System and method for dynamically controlling the stability of an industrial vehicle
A system and method for monitoring the dynamic load moment and stabilization of a lifting vehicle is provided. The system is adapted for monitoring the stability of the vehicle on a real-time basis, and displaying the real-time dynamic load moment of the vehicle/cargo combination on a continuous scale on a user interface. The system may also include an object detection device oriented for determining the presence or absence of a floor surface within a specified distance from the vehicle in order to detect drop-offs in the floor surface surrounding the vehicle and alert the operator of same. A method for calibrating the system is also provided. The calibration method can include a series of lift and acceleration steps for collecting static and dynamic data in order to determine one or more coefficients associated with the vehicle.
1. A method for calibrating a system for dynamically monitoring the stability of an industrial vehicle with a lifting device having a tilt cylinder, the method comprising the steps of:
performing a no-load acceleration routine including:
accelerating the vehicle with the lifting device at a first position and without a cargo load thereon;
determining simultaneously both an acceleration of the vehicle and a force on the tilt cylinder at one or more instances during the no-load acceleration routine;
performing a first-load acceleration routine including:
accelerating the vehicle with the lifting device at the first position and having a first cargo load with a first known mass thereon;
simultaneously determining both the acceleration of the vehicle and the force on the tilt cylinder at one or more instances during the first-load acceleration routine;
calculating at least one coefficient associated with the vehicle, wherein the at least one coefficient is calculated based on the acceleration of the vehicle and the force on the tilt cylinder during the no-load acceleration routine and the acceleration of the vehicle and the force on the tilt cylinder during the first-load acceleration routine.
2. The method of claim 1 further comprising the steps of:
accelerating the vehicle with the lifting device at a second position and without a cargo load thereon during the no-load acceleration routine; and
accelerating the vehicle with the lifting device at the second position and having the first cargo load thereon during the first-load acceleration routine.
3. The method of claim 2 further comprising the steps of:
accelerating the vehicle with the lifting device at a third position and without a cargo load thereon during the no-load acceleration routine; and
accelerating the vehicle with the lifting device at the third position and having the first cargo load thereon during the first-load acceleration routine.
4. The method of claim 3 further comprising the steps of:
performing a second-load acceleration routine including:
accelerating the vehicle with the lifting device at the first position and having a second cargo load with a second known mass thereon;
accelerating the vehicle with the lifting device at the second position and having the second cargo load thereon;
accelerating the vehicle with the lifting device at the third position and having the second cargo load thereon; and
simultaneously determining both the acceleration of the vehicle and the force on the tilt cylinder at one or more instances during the second-load acceleration routine.
5. The method of claim 1 further comprising the steps of:
inputting configuration information of the vehicle into the system;
measuring a slope of a ground floor beneath the vehicle and inputting the slope into the system;
measuring an angle of a mast of the lifting device and inputting the mast angle into the system; and
measuring an angle of the tilt cylinder of the lifting device and inputting the tilt cylinder angle into the system.
6. The method of claim 1 , wherein the force on the tilt cylinder is determined by measuring a pressure within the tilt cylinder.
7. The method of claim 1 further comprising the steps of:
determining a location of a center of gravity of the vehicle during the no-load acceleration routine;
determining a load moment of the vehicle during the no-load acceleration routine;
determining a location of a center of gravity of the vehicle and the first cargo load combination during the first-load acceleration routine; and
determining a load moment of the vehicle and the first cargo load combination during the first-load acceleration routine.
8. The method of claim 1 , wherein the at least one coefficient is calculated based further on a mass of the vehicle and a position of the lifting device during the acceleration routines.
9. The method of claim 8 , wherein the at least one coefficient is determined using linear regression of data collected during the no-load acceleration routine and the first-load acceleration routine.