{
  "$type": "site.standard.document",
  "description": "A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to…",
  "path": "/patents/946465",
  "publishedAt": "2016-02-10T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K1/00",
    "CROWN EQUIP CORP [US]"
  ],
  "textContent": "A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to the traction motor; a first sensor for generating a velocity signal indicative of a velocity of the driven wheel; and a further sensor for sensing an acceleration of the main body and generating a vehicle acceleration signal. The control apparatus sets a timer for a predetermined time period when one or more vehicle conditions are met and during said predetermined time period determines a measured velocity of said driven wheel from said first sensor velocity signal, calculates a velocity of said vehicle using said vehicle acceleration signal, and compares said measured velocity of said driven wheel to said calculated velocity of said vehicle to determine wheel slip status.",
  "title": "SLIP CONTROL FOR A MATERIALS HANDLING VEHICLE"
}