Dynamic stability determination system for lift trucks
Apparatuses, systems and methods associated with powered vehicles are disclosed herein. In examples, a system for controlling a vehicle may include sensors and a processor coupled to the sensors. The processor may identify one or more values received from the one or more sensors, wherein the one or more values are associated with one or more conditions of the vehicle and/or the vehicle's environment, and determine, based on the one or more values, a net resultant force vector of one or more forces acting on a center of mass of the vehicle. The processor may further determine a relationship between the net resultant force vector and a stability polygon that is superimposed at a base of the vehicle, and determine whether to limit one or more of a speed, rate of change, and/or travel amount for one or more of the operational systems controlled by the processor based on the relationship between the net resultant force vector and the stability polygon. Other examples may be described and/or claimed.
1. A materials-handling vehicle characterized by a stability polygon proximate a base of the materials-handling vehicle, wherein the stability polygon has vertices defined by vehicle geometry, the vehicle comprising:
a processor;
an environmental sensor communicatively coupled with the processor; and
one or more vehicle condition sensors communicatively coupled with the processor;
wherein the processor is programmed to:
determine, based on signals the one or more vehicle condition sensors, whether a net resultant force vector points within the stability polygon;
determine, based on signals from the one or more vehicle condition sensors, whether a load will be pitched from the vehicle;
determine an operational limit based on signals from the environmental sensor and/or the one or more vehicle condition sensors; and
bring the vehicle into compliance with the operational limit without causing the net resultant force vector to point outside the stability polygon and without pitching the load from the vehicle.
2. The vehicle according to claim 1 , wherein the processor is further programmed to provide an indication of the operational limit to an operator.
3. The vehicle according to claim 2 , wherein the vehicle further comprises an operator display screen, and wherein the indication of the operational limit comprises one or more of a change of a color of a portion of the user display or a haptic force applied to the operator.
4. The vehicle according to claim 1 , wherein the environmental sensor comprises at least one of a distance sensor and a proximity sensor; and the operational limit is a maximum vehicle speed that is based on a distance to an object as determined by at least one of the distance sensor and the proximity sensor.
5. The vehicle according to claim 4 , wherein the environmental sensor comprises both the distance sensor and the proximity sensor; and the operational limit is a maximum vehicle speed that is based on a distance to an object that is the lesser distance determined by the distance sensor and the proximity sensor.
6. The vehicle according to claim 1 , wherein: the environmental sensor comprises a geo-fence sensor; the processor is further programmed to determine whether the vehicle is in a predetermined area based on signals from the geo-fence sensor; and the processor is further programmed to determine the operational limit is associated with a predetermined area based on determining the vehicle is in the predetermined area.
7. The vehicle according to claim 6 , wherein the operational limit comprises a maximum vehicle speed allowed in the predetermined area.
8. The vehicle according to claim 6 , wherein the geo-fence sensor comprises a receiver configured to receive signals from beacons indicating the predetermined area.
9. The vehicle according to claim 6 , wherein the geo-fence sensor comprises a receiver configured to receive a signal indicating whether the vehicle is in a predetermined area based on location services.
10. The vehicle according to claim 1 , wherein: the environmental sensor comprises a geo-fence sensor; the processor is further programmed to determine whether the vehicle is in a predetermined area based on signals from the geo-fence sensor; and the processor is further programmed to determine the operational limit is associated with a predetermined area based on determining the vehicle is in the predetermined area.
11. The vehicle according to claim 10 , wherein the operational limit comprises a maximum vehicle speed allowed in the predetermined area.
12. The vehicle according to claim 11 , wherein a deceleration rate of the vehicle to bring the vehicle into compliance with the maximum vehicle speed allowed in the predetermined area is the lesser deceleration rate of (i) a deceleration rate that does not cause the net resultant force vector to point outside the stability polygon and (ii) a deceleration rate that does not cause a load to be pitched from the vehicle.
13. The vehicle according to claim 1 , wherein the environmental sensor comprises at least one of a distance sensor and a proximity sensor; and the operational limit is a maximum vehicle speed that is based on a distance to an object as determined by at least one of the distance sensor and the proximity sensor.
14. The vehicle according to claim 13 , wherein the environmental sensor comprises both the distance sensor and the proximity sensor; and the operational limit is a maximum vehicle speed that is based on a distance to an object that is the lesser distance determined by the distance sensor and the proximity sensor.
15. The vehicle according to claim 1 , wherein the environmental sensor comprises at least one of a driving surface condition sensor, a temperature sensor, a wind velocity sensor, or a sensor to determine whether the vehicle is indoors or outdoors.
16. The vehicle according to claim 1 , wherein the one or more vehicle condition sensors comprises at least three sensors.
17. A method of operating a materials-handling vehicle characterized by a stability polygon proximate a base of the materials-handling vehicle, wherein the stability polygon has vertices defined by vehicle geometry, the materials-handling vehicle comprising a processor, an environmental sensor communicating with the processor, and one or more vehicle condition sensors communicating with the processor, the method comprising:
via the processor, determining both (i) whether a net resultant force vector points within the stability polygon and (ii) whether a load will be pitched from the vehicle based on signals from the one or more vehicle condition sensors;
via the processor, determining a vehicle operational limit based on signals from the environmental sensor and/or the one or more vehicle condition sensors; and
via the processor, causing the vehicle to comply with the vehicle operational limit without causing the net resultant force vector to point outside the stability polygon and without pitching the load from the vehicle.
18. The method of operating a vehicle according to claim 17 , wherein the environmental sensor comprises at least one of a distance sensor and a proximity sensor; and the method further comprises: via the processor, setting the vehicle operational limit as a maximum vehicle speed that is based on a distance to an object as determined by at least one of the distance sensor and the proximity sensor.
19. The method of operating a vehicle according to claim 18 , wherein the environmental sensor comprises both the distance sensor and the proximity sensor; and the method further comprises: via the processor, setting the vehicle operational limit as a maximum vehicle speed that is based on a distance to an object that is the lesser distance determined by the distance sensor and the proximity sensor.
20. The method of operating a vehicle according to claim 17 , wherein the environmental sensor comprises a geo-fence sensor, and the method further comprises: via the processor, determining whether the vehicle is in a predetermined area based on signals from the geo-fence sensor; and via the processor, determining that the operational limit is associated with a predetermined area based on determining the vehicle is in the predetermined area.
21. The method of operating a vehicle according to claim 20 , wherein the operational limit comprises a maximum vehicle speed allowed in the predetermined area.
22. The method of operating a vehicle according to claim 20 , wherein the geo-fence sensor comprises a receiver configured to receive signals from beacons indicating the predetermined area.
23. The method of operating a vehicle according to claim 20 , wherein the geo-fence sensor comprises a receiver configured to receive a signal indicating whether the vehicle is in a predetermined area based on location services.
24. The method of operating a vehicle according to claim 17 , wherein the environmental sensor comprises a geo-fence sensor, and the method further comprises: via the processor, determining whether the vehicle is in a predetermined area based on signals from the geo-fence sensor; and via the processor, determining the operational limit is associated with a predetermined area based on determining the vehicle is in the predetermined area.
25. The method of operating a vehicle according to claim 24 , wherein the operational limit comprises a maximum vehicle speed allowed in the predetermined area.
26. The method of operating a vehicle according to claim 25 , further comprising: via the processor, determining a deceleration rate of the vehicle to bring the vehicle into compliance with the maximum vehicle speed allowed in the predetermined area where the determined deceleration rate is the lesser deceleration rate of (i) a deceleration rate that does not cause the net resultant force vector to point outside the stability polygon and (ii) a deceleration rate that does not cause a load to be pitched from the vehicle.
27. The method of operating a vehicle according to claim 17 , wherein the environmental sensor comprises at least one of a distance sensor and a proximity sensor; and the method further comprises: via the processor, setting the vehicle operational limit as a maximum vehicle speed that is based on a distance to an object as determined by at least one of the distance sensor and the proximity sensor.
28. The method of operating a vehicle according to claim 27 , wherein the environmental sensor comprises both the distance sensor and the proximity sensor; and the method further comprises: via the processor, setting the vehicle operational limit as a maximum vehicle speed that is based on a distance to an object that is the lesser distance determined by the distance sensor and the proximity sensor.
29. The method according to claim 17 , further comprising, via the processor, providing an indication of the operational limit to an operator.
30. The method according to claim 29 , wherein the vehicle further comprises an operator display screen, and wherein the indication of the operational limit comprises one or more of a change of a color of a portion of the user display or a haptic force applied to the operator.
31. The method according to claim 17 , wherein the environmental sensor comprises at least one of a driving surface condition sensor, a temperature sensor, a wind velocity sensor, or a sensor to determine whether the vehicle is indoors or outdoors.
32. The method according to claim 17 , wherein the one or more vehicle condition sensors comprises at least three sensors.