Forklift Steering Axle Odometry for Compact Accurate Navigation
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Solution Overview
Problem
Existing odometric sensors in autonomous or automated forklifts require a large installation space, typically 6cm x 6cm x 6cm, which is challenging to integrate without increasing the forklift's dimensions, and existing sensors are prone to slippage distortion.
Innovation Solution
The odometry sensor system includes speed sensors on the steering axle to detect wheel speed and/or revolutions, and a steering angle sensor on the steering axle to determine the steering angle, installed in a space-saving manner without increasing the forklift's dimensions, using the steering knuckle for sensor placement and transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing odometric sensors are installed in the forklift, then odometric data can be acquired with high resolution and accuracy, but the installation space requirement increases significantly (at least 6cm x 6cm x 6cm)
Solution Approach 1:
The patent combines the speed sensor and steering angle sensor into a single integrated odometry sensor system mounted on the steering axle. This merging of multiple sensing functions into one compact unit reduces the total installation space required while maintaining high measurement precision for both wheel speed and steering angle parameters
Solution Approach 2:
The steering axle assembly serves multiple functions: it provides the mechanical steering function, supports the speed sensor for odometry, and accommodates the steering angle sensor. This multi-functionality allows the system to achieve comprehensive odometric measurement without requiring separate dedicated spaces for each sensor
2Measurement precision
If existing odometric sensors are installed in the forklift, then accurate position and orientation determination is achieved, but the forklift's overall dimensions increase
Solution Approach 1:
The patent integrates multiple sensing functions into the existing steering axle structure, combining speed sensing and steering angle sensing in one location. This eliminates the need for additional external sensor mounts that would increase the forklift's overall dimensions while maintaining accurate position and orientation determination
3Extent of automation
If odometry sensors are added to the forklift, then autonomous navigation capability is enabled, but the device complexity increases
Solution Approach 1:
The patent merges the speed sensor and steering angle sensor into a single integrated odometry system on the steering axle, reducing the number of separate components and connections required. This integration simplifies the overall device complexity while enabling autonomous navigation capability through combined speed and direction measurement
Data Source
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AI summary
The invention relates to a forklift truck (1), in particular an autonomous or automated forklift truck, comprising a vehicle body (2), a drive axle (7), and a steering axle (10) comprising at least one steered wheel (11a; 11b), wherein the forklift truck (1) is equipped with an odometry system (30) for determining the position and orientation of the forklift truck (1), which includes odometry sensors (31). The odometry sensors (31) comprise at least one speed sensor (32a; 32b) arranged on the steering axle (10) that detects the wheel speed and/or the wheel revolutions of the steered wheel (11a; 11b), and/or a steering angle sensor (33) arranged on the steering axle (10) that detects the steering angle of the steered wheel (11a; 11b).