Load moment indicator system and method
A method for determining stability of a vehicle having a load suspended from the vehicle is provided. The method can include obtaining measurements from a plurality of sensors positioned on the vehicle, obtaining a measurement from a vehicle accelerometer operative to determine an inclination of the vehicle, determining a position of the load suspended from the vehicle, determining a slung load of the load suspended from the vehicle, using the determined slung load and the determined position of the load suspended from the vehicle, determining tipping moments acting on the vehicle, determining righting moments acting on the vehicle and determining a tipping stability based on the determined tipping moments and determined righting moments.
1. A method for determining stability of a vehicle having a load suspended from the vehicle, the method comprising:
obtaining measurements from a plurality of sensors positioned on the vehicle;
obtaining a measurement from a vehicle accelerometer operative to determine an inclination of the vehicle;
determining a position of the load suspended from the vehicle;
determining a slung load of the load suspended from the vehicle;
using the determined slung load, the determined position of the load suspended from the vehicle, and the measurement obtained from the vehicle accelerometer, determining tipping moments acting on the vehicle;
using the measurement obtained from the vehicle accelerometer, determining righting moments acting on the vehicle; and
determining a tipping stability based on the determined tipping moments and determined righting moments.
2. The method of claim 1 wherein the measurements from the plurality of sensors comprises: position information related to the position of the load suspended from the vehicle; and force information related to the slung load.
3. The method of claim 2 wherein the position information is a measurement of the position of an attachment point of the slung load.
4. The method of claim 2 wherein the force information is a measurement of the slung load.
5. The method of claim 1 wherein the position of the load suspended from the vehicle is a distance from a tipping fulcrum of the vehicle to the load.
6. The method of claim 1 wherein the slung load is determined using the measurement obtained from the vehicle accelerometer.
7. The method of claim 6 wherein a three-dimensional coordinate system is created for the vehicle where a ground contact footprint of the vehicle lies in a plane parallel to the horizontal axes of the vehicle coordinate system.
8. The method of claim 7 wherein the vehicle coordinate system is rotated into a global coordinate system, wherein a direction of gravity is parallel with a vertical axis of the global coordinate system.
9. The method of claim 1 wherein the measurement from the vehicle accelerometer is expressed as a gravitational vector indicating a direction of gravity.
10. The method of claim 9 wherein the measurement from the vehicle accelerometer is used to determine an angle between a direction of gravity and a horizontal plane of a vehicle coordinate system based on the vehicle.
11. The method of claim 10 wherein when the direction of gravity is not acting directly vertical to the vehicle, the slung load is determined by determining the portion of the gravitational vector projected into each of the principal planes of the vehicle coordinate system and multiplying by the vector perpendicular to the slung load.
12. The method of claim 10 wherein a slung load vector and a righting load vector are projected into the vehicle coordinate system.
13. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using the position information obtained from the sensors and the measurement from the vehicle accelerometer.
14. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using combination of a front-to-back inclination of the vehicle measured by the vehicle accelerometer and a side-to-side inclination of the vehicle measured by the vehicle accelerometer.
15. The method of claim 1 wherein determining the tipping moments acting on the vehicle comprises determining lateral tipping moments and determining fore-aft tipping moments.
16. The method of claim 1 further comprising displaying the tipping stability in a cab of the vehicle.
17. The method of claim 1 wherein the tipping stability is a tipping factor and is displayed as a number and 1 indicates the vehicle has reached its exact tipping point.
18. The method of claim 1 wherein the tipping stability is a tipping factor and is displayed as a number and 100 indicates the vehicle has reached its exact tipping point.
19. The method of claim 1 wherein the vehicle is a telehandler.
20. The method of claim 1 wherein the vehicle is a dragline boom.
21. The method of claim 1 wherein the vehicle is an articulating forklift.
22. The method of claim 1 wherein the vehicle is a rail mounted crane.
23. The method of claim 1 wherein the vehicle is a haul truck.