Dynamic stability control systems and methods for industrial lift trucks

• US 8,731,785 B2
• Filed: 12/06/2011
• Issued: 05/20/2014
• Est. Priority Date: 03/18/2011
• Status: Active Grant

• Current Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Original Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Inventors: McCabe, Paul P., Kirk, John B., Gregory, Bryce, Field, Michael G.
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US13/312,712
• Publication Number:
  US 20120239259A1
• Time in Patent Office: 896 Days
• Field of Search: 701/50, 701/36, 414/281, 414/385, 414/273, 414/695, 180/65.225, 180/209, 180/290, 254/2.R, 269/17, 269/23, 269/35, 700/213, 280/47.34, 187/226, 187222-224, 187/232, 187/65.225, 212/901, 212/348, 603/28
• US Class Current: 701/50
• CPC Class Codes: B60G 17/016 characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input B60G17/017 takes precedence
• CPC Class Codes: B60G 17/017 characterised by their use when the vehicle is stationary, e.g. during loading, engine start-up or switch-off
• CPC Class Codes: B60G 2204/46 Means for locking the suspension
• CPC Class Codes: B60G 2300/022 Fork lift trucks, Clark
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2800/91 Suspension Control
• CPC Class Codes: B62B 2301/00 Wheel arrangements; Steering; Stability; Wheel suspension
• CPC Class Codes: B62B 3/0612 power operated
• CPC Class Codes: B62B 5/0006 Bumpers; Safety devices
• CPC Class Codes: B62B 5/0069 Control
• CPC Class Codes: B66F 9/07559 Stabilizing means
• CPC Class Codes: B66F 9/07586 Suspension or mounting of wheels on chassis
• CPC Class Codes: B66F 9/24 Electrical devices or systems

Abstract

A lift truck includes systems and methods for improved stability control. Stability control features reduce or eliminate motion of the truck in one or more of the X-axis, Y-axis, and Z-axis. Some embodiments may include, alone or in combination with the stability control, vibration control to further stabilize the motion of the truck.

Claims

1. A system for stabilizing a lift truck, the system comprising:

at least one caster to provide lift truck stability;

a sensor to provide a value of motion of the lift truck in at least one of an X-axis and a Y-axis;

a control system, the control system to determine which direction the lift truck is moving in the at least one of the X-axis and the Y-axis by comparing the value of motion to a stationary value of motion;

the control system also compares the value of motion to a threshold value of motion; and

an actuator to lock movement of the caster on a side of the lift truck based on the direction that the control system determined the lift truck to be moving.

2. The system as set forth in claim 1 wherein when locked, the caster provides a reactant force when the lift truck is moving away from horizontal.

3. The system as set forth in claim 1 wherein the value of motion compared to the stationary value of motion provides an absolute value of motion;

and

the control system compares the absolute value of motion to the threshold value of motion.

4. The system as set forth in claim 1 wherein the control system includes predictive control, the predictive control to activate the actuator to lock movement of the caster independent of the sensor providing a value of motion of the lift truck in the at least one of the X-axis and the Y-axis, based on at least one lift truck operating condition.

5. The system as set forth in claim 1 wherein the caster is locked immediately upon sensing at least one predetermined lift truck operating condition.

6. The system as set forth in claim 1 wherein the predetermined lift truck operating conditions comprise a speed of the truck, a weight of the truck, a weight of the load, a height of the load, or a steering angle.

7. The system as set forth in claim 1 wherein the actuator locks the caster within one second.

8. The system as set forth in claim 1 wherein the caster is unlocked after a predetermined amount of time.

9. The system as set forth in claim 1 wherein the caster is unlocked at a first speed based on a first factor, and the caster is unlocked at a second speed based on a second factor.

10. A method for stabilizing a lift truck having at least one caster, the method comprising:

measuring a value of motion of the lift truck in at least one of an X-axis and a Y-axis;

determining which direction the lift truck is moving by comparing the measured value of motion to a stationary value of motion;

comparing the measured value of motion to a threshold value of motion; and

locking movement of the caster on a side of the lift truck that is determined to be moving.

11. The method as set forth in claim 10 further including comparing the measured value of motion to the stationary value of motion for providing an absolute value of motion;

and

comparing the absolute value of motion to the threshold value of motion.

12. The method as set forth in claim 11 further including not locking movement of the caster until the absolute value of motion exceeds the threshold value of motion.

13. The method as set forth in claim 10 wherein locking movement of the caster comprises locking vertical movement of the caster.

14. The method as set forth in claim 10 further including unlocking movement of the caster after a predetermined time delay.

15. The method as set forth in claim 10 further including unlocking movement of the caster when the measured value of motion is less than or equal to the threshold value of motion.

16. The method as set forth in claim 10 further including unlocking movement of the caster when a condition is no longer sensed.

17. The method as set forth in claim 10 further including determining if a lock timer is on for the caster, and, if the lock timer is on for the caster, determining if the lock timer is above a duration period, and if the lock timer is above the duration period, turning the lock timer off.

18. The method as set forth in claim 10 wherein the duration period ranges from about 0.1 second to about 5 seconds.

19. The method as set forth in claim 10 further including adjusting the duration period based on a traveling speed of the lift truck.

20. The method as set forth in claim 10 further including activating an actuator for locking the caster.

21. The method as set forth in claim 20 wherein a lift truck operator controls activating the actuator to lock the caster.

22. The method as set forth in claim 20 wherein control software in a lift truck control system automatically activates the actuator to lock the caster.

23. The method as set forth in claim 22 further including using predictive control for activating the actuator to lock the caster before measuring the value of motion of the lift truck, the activating based on at least one truck operating condition.

24. The method as set forth in claim 22 wherein the control system includes stability control parameters, the stability control parameters being accessible via a local or remote computer system.

25. The method as set forth in claim 20 wherein the actuator comprises one of a variable viscosity fluid filled damper, a piezoelectric composite, and an electroactive polymer.

26. The method as set forth in claim 10 wherein measuring comprises using a sensor to provide data, the sensor comprising at least one of a gyroscope and an accelerometer and a proximity sensor.

27. The method as set forth in claim 10 further including allowing motion of the lift truck in at least one of the X-axis and the Y-axis if the measured value of motion is equal to or below the threshold value of motion.

28. A lift truck having stability control, the lift truck comprising:

at least one caster to provide lift truck stability;

a vertical support for mounting electrical components, the vertical support including two or more cylinders that function as a mass-damper system;

a sensor to provide a value of motion of the lift truck in at least one of an X-axis and a Y-axis and a Z-axis;

a control system, the control system to control the mass-damper and to determine which direction the lift truck is moving in the at least one of the X-axis and the Y-axis and the Z-axis by comparing the value of motion to a stationary value of motion;

the control system also to compare the value of motion to a threshold value of motion; and

an actuator to lock movement of the caster on a side of the lift truck based on the direction that the control system determined the lift truck to be moving.