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US 9,169,110 B2Granted
Method for determining the probability of a handling truck's tipping over
AssigneeRobert Bosch GmbH
InventorsManfred Gerdes, Stefan Otterbein, Ralf Becker, Christian Schmidt, Martin Gustmann
Life of this patent
Estimating the term…
Abstract
A method for determining the probability a handling truck tipping over includes determining a respective normal force acting in the z direction for at least two of at least three wheels of the handling truck. At least two normal forces are compared and the probability of the tipping of the handling truck is determined on the basis of the comparison.
Claims15
A method for determining a probability of rolling of an industrial truck, comprising:
- identifying with a control circuit in the industrial truck a first normal force that acts upon a right-front wheel on a front axle in a z-direction, a second normal force that acts upon a left-front wheel on the front axle in the z direction, a third normal force that acts upon a right-rear wheel on a rear axle in the z-direction, and a fourth normal force that acts upon a left-rear wheel on the rear axle in the z-direction with reference to signals from a plurality of acceleration sensors in the industrial truck;
- identifying with the control circuit a first probability of the industrial truck rolling on the front axle with reference to a ratio of a difference of the first normal force and the second normal force to a sum of the of first normal force and the second normal force;
- identifying with the control circuit a second probability of the industrial truck rolling on the rear axle with reference to a ratio of a difference of the third normal force and the fourth normal force to a sum of the of third normal force and the fourth normal force;
- and
- operating with the control circuit an intervention device in the industrial truck to prevent rolling in response to at least one of the first probability and the second probability exceeding a predetermined threshold.
2 more elements
An industrial truck configured to identify tipping comprising:
- a left-front wheel;
- a right-front wheel;
- a left-rear wheel;
- a right-rear wheel;
- a plurality of acceleration sensors;
- an intervention device;
- and
- a control circuit operatively connected to the plurality of acceleration sensors and the intervention device, the control circuit being configured to:
- identify a first normal force that acts upon the right-front wheel in a z-direction, a second normal force that acts upon the left-front wheel in the z direction, a third normal force that acts upon the right-rear wheel in the z-direction, and a fourth normal force that acts upon the left-rear wheel in the z-direction with reference to signals received from the plurality of acceleration sensors;
- identify a first probability of the industrial truck pitching onto a right side with reference to a ratio of a difference of the first normal force and the third normal force to a sum of the of first normal force and the third normal force;
- identify a second probability of the industrial truck pitching onto a left side with reference to a ratio of a difference of the second normal force and the fourth normal force to a sum of the of second normal force and the fourth normal force;
- and
- operate the intervention device in the industrial truck to prevent pitching in response to at least one of the first probability and the second probability exceeding a predetermined threshold.
10 more elements
A method for determining a probability of pitching of an industrial truck, comprising:
- identifying with a control circuit in the industrial truck a first normal force that acts upon a right-front wheel in a z-direction, a second normal force that acts upon a left-front wheel in the z direction, a third normal force that acts upon a right-rear wheel in the z-direction, and a fourth normal force that acts upon a left-rear wheel in the z-direction with reference to signals received from a plurality of acceleration sensors in the industrial truck;
- identifying with the control circuit a first probability of the industrial truck pitching onto a right side with reference to a ratio of a difference of the first normal force and the third normal force to a sum of the of first normal force and the third normal force;
- identifying with the control circuit a second probability of the industrial truck pitching onto a left side with reference to a ratio of a difference of the second normal force and the fourth normal force to a sum of the of second normal force and the fourth normal force;
- and
- operating with the control circuit an intervention device in the industrial truck to prevent pitching in response to at least one of the first probability and the second probability exceeding a predetermined threshold.
2 more elements
Dependencies are inferred from the claim text.