METHOD AND APPARATUS FOR DETECTING CENTER OF GRAVITY OF FORKLIFT TRUCK AND CENTER OF GRAVITY OF TRANSPORT VEHICLE

摘要

A method and apparatus (1000, 1100) for detecting the center of gravity of a forklift truck and the center of gravity of a transport vehicle. A forklift truck comprises a lifting oil cylinder (11), a forklift truck arm (13) for lifting a cargo (14) according to the pressure generated by the lifting oil cylinder (14), a pressure sensor (16) for detecting an oil cylinder pressure of the lifting oil cylinder (11), and a distance sensor (15) for detecting the height (H) of the forklift truck arm (13) above the ground. The method for detecting the center of gravity of the forklift truck comprises: acquiring the oil cylinder pressure of the lifting oil cylinder (11) detected by the pressure sensor (16) and the height (H) above the ground detected by the distance sensor (15); calculating the mass (M) of the cargo (14) lifted by the forklift truck arm (13) according to the oil cylinder pressure and the oil cylinder sectional area of the lifting oil cylinder (11); and calculating the real-time height of center of gravity of the forklift truck based on the mass (M) of the cargo (14), the height (H) above the ground, and the mass (m) and the height (h) of center of gravity of the forklift truck in an unloaded state.