Patent Description:
In order to reduce environmentally harmful exhaust gases for vehicles, electric traction motors are becoming increasing popular. In order to increase a range of operation for the electric machines, a high-voltage battery may not be sufficient and other power generating arrangements are developed and implemented. According to an example, fuel cells are developed to generate electric power during operation, with which electric power can be fed to the high-voltage battery or directly fed to the electric traction motor.

However, the power generator may need to be positioned at a certain position in order operate at its full potential. Since vehicles may be operated in relatively harsh environments from time to time the relative position in relation to a gravitational direction of the power generator may vary during operation of the vehicle. There is thus a desire to provide a solution that improves the operational capacity of the power generator in this sense.

According to its abstract, <CIT> relates to a vehicle mount structure for includes a stack case and a boss. The stack case accommodates a fuel cell stack. The stack case includes a bottom panel to be provided on a bracket member of a vehicle. The bottom panel includes a lower plate and an intermediate member. The lower plate is opposite to and below an upper plate in a height direction of the vehicle. The lower plate has an opening to surround a bearing surface of the bracket member. The intermediate member is disposed between the upper plate and the lower plate.

According to a first aspect of the invention, there is provided a power generating arrangement for a vehicle, the power generating arrangement comprising a power generator configured to contain a fluid in liquid, humid and/or moisturized form, a housing comprising an upward facing side and a downward facing side, wherein the power generator is arranged in the housing, the housing comprising an outlet configured to drain the fluid, wherein the outlet is arranged at the downward facing side, and a supporting structure comprising a first pivot joint rotatable about a first geometric rotation axis, and a second pivot joint rotatable about a second geometric rotation axis, wherein the first and second geometric rotation axes are non-parallel to each other, the supporting structure being connectable to a frame structure of the vehicle at the first pivot joint, wherein the housing is rotatably connected to the supporting structure, and wherein a center of gravity of the power generator is arranged between at least one of the first and second geometric rotation axes and the downward facing side of the housing.

The first aspect of the invention may seek to arrange the power generating arrangement in a substantially horizontal position irrespective of an inclination of the vehicle to which the power generating arrangement is mounted. A technical benefit may include that any potential fluid arranged in the power generator is maintained at a bottom side, thereby reducing the risk of soaking components of the power generator that may be sensitive to interaction with fluids. Also, when fluid is located at an undesirable position within the power generator, there is a risk that components in need of fluid interaction may dry out. The first aspect of the invention may thus advantageously mitigate this potential problem. As a result, the operational capacity of the power generator can be maintained.

Further, providing a first pivot j oint and a second pivot j oint to define a respective first and second geometric rotation axis which are non-parallel to each other, the supporting structure may be arranged horizontal for substantially any inclination direction of the vehicle during operation. Moreover, by arranging the center of gravity of the power generator between at least one of the first and second geometric rotation axes and the downward facing side of the housing, i.e. below at least one of the first and second geometric rotation axes, a passive levelling of the power generator may be obtained.

The wording "power generator" should be construed as an arrangement configured to generate power. As will be described in further detail below, the power generator may be a fuel cell. The power generator preferably contains a fluid in liquid, humid and/or moisturized form, i.e. the state of the fluid is preferably one of liquid, humid or moisture. The power generator may thus alternatively, or additionally, be a piston engine in which e.g. a lubricant is arranged at a bottom end, and where it may be vital to keep the lubricant at the bottom end for obtaining sufficient lubrication of components forming part of the piston engine.

In some examples, the first and second geometric rotation axes may define a geometric plane, the center of gravity of the power generator arrangement being arranged between the geometric plane and the downward facing side of the housing. A technical advantage may be that a further improved passive levelling of the power generator may be obtained. By arranging the center of gravity below geometric plane, potential oscillations caused by sudden vehicle motions can also be reduced compared to positioning the center of gravity above the geometric plane.

In some examples, the supporting structure may comprise a first supporting portion and a second supporting portion, the second supporting portion being arranged between the housing and the first supporting portion. A technical advantage may be that the freedom to rotate the housing may be increased.

In some examples, the first pivot joint may be arranged on the first supporting portion, such that the first supporting portion is rotatably connectable to the frame structure of the vehicle.

In some examples, the second pivot joint may rotatably connect the second supporting portion to the first supporting portion about the second geometric rotation axis.

In some examples, the housing may be rotatably connected to the second supporting portion about the first geometric rotation axis.

In some examples, the first pivot joint may comprise a first bearing and the second pivot joint comprises a second bearing.

In some examples, the power generating arrangement may further comprise an actuator arrangement configured to control a rotation of the supporting structure about at least one of the first and second geometric rotation axes. A technical advantage may be that the actuator can enable for an active levelling of the power generator. Accordingly, and in some examples, the actuator arrangement may comprise a first actuator configured to control a rotation of the supporting structure about the first geometric rotation axis. A technical advantage may be that the first actuator can control a rotation around the first geometric axis.

In some examples, the first actuator may be arranged on the supporting structure at an opposite position compared to the first pivot joint and aligns with the first geometric rotation axis.

In some examples, the first actuator may be arranged at a first actuator position of the supporting structure, wherein the power generating arrangement further comprises a first actuator bearing configured to suspend the supporting structure at the first actuator position. A technical advantage may be that the first actuator bearing can enable for a sufficient and improved rotational functionality of the power generator by the first actuator.

In some examples, the actuator arrangement may comprise a second actuator configured to control a rotation of the supporting structure about the second geometric axis. A technical advantage may be that the actuator can enable for an active levelling of the power generator also by a rotation around the second geometric axis. Accordingly, and in some examples, the second actuator may be arranged on the supporting structure at an opposite position compared to the second pivot joint and aligns with the second geometric rotation axis.

In some examples, the second actuator may be arranged at a second actuator position of the supporting structure, wherein the power generating arrangement further comprises a second actuator bearing configured to suspend the supporting structure at the second actuator position. A technical advantage may be that the second actuator bearing can enable for a sufficient and improved rotational functionality of the power generator by the second actuator.

In some examples, the actuator arrangement may further comprise at least one rotation damper. A technical advantage may be that an increased rotational inertia is provided which can reduce the risk of undesirable power generator oscillations when e.g. the vehicle drives on a bumpy road surface.

In some examples, the rotation damper may be a rotation spring configured to control the rotation of the supporting structure. In some examples, the rotation damper may be a gas damper configured to control the rotation of the supporting structure.

In some examples, the actuator arrangement may be a hydraulic actuator arrangement.

In some examples, the actuator arrangement may be an electric actuator arrangement.

A hydraulic or electric actuator may be designed to enable for a rapidly adjustable actuator, such as to achieve a damping and spring constant to the system. Thus, it enables for active adjustment of the power generator arrangement when desired. This may be particularly advantageous for situations where an upcoming vibration situation is detected, where rapid actuator response can maintain the power generator arrangement is a substantial level position, i.e. the plane defined by the downward facing side can maintain substantially perpendicular to the direction of gravity. Accordingly, a hydraulic or electric actuator may be advantageously combined with predictive control via e.g. cameras, sensors, etc..

In some examples, the supporting structure may comprise a third pivot joint rotatable about a third geometric rotation axis, the third geometric axis being substantially perpendicular to the extension of the first and second geometric axes. A technical advantage may be that the power generator may be rotated when the vehicle is driven in operating conditions that has sudden rotations around a vertical rotation axis. This may be particularly advantageous for a power generating arrangement mounted to e.g. an excavator.

In some examples, the housing may be connected to the supporting structure such that the center of gravity of the power generator aligns with the third geometric axis.

In some examples, the power generating arrangement may further comprise at least one level sensor configured to detect an inclination of the vehicle. A technical advantage is that the level sensor may keep track of the position of the power generator relative a direction of gravity. Thus, rapid actions to maintain the power generator in a level position can be taken.

In some examples, the power generating arrangement may further comprise a control unit comprising a processor device configured to receive data from the at least one level sensor, the data being representative of an inclination of the vehicle, and in response to the inclination being non-perpendicular to a direction of gravity control the actuator arrangement to rotate the supporting structure to a position in which the first and second geometric rotation axes are arranged perpendicular to the direction of gravity. A technical advantage may be that a responsive action is taken to maintain the power generator at a desired position relative to the supporting structure.

In some examples, the power generating arrangement may further comprise a force sensor configured to detect acceleration forces of the vehicle. A technical advantage may be that an active levelling of the power generator can be obtained when detecting a sudden impact of the power generating arrangement. As an alternative, a pneumatic actuator may also be conceivable.

In some examples, the power generating arrangement may further comprise a topography detector operatively connected to the processor device, the topography detector being configured to detect a topography ahead of the vehicle. A technical advantage may be that precautionary actions can be taken for providing the power generator at a desired position before the vehicle arrives at the position ahead. The topography detector may, for example, be a GPS.

In some examples, the power generator may be a fuel cell comprising at least one fuel cell stack. A fuel cell may be particularly sensitive to inclined positioning. If a portion of the fuel cell is covered in water, the fuel cell may not be able to generate electric power. Further, water is more or less continuously produced by the fuel cell during operation, and a rotation of the fuel cell can negatively affect the drainage capability of the fuel cell. This may be particularly severe during transient operation of the fuel cell, i.e. when the need of power generation of the fuel cell can be crucial for properly feeding electric power to e.g. a high-voltage battery and/or an electric traction motor of the vehicle. The supporting structure may thus be particularly advantageous for a power generator in the form of a fuel cell.

In some examples, the outlet of the housing may be connected to an outlet of a cathode side of the fuel cell. A technical advantage may be that the produced water can be drained from the outlet of the cathode side and out through outlet of the housing.

According to a second aspect, there is provided a vehicle comprising the power generating arrangement according to any of the examples described above in relation to the first aspect.

According to a third aspect, there is provided a method of controlling a power generating arrangement of a vehicle, the method comprising determining an inclination of the vehicle, and in response to the inclination being non-perpendicular to a direction of gravity rotating at least one of a first and second pivot joints of a supporting structure connected to a housing of the power generating arrangement such that a first geometric rotation axis about which the first pivot joint is rotatable, and a second geometric rotation axis about which the second pivot joint is rotatable, are arranged perpendicular to the direction of gravity.

According to an example embodiment, the method may further comprise transmitting the inclination and associated position on map data to an external server. A technical advantage may be that other vehicles operating the same route may be provided with the inclination and control their corresponding power generating arrangement accordingly when arriving at the associated position.

Further effects and features of the third aspect are largely analogous to those described above in relation to the first aspect.

According to a fourth aspect, there is provided a computer program product comprising program code for performing, when executed by the processor device, the method of any of the examples described above in relation to the third aspect.

According to a fifth aspect, there is provided a control system comprising one or more control units configured to perform the method according to any of the examples described above in relation to the third aspect.

According to a sixth aspect, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of any of the examples described above in relation to the third aspect.

Effects and features of the fourth, fifth and sixth aspects are largely analogous to those described above in relation to the first and third aspects.

Additional features and advantages are disclosed in the following description, claims, and drawings.

With reference to the appended drawings, below follows a more detailed description of aspects of the invention cited as examples.

Aspects set forth below represent the necessary information to enable those skilled in the art to practice the invention.

The invention described in the following may keep the power generating arrangement in a substantially horizontal position irrespective of an inclination of the vehicle to which the power generating arrangement is mounted. A technical benefit may include that any potential fluid arranged in the power generator is maintained at a bottom side, thereby reducing the risk of soaking components of the power generator that may be sensitive to interaction with fluids.

Turning to <FIG> which is an exemplary illustration of a vehicle <NUM> according to one example. The vehicle <NUM> is depicted as a towing truck at which one or more trailers are connectable. Although the following will be described in relation to the vehicle <NUM> in the form of a truck, it should be readily understood that the invention described below is applicable also for other types of vehicles, such as working machines, buses, passenger cars, and even piston slope machines also referred to as snow groomers.

The vehicle <NUM> comprises a power generating arrangement <NUM> and a control unit <NUM>, also referred to as a processor device <NUM>, connected to the power generating arrangement <NUM> for controlling operation thereof. The power generator arrangement <NUM> is connected to a frame structure <NUM> of the vehicle <NUM> which is described in further detail below. The power generator arrangement <NUM> comprises a power generator <NUM> configured to generate power. As an example, the power generator <NUM> is a fuel cell comprising at least one fuel cell stack. The fuel cell is configured to generate electric power by receiving e.g. oxygen from ambient air and a hydrogen gas. The electric power generated by the fuel cell can be fed to e.g. one or more electric traction motors (not shown) of the vehicle <NUM> or to an energy storage system (not shown) of the vehicle, which energy storage system is preferably a high-voltage battery. As can also be seen in <FIG>, the vehicle <NUM> is defined in a coordinate system where the x-axis corresponds to the longitudinal extension of the vehicle, the y-axis corresponds to the transversal direction of the vehicle, and the z-axis corresponds to the vertical direction of the vehicle.

In order to describe the power generating arrangement <NUM> in further detail, reference is now made to <FIG>, which is an exemplary perspective illustration of the power generating arrangement <NUM> according to one example. As described above, the power generator arrangement <NUM> comprises a power generator <NUM>. The power generator <NUM> is schematically illustrated and will in the following be exemplified as a fuel cell. It should be readily understood that the components of the exemplified power generator arrangement in <FIG> should not be construed as being to scale, but rather that the <FIG> illustration serves as an example for simplifying the understanding of the interaction and functions of the various components of the invention as will be described in the following. Although not depicted, the fuel cell <NUM> contains a fluid. The fluid can be in liquid, humid and/or moisturized form. Thus, there may be a relatively high humidity in the fuel cell stack but liquid fluid should preferably not be standing inside the fuel cell <NUM> to avoid damage of components and to keep an operational capacity of the fuel cell as high as possible. In a fuel cell, liquid fluid in the form of water is continuously produced. The water is preferably drained through an outlet <NUM> of a housing <NUM> in which the fuel cell <NUM> is arranged, which is illustrated in <FIG>. The power generator arrangement <NUM> thus comprises the housing <NUM>. The outlet <NUM> of the housing <NUM> is thus preferably connected to an outlet of a cathode side of the fuel cell <NUM>.

The housing <NUM> comprises an upward facing side <NUM> and a downward facing side <NUM>. The upward facing side <NUM> is thus arranged vertically above the downward facing side <NUM> in relation to an upward direction of the coordinate system, i.e. in the z-direction. The outlet <NUM> described above is thus arranged at the downward facing side <NUM>. The housing <NUM> further comprises a front side <NUM> and a rear side <NUM> as seen in a forward direction of the coordinate system, i.e. in the x-direction. Also, the housing comprises a first lateral side <NUM> and a second lateral side <NUM>, where the first <NUM> and second <NUM> lateral sides are opposite lateral sides of the housing <NUM> as seen in the lateral direction of the coordinate system, i.e. in the y-direction.

The power generating arrangement <NUM> further comprising a supporting structure <NUM> configured to support the housing <NUM> to the frame structure <NUM>. Put it differently, the supporting structure <NUM> rotatably connects the housing <NUM> to the frame structure <NUM>, in <FIG> schematically depicted as a mechanical ground. Preferably, and as exemplified in <FIG>, the supporting structure <NUM> comprises a first supporting portion <NUM> and a second supporting portion <NUM>. The first supporting portion <NUM> encloses the second supporting portion <NUM>. As can be seen in <FIG>, the supporting structure <NUM> comprises a first pivot joint <NUM> exemplified as connecting the supporting structure <NUM> to the frame structure <NUM>. In further detail, the first pivot joint <NUM> rotatably connects the first supporting portion <NUM> to the frame structure <NUM>. The first pivot joint <NUM> is rotatable about a first geometric rotation axis <NUM>, which first rotation axis <NUM> is exemplified as extending in same direction as the y-axis of the coordinate system, i.e. in the lateral direction.

The supporting structure <NUM> also comprises a second pivot joint <NUM> exemplified as rotatably connecting the first supporting portion <NUM> to the second supporting portion <NUM>. The second pivot joint <NUM> is rotatable about a second geometric rotation axis <NUM>, which second rotation axis <NUM> is exemplified as extending in same direction as the x-axis of the coordinate system, i.e. in the longitudinal direction.

Further, the supporting structure <NUM> also comprises a housing pivot joint <NUM>. The housing pivot joint <NUM> is exemplified as rotatably connecting the housing <NUM> to the second supporting portion <NUM>. The housing pivot joint <NUM> is rotatable about the first geometric rotation axis <NUM> described above.

In the exemplified power generating arrangement <NUM> depicted in <FIG>, the first <NUM> and second <NUM> geometric rotation axes are non-parallel to each other. Preferably, the extension of the first geometric rotation axis <NUM> is perpendicular to the extension of the second geometric rotation axis <NUM>. As will be exemplified and described below with reference to <FIG>, a center of gravity of the power generator <NUM> is arranged between at least one of the first <NUM> and second <NUM> geometric rotation axes and the downward facing side <NUM> of the housing <NUM>.

Moreover, the first pivot joint <NUM> comprises a first bearing <NUM> and the second pivot joint <NUM> comprises a second bearing <NUM>. The first <NUM> and second <NUM> bearings enable for an improved rotation about the first <NUM> and second <NUM> rotation axes, respectively.

Furthermore, the exemplified power generating arrangement <NUM> may also comprise a third pivot joint <NUM> and a fourth pivot joint <NUM>. The third pivot joint <NUM> is arranged on the first supporting portion <NUM>, and connects the first supporting portion to the frame structure <NUM>. In further detail, the third pivot joint <NUM> rotatably connects the first supporting portion <NUM> to the frame structure <NUM>. The third pivot joint <NUM> is rotatable about the above described first geometric rotation axis <NUM>. The first <NUM> and third <NUM> pivot joints are thus arranged on opposite positions of the first supporting portion <NUM> as seen in the lateral direction.

The fourth pivot joint <NUM> rotatably connects the second supporting portion <NUM> to the first supporting portion <NUM>. The fourth pivot joint <NUM> is rotatable about the above described second geometric rotation axis <NUM>. The second <NUM> and fourth <NUM> pivot joints are thus arranged on opposite positions of the second supporting portion <NUM> as seen in the longitudinal direction.

The power generator arrangement <NUM> may also advantageously comprise an actuator arrangement <NUM>. The actuator arrangement <NUM> is configured to control a rotation of the supporting structure about at least one of the first <NUM> and second <NUM> geometric rotation axes. As depicted in <FIG>, the actuator arrangement <NUM> is connected to the processor device <NUM>, and is thus configured to receive data from processor device <NUM> to control operation of the actuator arrangement <NUM>. According to non-limiting examples, the actuator arrangement may be one of a hydraulic actuator arrangement comprising a hydraulic motor for controlling rotation, or an electric actuator arrangement comprising an electric motor for controlling rotation. As a still further alternative, the actuator arrangement may be a pneumatic actuator receiving pressurized air from a source of pressurized air of the vehicle.

In yet further detail, the actuator arrangement <NUM> may comprise a first actuator <NUM>. The first actuator <NUM> is configured to control a rotation of the housing <NUM> about the first geometric rotation axis <NUM>. Hence, the first actuator <NUM> is able to rotate the housing <NUM> relative to the frame structure <NUM> about the first geometric rotation axis <NUM>. As exemplified in <FIG>, the first actuator <NUM> is arranged on the supporting structure <NUM> at an opposite side of the housing <NUM>, i.e. at a first actuator position <NUM>, compared to the first pivot joint <NUM> and aligns with the first geometric rotation axis <NUM>. In detail, the exemplified first actuator <NUM> is arranged at the housing pivot joint <NUM>. In yet further detail, the first actuator <NUM> arranged between the housing <NUM> and the second supporting portion <NUM> and configured to actively provide a rotation of the housing about the first geometric rotation axis <NUM>.

Furthermore, the power generating arrangement <NUM> also comprises a first actuator bearing <NUM> configured to suspend the supporting structure at the first actuator position <NUM>.

As also exemplified in <FIG>, the actuator arrangement <NUM> further comprises a second actuator <NUM>. The second actuator <NUM> is configured to control a rotation of the supporting structure <NUM> about the second geometric axis <NUM>. Hence, the second actuator <NUM> is able to rotate the housing <NUM> relative to the frame structure <NUM> about the second geometric rotation axis <NUM>. As exemplified in <FIG>, the second actuator <NUM> is arranged on the supporting structure <NUM> at an opposite position, i.e. at a second actuator position <NUM>, compared to the second pivot joint <NUM> and aligns with the second geometric rotation axis <NUM>. In detail, the exemplified second actuator is arranged at the fourth pivot joint <NUM>. In yet further detail, the second actuator <NUM> is arranged to rotate the second supporting portion <NUM> relative to the first supporting portion <NUM>, i.e. to rotate the housing <NUM> relative to the frame structure of the vehicle <NUM> about the second geometric rotation axis <NUM>.

Furthermore, the power generating arrangement <NUM> also comprises a second actuator bearing <NUM> configured to suspend the supporting structure at the second actuator position <NUM>.

Moreover, the exemplified actuator arrangement <NUM> preferably comprises at least one rotation damper <NUM>. The first actuator <NUM> of the actuator arrangement <NUM> is exemplified in <FIG> as comprising a first rotation damper <NUM>, while the second actuator <NUM> of the actuator arrangement <NUM> is exemplified as comprising a second rotation damper <NUM>. The rotation damper <NUM>, i.e. the first <NUM> and second <NUM> rotation damper, is configured to control the rotation of the supporting structure. Thus, excessive swing-out of the supporting structure can be suppressed by means of the rotation damper <NUM>. The rotation damper may be a rotation spring, or a gas damper.

Reference is now made to <FIG>, which is an exemplary side view of a power generating arrangement <NUM> according to one example. As can be seen in <FIG>, the first <NUM> and second <NUM> geometric rotation axes define a geometric plane <NUM>. The geometric plane <NUM> is in <FIG> arranged in parallel with a geometric plane defined by the x- and y-axes of the coordinate system. The center of gravity <NUM> of the power generator arrangement <NUM> is arranged between the geometric plane <NUM> and the downward facing side <NUM> of the housing <NUM>. Put it differently, the center of gravity <NUM> of the power generator arrangement <NUM> is arranged below the geometric plane <NUM> as seen in the vertical direction of the vehicle, i.e. as seen in the z-direction of the coordinate system. <FIG> also exemplifies the outlet <NUM> of the housing <NUM>. The outlet <NUM> is connected to an outlet <NUM> of a cathode side of the fuel cell <NUM>.

Turning now to <FIG>, which is an exemplary perspective illustration of a power generating arrangement according to one example. The power generating arrangement <NUM> described below with reference to <FIG> comprises the same features as the power generating arrangement <NUM> described above in relation to <FIG>, and thus only the added features of the <FIG> example will be described in the following.

The exemplified power generating arrangement <NUM> of <FIG> comprises a supporting structure <NUM> in a similar vein as the <FIG> example. In addition, the supporting structure <NUM> comprises a third supporting portion <NUM> arranged inside the second supporting portion <NUM>. The third supporting portion <NUM> is rotatably connected to the supporting portion <NUM> by the housing pivot joint <NUM>. The supporting structure <NUM> also comprises a third pivot joint <NUM>. The third pivot joint <NUM> is rotatable about a third geometric rotation axis <NUM> which is substantially perpendicular to the extension of the first <NUM> and second <NUM> geometric axes. The third geometric rotation axis <NUM> is thus preferably parallel with the vertical axis of the vehicle, i.e. the z-axis of the coordinate system. The third pivot joint <NUM> is preferably rotatably connecting the housing <NUM> to the third supporting portion <NUM>. Preferably, the housing <NUM> is connected to the third supporting portion <NUM> such that the center of gravity of the power generator aligns with the third geometric axis <NUM>.

The third pivot joint <NUM> may also comprise an actuator connected to the processor device in a similar vein as described above in relation to the description of <FIG>, as well as a rotation damper.

The power generating arrangement <NUM> described above in relation to <FIG> may also comprise at least one level sensor which is configured to detect an inclination of the vehicle.

Such level sensor is preferably operatively connected to the processor device <NUM> to transmit data indicative of an inclination of the vehicle <NUM>. In response to the inclination of the vehicle being non-perpendicular to a direction of gravity, i.e. the z-direction of the vehicle is non-parallel with the direction of gravity, the processing circuitry may transmit data to the actuator arrangement, which data instructs the actuator arrangement to rotate the housing to a position such that the first and second geometric rotation axes are arranged perpendicular to the direction of gravity.

The power generating arrangement may also comprise a force sensor which is configured to detect acceleration forces of the vehicle. Hereby, if e.g. the vehicle bumps into an obstacle, the force sensor can transmit data to the processor device <NUM>, which in turn controls the actuator arrangement to rotate the housing to a position such that the first and second geometric rotation axes are arranged perpendicular to the direction of gravity.

Also, the power generating arrangement may further comprise a topography detector operatively connected to the processor device, the topography detector being configured to detect a topography ahead of the vehicle. The processor device may hereby control actuator arrangement before arriving at e.g. an upward sloping road surface.

The above described actuator arrangement may be particularly advantageous for levelling purposes of the power generating arrangement <NUM>, especially when combined with sensors, cameras or a vehicle steering system coupled to the processor device <NUM>. In particular, the actuator arrangement may control a rotation of the housing <NUM> based on a signal indicating that the vehicle will turn to the left or to the right. In such situation, the actuator arrangement can receive a signal in advance of such vehicle motion and actively control the rotation of the housing to maintain the housing, and in turn the power generator, in a level position.

Further, by using an actuator arrangement combined with cameras, a feed forward control of the power generating arrangement is possible. Hereby, a prediction can be made of an upcoming bumpy operating condition, and the resulting upcoming sudden motion of the power generator can be dampened. For example, a camera may predict that a bucket of a digger/excavator is forced into a pile of soil. The actuator arrangement may in such situation control damping of the housing <NUM> to thereby reduce the upcoming pendulum motion.

Hence, the amplitude as well as the duration of the pendulum motion can in such situation be reduced.

Turning now to <FIG> which is an exemplary flow chart of a method of controlling the power generating arrangement <NUM> according to one example. During operation, an inclination of the vehicle <NUM> is determined S1. At least one of the first and second pivot joints of a supporting structure connected to a housing of the power generator is rotated S2 in response to the inclination being non-perpendicular to a direction of gravity. By the rotation, the first geometric rotation axis <NUM> and a second geometric rotation axis <NUM> are hereby arranged perpendicular to the direction of gravity.

Turning now to <FIG> is a schematic diagram of a computer system <NUM> for implementing examples disclosed herein. The computer system <NUM> is adapted to execute instructions from a computer-readable medium to perform these and/or any of the functions or processing described herein. The computer system <NUM> may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system <NUM> may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc..

The computer system <NUM> may comprise at least one computing device or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system <NUM> may include a processor device <NUM> (may also be referred to as a control unit), a memory <NUM>, and a system bus <NUM>. The computer system <NUM> may include at least one computing device having the processor device <NUM>. The system bus <NUM> provides an interface for system components including, but not limited to, the memory <NUM> and the processor device <NUM>. The processor device <NUM> may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory <NUM>. The processor device <NUM> (e.g., control unit) may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processor device may further include computer executable code that controls operation of the programmable device.

The system bus <NUM> may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory <NUM> may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory <NUM> may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory <NUM> may be communicably connected to the processor device <NUM> (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory <NUM> may include non-volatile memory <NUM> (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory <NUM> (e.g., random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with a processor device <NUM>. A basic input/output system (BIOS) <NUM> may be stored in the non-volatile memory <NUM> and can include the basic routines that help to transfer information between elements within the computer system <NUM>.

A number of modules can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device <NUM> and/or in the volatile memory <NUM>, which may include an operating system <NUM> and/or one or more program modules <NUM>. All or a portion of the examples disclosed herein may be implemented as a computer program product <NUM> stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device <NUM>, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processor device <NUM> to carry out the steps described herein. Thus, the computer-readable program code can comprise software instructions for implementing the functionality of the examples described herein when executed by the processor device <NUM>. The processor device <NUM> may serve as a controller or control system for the computer system <NUM> that is to implement the functionality described herein.

The computer system <NUM> also may include an input device interface <NUM> (e.g., input device interface and/or output device interface). The input device interface <NUM> may be configured to receive input and selections to be communicated to the computer system <NUM> when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processor device <NUM> through the input device interface <NUM> coupled to the system bus <NUM> but can be connected through other interfaces such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) <NUM> serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system <NUM> may include an output device interface <NUM> configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system <NUM> may also include a communications interface <NUM> suitable for communicating with a network as appropriate or desired.

The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the invention.

For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present invention.

Claim 1:
A power generating arrangement (<NUM>) for a vehicle (<NUM>), the power generating arrangement comprising:
- a power generator (<NUM>) configured to contain a fluid in liquid, humid and/or moisturized form, and
- a housing (<NUM>) comprising an upward facing side (<NUM>) and a downward facing side (<NUM>), wherein the power generator is arranged in the housing, the housing comprising an outlet (<NUM>) configured to drain the fluid, wherein the outlet is arranged at the downward facing side, characterized in that the power generating arrangement further comprises:
- a supporting structure (<NUM>) comprising a first pivot joint (<NUM>) rotatable about a first geometric rotation axis (<NUM>), and a second pivot joint (<NUM>) rotatable about a second geometric rotation axis (<NUM>), wherein the first and second geometric rotation axes are non-parallel to each other, the supporting structure being connectable to a frame structure (<NUM>) of the vehicle at the first pivot joint,
wherein the housing is rotatably connected to the supporting structure, and wherein a center of gravity (<NUM>) of the power generator is arranged between at least one of the first and second geometric rotation axes and the downward facing side of the housing.