Slip control for a materials handling vehicle
First Claim
1. A vehicle comprising:
- a main body;
a plurality of wheels coupled to said main body;
a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel;
control apparatus coupled to said fraction motor and generating a motor drive signal to said traction motor;
a first sensor for generating a velocity signal indicative of a velocity of said driven wheel;
a further sensor for sensing an acceleration of said main body and generating a vehicle acceleration signal; and
said control apparatus determining a measured velocity of said driven wheel from said first sensor signal, calculating a velocity of said vehicle using said vehicle acceleration signal and said measured velocity of said driven wheel and comparing said measured velocity of said driven wheel to said calculated velocity of said vehicle to determine wheel slip status.
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Accused Products
Abstract
A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to the traction motor; a first sensor for generating a velocity signal indicative of a velocity of the driven wheel; and a further sensor for sensing an acceleration of the main body and generating a vehicle acceleration signal. The control apparatus determining a measured velocity of the driven wheel from the first sensor speed signal, calculating a velocity of the vehicle using the vehicle acceleration signal and comparing the measured velocity of the driven wheel to the calculated velocity of the vehicle to determine wheel slip status.
30 Citations
19 Claims
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1. A vehicle comprising:
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a main body; a plurality of wheels coupled to said main body; a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel; control apparatus coupled to said fraction motor and generating a motor drive signal to said traction motor; a first sensor for generating a velocity signal indicative of a velocity of said driven wheel; a further sensor for sensing an acceleration of said main body and generating a vehicle acceleration signal; and said control apparatus determining a measured velocity of said driven wheel from said first sensor signal, calculating a velocity of said vehicle using said vehicle acceleration signal and said measured velocity of said driven wheel and comparing said measured velocity of said driven wheel to said calculated velocity of said vehicle to determine wheel slip status. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle comprising:
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a main body; a plurality of wheels coupled to said main body; a traction motor associated with said main body and coupled to at least one of said wheels for driving said one wheel; control apparatus coupled to said fraction motor and generating a motor drive signal to said traction motor; a first sensor for generating a velocity signal indicative of a velocity of said driven wheel; a further sensor for sensing an acceleration of said main body and generating a vehicle acceleration signal; and said control apparatus setting a timer for a predetermined time period when one or more vehicle conditions are met and during said predetermined time period determining a measured velocity of said driven wheel from said first sensor signal, calculating a velocity of said vehicle using said vehicle acceleration signal, and comparing said measured velocity of said driven wheel to said calculated velocity of said vehicle to determine wheel slip status. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification