position on the sub-frame; a control system (90) adapted to receive operating data from the operating means; and which is adapted to block the damping system in function of the received operating data. A mobile device according to claim 25, characterized in that the damping system (110) is active between the main frame and all displacement means. A mobile device according to claim 25 or 26, further comprising at least one of the following: a measuring instrument (87) between at least one displacement means and the main frame; a measuring instrument between all moving means and the main frame. A mobile device according to claim 27, characterized in that the one or more measuring instruments comprise one or more of the following: a linear measuring instrument, a position or contact measuring instrument, an angle measuring instrument, a rotation measuring instrument. Mobile device according to one of claims 27 or 28, characterized in that the or each measuring instrument (87) is integrated in the damping system (110). A mobile device according to any one of claims 25-29, characterized in that the damping system comprises at least one damping unit (113) comprising a cylinder or a bellows under pressure. A mobile device according to any one of claims 25-30, characterized in that the damping system comprises at least one damping unit (113) with associated damping characteristic, and in that the control system (90) is adapted to adjust the or each damping characteristic. A mobile device according to any one of claims 25-31, characterized in that the working arm (40) comprises at least three articulations (41, 42, 43), and in that the work arm is adapted to accommodate the at least three articulations in the transport position fold next to or against each other and / or lock relative to each other. A mobile device according to any one of claims 25-32, characterized in that the damping system comprises a plurality of damping units (113) and that the control system (90) is adapted to block one or more of the damping units in a blocked position, which blocked position, for example, a high blocked position in which the main frame is in a highest position relative to the displacement means, a low blocked position in which the main frame is in a lowest position relative to the displacement means, or a blocked intermediate position located between the highest and lowest can be. A mobile device according to any one of claims 25-33, characterized in that the control system is arranged to block the damping system (110) as a function of angular data representative of the rotation of the sub-frame relative to the main frame. A mobile device according to any one of claims 25-34, characterized in that the damping system is of the independent suspension type. A mobile device according to any one of claims 25-35, characterized in that the damping system (110) comprises a damping unit (113) between a first axis (141) of the displacement means and the main frame. A mobile device according to claim 36, further comprising a support structure provided on the main frame, which support structure is provided with a turntable or pivot bearing for the sub-frame, characterized in that between the first axis and the support structure one or more arms (120; 111 , 112; 131, 132) are provided which are hingedly connected at their ends. The mobile device of claim 37, wherein the one or more arms comprise a first and a second arm (131, 132) extending in the direction of travel, an end of the first arm (131) being positioned adjacent a first displacement means ( 21) on the first axis, and wherein the other end of the first arm is positioned near a first outside (18) of the support structure (15); and wherein one end of the second arm (132) is positioned near a second displacement means (23) on the first axis (141), and wherein the other end of the second arm is positioned near a second outside (19) of the support structure (19) 15). A mobile device according to claim 37 or 38, characterized in that the mobile device comprises a second axis (142) connected to displacement means (22, 24), and that between the second axis (142) and the support structure (15) one or more arms are provided which are hingedly connected at their ends. A mobile device according to claim 36, further comprising a support structure (15) provided on the main frame, which support structure is provided with a turntable or pivot bearing for the sub-frame, characterized in that the first axis (141) has a V-shaped structure (150) is coupled to the support structure, wherein the V-shaped structure is adapted to realize lateral stabilization of the first axis with respect to the support structure. A mobile device according to claim 40, characterized in that the main frame comprises a second axis (142), and that the second axis (142) of the main frame is provided with one or more V-shaped structures (150) between the second axle (142) and the support structure (15). A mobile device according to any one of claims 36-41, characterized in that at least one transverse arm (120) directed parallel to the first axis (141) acts between the first axis and the main frame to laterally stabilize the first axis with respect to of the main frame. A mobile device according to any one of claims 25-42, characterized in that the damping system comprises a spring system with a leaf spring. A mobile device according to any one of claims 25-43, further comprising a measuring instrument for measuring position data representative of the position of the main frame and / or the sub-frame, wherein the control system is adapted to control the damping system in function of the measured position data. A mobile device according to any one of the preceding claims, characterized in that the damping system comprises one or more so-called "double wishbone" suspensions between the main frame and the displacement means. A mobile device according to any one of the preceding claims, characterized in that the control system (90) is adapted to be coupled to one or more of the following measuring instruments: a gyroscope, a rotation vector sensor, a rotation sensor, a gravity sensor, an acceleration sensor , a compass, a roll, a vulture, a stamp sensor. A mobile device according to any one of the preceding claims, characterized in that a measuring instrument for an anti-blocking braking system controls the braking force of at least one spring-loaded and / or damped displacement means. A mobile device as claimed in any one of the preceding claims, characterized in that a measuring instrument for an anti-blocking braking system on / on the main frame transmits signals via the control system to the operating instruments or to a warning system on the main frame. A mobile device according to any one of the preceding claims, characterized in that the control system is adapted to be coupled to an external computer unit which has at least one of the following measuring instruments: a gyroscope, a rotation vector sensor, a rotation sensor, a gravity sensor , an acceleration sensor, a compass, a roll, a vulture, a stamp sensor. A mobile device according to claim 44, characterized in that the control system is adapted to change the position of the sub-frame on the basis of the measured position data or to keep it as level as possible with the aid of the damping system. 51. A mobile device as claimed in claim 44 or 50, characterized in that the control system is adapted to make variations of the height of the tool relative to ground level or to a set line on the basis of the measured position data during the movement of the mobile device. A mobile device according to any one of claims 25-51, characterized in that a lifting device (170), and optionally a power take-off (160), is connected to at least one displacement means or to an axis coupled to a displacement means, and therefore not is suspended and / or damped relative to at least the said displacement means. A mobile device according to any one of claims 25-51, characterized in that a lifting device (170), and optionally a power take-off (160), is connected to a spring-mounted part of the main frame, and is thereby spring-loaded and / or damped. with respect to at least one displacement means or an axis with displacement means. 54. Mobile device as claimed in claim 52, characterized in that a lifting device, and optionally a power take-off, is connected to a spring-mounted part of the main frame, with a bearing part running through a shaft or under a displacement means suspension. A mobile device comprising: a main frame (10) with displacement means (20); a subframe (30) rotatably connected to the main frame; a working arm connected to the sub-frame; and a bumper system (200) coupled to the working arm (40) in a transport position; which bumper system is designed and designed to limit the impact of the working arm on other road users in the event of a collision. A mobile device comprising: a main frame (10) with displacement means (20); a subframe (30) rotatably connected to the main frame; a working arm connected to the sub-frame; a lifting device (170) attached to the main frame; and a bumper system (210) coupled to the lifting device in a transport position; which bumper system is designed and designed to limit the impact of the lifting device on other road users in the event of a collision. A mobile device according to claim 55, wherein the working arm comprises at least a first articulation and a last articulation to which a tool can be connected, characterized in that in the transport position the bumper system is coupled to the last articulation, optionally via a quick-change system ( 105) or via a turning and / or tilting piece. A mobile device according to claim 57, characterized in that the bumper system (200) comprises a bumper which extends from the displacement means to the last articulation. A mobile device according to any one of claims 55, 57 or 58, characterized in that the bumper system is formed by coupling a bumper to a tool such as a loading or unloading bucket or other type of tool. A mobile device according to any of claims 55, 57, 58 or 59, further comprising a lifting device (170) attached to the main frame, characterized in that the lifting device is coupled to a second bumper system (210). A mobile device according to claim 60, characterized in that the redesign is coupled to the second bumper system (210) on a rear side of the mobile device. A mobile device according to any one of claims 55-61, characterized in that the working arm comprises at least three sections, and in that the working arm is adapted to fold the at least three sections next to or against each other in the transport position. A mobile device according to any one of the preceding claims, characterized in that the displacement means are wheels or tracks. A mobile device according to any one of the preceding claims, characterized in that the working arm is connected to the subframe by means of a horizontal and / or vertical pivot point. A mobile device comprising: a main frame (10); moving means (21, 22, 23, 24) comprising at least a first and a second moving means; a subframe (30) rotatably connected to the main frame; a working arm (40) connected to the subframe; control members (51a, 51b, 52, 53) adapted to move the working arm; a first damping unit (113) between the main frame and the first displacement means for damping the movement of the main frame relative to the first displacement means; a second damping unit (113) between the main frame and the second displacement means for damping the movement of the main frame relative to the second displacement means, independently of the first damping unit; driver-operated control instruments (60) provided near a driver position on the sub-frame; a control system (90) adapted to receive operating data from the operating means; and which is adapted to control the first and second damping unit in function of the received operating data. The mobile device of claim 65, further comprising at least one of the following: a first measuring instrument (87) for measuring a position of the main frame relative to the first moving means; a second measuring instrument for measuring a position of the main frame relative to the second displacement means. A mobile device according to claim 66, characterized in that the first measuring instrument (87) is integrated in the first damping unit (113) and that the second measuring instrument (87) is integrated in the second damping unit (113). A mobile device according to any one of claims 65-67, characterized in that the first and second damping unit (113) comprise a cylinder or a bellows under pressure. A mobile device according to any of claims 65-68, characterized in that the first and second damping unit (113) has an associated first and second damping characteristic, and that the control system (90) is adapted to enter the first and second damping characteristic. set. 70. A mobile device according to any one of claims 65-69, characterized in that the working arm (40) comprises at least three sections (41, 42, 43), and in that the working arm is arranged to move the at least three sections into the transport position fold next to or against each other and / or lock relative to each other. A mobile device according to any one of claims 65-70, characterized in that the control system (90) is arranged to block the first and / or the second damping unit in a blocked position, which blocked position is for instance a high blocked position in which the main frame is in a highest position with respect to the displacement means, a low blocked position in which the main frame is in a lowest position with respect to the displacement means, or can be a blocked intermediate position between the highest and lowest position. A mobile device according to any one of claims 65-71, characterized in that the first displacement means is part of front displacement means and that the second displacement means is part of rear displacement means. A mobile device according to claim 72, characterized in that the first damping unit (113) is located between a first shaft (141) connected to the front moving means and the main frame and that the second damping unit (113) is located between a second shaft (141) connected to the rear displacement means and the main frame. A mobile device according to claim 3, further comprising a support structure (15) provided on the main frame, which support structure is provided with a turntable or bearing for the sub-frame, characterized in that the first axis (141) has a V-shaped structure (150) is coupled to the support structure, wherein the V-shaped structure is adapted to realize lateral stabilization of the first axis with respect to the support structure. A mobile device according to any one of claims 65-74, further comprising a measuring instrument for measuring position data representative of the position of the main frame and / or the sub-frame, the control system being arranged to control the first and the second damping unit as a function of the measured position data. A mobile device according to any one of claims 65-75, characterized in that the first and second damping unit comprises a "double wishbone" suspension.