A device includes a plurality of tires, a suspension system operatively connected to the plurality of tires, at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S), and a controller operatively connected to the at least one suspension sensor and having a processor for executing a method for determining respective tire normal forces (F.sub.zi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device. Execution of the instructions by the processor causes the controller to determine a transformation matrix (T.sub.s) based on a plurality of predefined parameters. The controller is configured to obtain the respective tire normal forces (F.sub.zi(t), i==1 . . . n) via the following equation:

{tilde over (F)}.sub.z=[T.sub.S+.sub.S(p)]{tilde over (S)}+T.sub.u.

A method for determining the wheel load or axle load of an air-sprung vehicle by measuring the internal pressure of the air spring, wherein the wheel load or axle load is determined using a pressure curve which represents the relationship between a bearing force acting on the air spring and the internal pressure of the air spring, characterized in that starting from a wheel load or axle load determined by pressure measurement, using an original pressure curve of an air spring which has been newly brought into operation, further pressure measurements are carried out using pressure curves which, in comparison with the original pressure curve, show a change reflecting the aging of the air spring.

An agricultural vehicle includes a chassis, a plurality of ground-engaging elements configured to support the chassis above a ground surface, and a plurality of support assemblies supporting the chassis on the ground-engaging elements. Each support assembly includes a height-adjustment actuator. A controller is configured to adjust the height-adjustment actuators independently of one another and transfer a load from a first ground-engaging element to other ground-engaging elements. A method of operating an agricultural vehicle includes receiving a command to transfer a load from a first ground-engaging element to other ground-engaging elements, adjusting at least one height-adjustment actuator, and transferring a load from the first ground-engaging element to the other ground-engaging elements.

A machine includes a chassis, a turntable coupled to the chassis, a boom coupled to the turntable, an axle, a first actuator, and a second actuator. The chassis has a first end and an opposing second end, and defines a longitudinal center axis. The turntable is selectively rotatable about a rotation axis. The axle is pivotally coupled to the first end of the chassis and configured to pivot about the longitudinal center axis. The first actuator is coupled to the first end of the chassis and positioned on a first side of the longitudinal center axis. The first actuator is extendable to selectively engage a first contact point on the axle. The second actuator is coupled to the first end of the chassis and positioned on an opposing second side of the longitudinal center axis. The second actuator is extendable to selectively engage a second contact point on the axle.

At least one controller configured to control an actuator of an active suspension system. The at least one controller includes circuitry configured to determine an actuator state, and apply the actuator state and a commanded state to an inverse model of the actuator to produce an actuator command. The circuitry is configured to produce the actuator command by a process that includes performing low pass filtering and phase compensation to correct a phase introduced by the low pass filtering.

A combined anti-slip floor mat, including a mat body and a little mat, the mat body includes a leather, a PU self-skinning layer, and an anti-slip layer stacked together m that order. A recess is disposed in the middle of the top of the mat body, and the area of the recess is slightly less than the top area of the mat body; the little mat is matched to the recess in size. At least one opening is disposed on the middle of each side of the recess; wherein the opening passes through the floor mat; a cross notch is made on the bottom of the floor mat, by connecting each two opponent openings; the size of the little mat matches the recess on the mat body, and is separably embedded in the recess.

This invention provides an anti-slip floor mat with transparent top surface mainly includes a top surface, a PU self-skinning layer and an anti-slip layer stacked together in that order. The top surface is made of a transparent material. The PU self-skinning layer comprises foaming polyurethane and mainly formed by foaming an isocyanate with a polyether polyols intermixture, and the mass ratio of the isocyanate to the polyether polyols intermixture is 100:2050. A plurality of through holes passing through said anti-slip layer are defined in the anti-slip layer. A surface of said PU self-skinning layer adjacent to said anti-slip layer further comprises a plurality of rivets, said rivets pass through said through holes and extend to a surface of said anti-slip layer away from said PU self-skinning layer.

A force sensor diagnosis apparatus performs a process of diagnosing a malfunction of a force sensor to detect external force applied to a wheel of a vehicle. The force sensor diagnosis apparatus acquires, based on a sensor signal of the force sensor, a vehicle-height direction force component detection value that is a force component in a height direction of the vehicle of external force applied to the wheel, calculates a vehicle-height direction force component estimation value on the basis of a sensor signal of a displacement sensor provided in a part of a suspension of the wheel and detects a state quantity corresponding to a stroke displacement of the suspension due to external force received by the wheel from a road surface, and performs malfunction determination of the force sensor by comparing the vehicle-height direction force component detection value and the vehicle-height direction force component estimation value.

A driving module of an autonomous mobile robot is provided. The driving module includes a first wheel in constant contact with ground or road surface and having a first rotational axis; second and third wheels constrained in their positions relative to each other; a rear bar on which a second rotational axis of the second wheel is positioned at one end, an upper axis portion is provided at the other end, and an intermediate axis portion is provided in the middle; a front bar on which a third rotational axis of the third wheel is positioned at one end, in which the other end of the front bar is pivotably coupled to the intermediate axis portion; and a suspension unit of which one end is pivotably coupled to the upper axis portion and the other end is pivotably coupled to the third rotational axis or the front bar.

A lift machine includes a chassis defining a longitudinal center axis, a boom assembly pivotable relative to the chassis, an axle pivotally coupled to the chassis and configured to pivot about the longitudinal center axis, an actuator positioned on a first lateral side of the longitudinal center axis and to facilitate selectively restricting oscillation of the axle, and a controller configured to operate the actuator in a reset mode in response to a tilt angle of the chassis exceeding a first angle threshold. During the reset mode, the controller is configured to (a) prohibit drive functionality of the lift machine and (b) lock the actuator to prevent oscillation of the axle until an elevation angle of the boom assembly is less than a second angle threshold.