動作時のマスト部に生じるモーメントによるフォークリフトの重心位置推定

抄録

Detecting the center of gravity (COG) is important to evaluate the rollover risk of a forklift because it lifts various kinds of cargo with unknown COG．Some conventional methods have been proposed to detect COG, however, they require the forklift to stop moving or long seconds of measuring data, Therefore, we propose a method to estimate COG in real time by measuring the relation between the acceleration and the tilt moment of the mast. The COG is found by grid search to satisfy the above relation for past several seconds. It does not need any constraints of forklift motion. This method is modified for the conditions of mast motion and body turning. We implemented the sensor system on an actual forklift and the effectiveness of our proposed method was shown by various experiments with it.