Gyroscopically stabilized vehicle system

Patent metadata

Field	Value
Publication number	US-10654697-B2
Application number	US-201715829013-A
Country	US
Kind code	B2
Filing date	Dec 1, 2017
Priority date	Dec 1, 2017
Publication date	May 19, 2020
Grant date	May 19, 2020

Abstract

A method of self-stabilizing a forklift having a volume dimensioning device, a weight sensor, and a gyroscopic disc when the forklift is lifting an object, comprises: determining dimensions and volume of the object with the volume dimensioning device; determining a weight of the object with the weight sensor; calculating an approximate center of gravity of the object; and stabilizing the forklift when lifting the object by rotating the gyroscopic disc at a rotational speed based on the determined weight and calculated approximate center of gravity of the object.

First claim

What is claimed is:

1. A method to stabilize a forklift carrying a load, the method comprising:
determining, by a volume dimensioning device, a dimension of the load and a volume of the load;
determining, by a weight sensor, a weight of the load;
calculating an approximate center of gravity of the load based on the determined dimension and volume of the load; and
stabilizing the forklift when lifting the load by rotating the gyroscopic disc at a rotational speed determined based on the determined weight and calculated approximate center of gravity of the load.

2. The method of stabilizing the forklift of claim 1 , wherein the volume dimensioning device is a 3D range camera.

3. The method of stabilizing the forklift of claim 1 , wherein the weight sensor is a barcode reader operable to read a barcode positioned on the load, the barcode comprising information indicative of a weight of the load.

4. The method of stabilizing the forklift of claim 1 , wherein the forklift comprises a plurality of gyroscopic discs.

5. The method of stabilizing the forklift of claim 4 , the method further comprising:
rotating two or more gyroscopic discs in response to the forklift lifting the load, wherein rotational speeds of the rotating gyroscopic discs are based on the approximate center of gravity and determined weight of the load.

6. The method of stabilizing the forklift of claim 5 , wherein each gyroscopic disc of the two or more gyroscopic discs has a different diameter and weight than the other gyroscopic discs.

7. The method of stabilizing a forklift of claim 4 , wherein when a total stabilizing force generated by rotating all the plurality of gyroscopic discs exceeds a stabilizing force needed to stabilize the forklift when lifting the load, a first gyroscopic disc is rotated, and a second gyroscopic disc remains stationary.

8. The method of stabilizing the forklift of claim 1 , wherein the forklift further comprises a processor in communication with the volume dimensioning device and weight sensor, the processor being operable to:
receive the determined volume and dimensions from the volume dimensioning device, and the determined weight from the weight sensor;
perform the calculation of the approximate center of gravity of the object based on the calculated volume and dimensions and determined weight of the object;
control a rotational speed of the gyroscopic disc; and
responsive to the calculated approximate center of gravity and determined weight of the object, adjust the rotational speed of the gyroscopic disc.

9. The method of stabilizing the forklift of claim 1 , wherein the volume dimensioning device is positioned on a mast of the forklift.

10. The method of stabilizing a forklift of claim 1 , wherein the weight sensor is attached to a mast of the forklift and is configured to measure the weight of the object as the object is lifted by the forklift.

11. A method to stabilize a forklift, the method comprising:
determining, by a weight sensor, a weight of an object;
determining, by a volume dimensioning device, a dimension of the object and a volume of the object;
calculating an approximate center of gravity of the object based on the determined dimensions and volume of the object;
rotating a gyroscopic disc positioned in a disc receiving space of the forklift, at a rotational speed sufficient to stabilize the forklift when lifting the object, the rotational speed of the gyroscopic disc determined based on the calculated approximate center of gravity and the determined weight of the object.

12. The method of stabilizing a forklift of claim 11 , wherein the volume dimensioning device is a 3D range camera.

13. The method of stabilizing a forklift of claim 11 , wherein the volume dimensioning device is attached to a mast of the forklift.

14. The method of stabilizing a forklift of claim 11 , wherein the weight sensor is attached to a mast of the forklift and is configured to measure the weight of the object as the object is lifted by the forklift.

15. The method of stabilizing a forklift of claim 11 , wherein the forklift comprises a processor in communication with the volume dimensioning device and the weight sensor, the processor being configured to calculate the approximate center of gravity of the object.

16. The method of stabilizing a forklift of claim 15 , wherein the processor is in communication with a motor controlling a rotational speed of the gyroscopic disc, and instructs the motor to adjust the rotational speed of the gyroscopic disc in response to the determined weight and calculated approximate center of gravity of the object.

17. The method of stabilizing a forklift of claim 11 , wherein the forklift comprises a plurality of gyroscopic discs.

18. The method of stabilizing a forklift of claim 17 , wherein each gyroscopic disc of the plurality of gyroscopic discs has a different diameter and weight than the other gyroscopic discs.

19. The method of stabilizing a forklift of claim 17 , wherein in response to a total stabilizing force generated by rotating each gyroscopic disc of the plurality of gyroscopic discs exceeding a stabilizing force needed to stabilize the forklift when lifting the object, a first gyroscopic disc is rotated, and a second gyroscopic disc remains stationary.

20. The method of stabilizing a forklift of claim 11 , wherein the weight sensor is a barcode reader operable to read a barcode positioned on an object to be lifted, the barcode comprising information indicative of a weight of the object.

Assignees

• Hand Held Prod Inc

Inventors

• Houle Scott Xavier

Classifications

• B66F9/07559 Primary

  Stabilizing means · CPC title

• B66F17/003

  for fork-lift trucks · CPC title

• B66F9/0755 Primary

  Position control; Position detectors · CPC title