Patent Grant
10301155
The present invention relates in general to materials handling vehicles, and more particularly, to sensor configurations for detecting objects in or near a path of travel of a vehicle.
Low level order picking trucks are commonly used for picking stock in warehouses and distribution centers. Such order picking trucks typically include load carrying forks, a power unit and a platform upon which an operator may step and ride while controlling the truck. The power unit has a steerable wheel and corresponding traction and steering control mechanisms, e.g., a movable steering arm that is coupled to the steerable wheel. A control handle attached to the steering arm typically includes the operational controls necessary for operating the truck, such as controls for raising and lowering the forks and for controlling the speed and direction (forward or reverse) of the truck.
In a typical stock picking operation, an operator fills orders from available stock items that are located in storage areas provided on both sides of a plurality of aisles of a warehouse or distribution center. The operator drives a low lever order picking truck to a first location where item(s) on a first order are to be picked. In a pick process, the operator retrieves the ordered stock item(s) from their associated storage area(s) and places the picked stock on a pallet, collection cage or other support structure carried by the forks of the order picking truck. The operator then advances the order picking truck to the next location where item(s) are to be picked. The above process is repeated until all stock items on the order(s) have been picked.
The operator normally steps onto the truck platform to ride on the order picking truck when the distance between consecutive picks is longer, for example twenty or more feet (approximately 6.1 meters). Correspondingly, the operator walks alongside the truck when the distance along the route between consecutive picks is short. Accordingly, some order picking trucks include jog switches located on the truck in the vicinity of the forks and/or on or near the control handle. The jog switches can be used by an operator walking alongside the order picking truck to accelerate the truck to a walking speed, typically between approximately 1.6 miles per hour (3.3 kilometers per hour) to around 3.5 miles per hour (5.6 kilometers per hour) to move from one stock pick location to the next stock pick location without the need to step onto the platform of the order picking truck. However, for such actions, the operator is required to interrupt picking while the order picking truck is relocated to the next location. Thus, the operator may be required to move out of a desired working position or modify a desired walking route to reach the jog switches.
It is not uncommon for an operator to be required to repeat the pick process several hundred times per order. Moreover, the operator may be required to pick numerous orders per shift. As such, the operator may be required to spend a considerable amount of time relocating and repositioning the order picking truck, which reduces the time available for the operator to spend picking stock.
According to a first aspect of the present invention, a materials handling vehicle comprises a power unit; a load handling assembly coupled to the power unit; at least one obstacle detector mounted to the power unit; and a controller. The at least one obstacle detector detects object located along a path of travel of the power unit, and generate a distance signal upon detecting an object corresponding to a distance between the detected object and the power unit. The controller receives the distance signal and generates a corresponding vehicle stop or predetermined maximum allowable speed signal based on the distance signal, wherein if a sensed object is located within a speed zone associated with a predetermined maximum allowable travel speed comprising a fixed speed greater than zero (0) miles per hour, as determined by the distance signal, the vehicle speed is reduced to the predetermined maximum allowable vehicle speed.
The materials handling vehicle may further comprise a load sensor to generate a weight signal indicative of a weight of a load on the load handling assembly. The controller may receive the distance signal and the weight signal to generate a corresponding vehicle stop or predetermined maximum allowable speed signal based on the distance and weight signals. For a given first load weight, if a sensed object is located at a distance within a first detection zone, a stop signal may be generated by the controller to effect stopping of the vehicle. For the given first load weight, if a sensed object is located at a distance within a second detection zone comprising the speed zone spaced further away from the power unit than the first detection zone, then the predetermined maximum allowable vehicle speed may be defined corresponding to the first load weight and an object being detected in the second detection zone. For the given first load weight, if a sensed object is located at a distance within a third detection zone spaced further away from the power unit than the first and second detection zones, then a second predetermined maximum allowable vehicle speed comprising a fixed speed greater than the first predetermined maximum speed may be defined corresponding to the first load weight and an object being detected in the third detection zone.
The materials handling vehicle may further comprise a presence sensor that detects the presence of an operator in the operator's station of the materials handling vehicle, wherein the controller is responsive to remote travel requests and determines whether to implement each remote travel request based on the evaluation of at least one vehicle condition, the at least one vehicle condition evaluated by the controller comprising a status of the presence sensor, wherein the controller is configured to decide to not implement the remote travel request if the status from the presence sensor is indicative of the presence of an operator in the operator's station of the materials handling vehicle. The remote travel request may comprise a wireless travel request sent by a wireless remote control device donned by an operator interacting with the materials handling vehicle.
According to a second aspect of the present invention, a materials handling vehicle comprises a power unit; a load handling assembly coupled to the power unit; at least one obstacle detector mounted to the power unit; a load sensor; and a controller. The at least one obstacle detector detects object located along a path of travel of the power unit, and generate a distance signal upon detecting an object corresponding to a distance between the detected object and the power unit. The load sensor generates a weight signal indicative of a weight of a load on the load handling assembly. The controller receives the distance signal and the weight signal and generates a corresponding vehicle stop or predetermined maximum allowable speed signal based on the distance and weight signals, wherein if a sensed object is located within a speed zone associated with a predetermined maximum allowable travel speed comprising a fixed speed greater than zero (0) miles per hour, as determined by the distance signal, the vehicle speed is reduced to the predetermined maximum allowable vehicle speed.
The following description of the preferred embodiments of the present invention can be best understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals, and in which:
In the following detailed description of the illustrated embodiments, reference is made to the accompanying drawings that form a part hereof, and in which is shown by way of illustration, and not by way of limitation, specific embodiments in which the invention may be practiced. It is to be understood that other embodiments may be utilized and that changes may be made without departing from the spirit and scope of various embodiments of the present invention.
Referring now to the drawings, and particularly to
The illustrated power unit 14 comprises a step-through operator's station dividing a first end section of the power unit 14 (opposite the forks 16) from a second end section (proximate the forks 16). The step-through operator's station provides a platform upon which an operator may stand to drive the truck 10. The platform also provides a position from which the operator may operate the load handling features of the truck 10. Presence sensors 58 may be provided, e.g., on, above, or under the platform floor of the operator's station. Still further, presence sensors 58 may be otherwise provided about the operator's station to detect the presence of an operator on the truck 10. In the exemplary truck of
An antenna 66 extends vertically from the power unit 14 and is provided for receiving control signals from a corresponding remote control device 70. The remote control device 70 may comprise a transmitter that is worn or otherwise maintained by the operator. As an example, the remote control device 70 may be manually operable by an operator, e.g., by pressing a button or other control, to cause the device 70 to wirelessly transmit at least a first type signal designating a travel request to the vehicle, thus requesting the vehicle to travel by a predetermined amount. The remote control device 70 may comprise a glove-like structure 70, see
The remote control device may alternatively comprise a finger-mounted remote control device 170, as illustrated in
The wireless transmitter/power pack unit 176 is releasably held within the docking area 175 via the latch 173, see
The rigid base 172 is provided with a first slot 172A for receiving a holding strap 190, which will be discussed below, see
The finger-mounted remote control device 170 further comprises control structure 180. The control structure 180 comprises a backing plate 182 having a recess 282A and a two-state switch 183 received in the recess 282A. Conductors or wires (not shown) extend from the switch 183 to a lower surface 178B of the contact plate 178 such that signals generated by the switch 183 when activated, as will be discussed below, are delivered via the conductors to the contact plate 178 and from the contact plate 178 to the transmitter/power pack unit 176. The backing plate 182 further comprises four bores 182A and a curved lower surface 182C, which defines a portion of the first finger receiving area 200, see
The control structure 180 further comprises a button and support plate assembly 184. The support plate assembly 184 may be formed from a rigid polymeric material and comprises four bores 184A that align with the four bores 182A in the backing plate 182. A “Go” button 184B, defined by a flexible polymeric member, is integral with or coupled to a surrounding portion of the support plate 184. The button 184B covers the switch 183. A lower portion 185 of the support plate assembly 184 is provided with a second slot 185A for receiving the holding strap 190. A curved lower surface 185B of the support plate lower portion 185 defines a portion of the first finger receiving area 200, see
As illustrated in
The finger-mounted remote control device 170 is compact. As is apparent from
The control device 170 is releasably held on the operator's index and middle fingers via the holding strap 190. A first end 190A of the holding strap 190 is threaded through the first slot 172A in the rigid base 172 and the second slot 185A in the lower portion 185 of the support plate 184. A second end 190B of the strap 190 is enlarged so as not to pass through the first slot 172A, see
It is contemplated that the finger-mounted remote control device 170 may be worn by an operator over a glove. In the illustrated embodiment, the finger-mounted remote control device 170 is durable and long lasting since the rigid base 172, the upper housing 174 and the outer cover plate 186 are preferably formed from a durable and rigid polymeric material, such as acrylonitrile butadiene styrene (ABS), polycarbonate or nylon. The rigid base 172, the upper housing 174 and the outer cover plate 186 define a durable, generally non-flexible and rigid mounting structure 270.
An operator can easily manually actuate the go button 184B via his thumb, thereby actuating the switch 183, to cause the wireless transmitter/power pack unit 176 to wirelessly transmit at least a first type signal designating a travel request or command to the vehicle. It is contemplated that the travel request may result in the vehicle 10 traveling by a predetermined distance or for a predetermined amount of time. It is also contemplated that a brief actuation of the go button 184B may result in the vehicle 10 traveling for a predetermined distance or for a predetermined amount of time, while a prolonged actuation of the go button 184B may result in continuous movement of the vehicle 10 until the go button 184B is released.
It is noted that the finger-mounted remote control device 170 described herein is an exemplary configuration and may be structurally modified without departing from the spirit and scope of the invention. For example, one or more components of the finger-mounted remote control device 170 may be combined in an integral component, or components may be substituted for alternate components that effect a similar/identical purpose. As a few examples, the support plate assembly 184 and the outer cover plate 186 may be combined into an integral piece, which integral piece may be coupled to the backing plate 182 by structure other than screws 186B.
The truck 10 also comprises one or more obstacle sensors 76, which are provided about the vehicle, e.g., towards the first end section of the power unit 14 and/or to the sides of the power unit 14. The obstacle sensors 76 include at least one contactless obstacle sensor on the vehicle, and are operable to define at least one detection zone (also referred to herein as scan zones), each detection zone defining an area at least partially in front of a forward traveling direction of the vehicle when the vehicle is traveling under remote control in response to a travel request as will be described in greater detail herein. The obstacle sensors 76 may comprise any suitable proximity detection technology, such as ultrasonic sensors, optical recognition devices, infrared sensors, laser sensors, etc., which are capable of detecting the presence of objects/obstacles within the predefined detection zones of the power unit 14.
In practice, the truck 10 may be implemented in other formats, styles and features, such as an end control pallet truck that includes a steering tiller arm that is coupled to a tiller handle for steering the truck. In this regard, the truck 10 may have similar or alternative control arrangements to that shown in
Referring to
In an exemplary arrangement, the remote control device 70, 170 is operative to wirelessly transmit a control signal that represents a first type signal such as a travel command to the receiver 102 on the truck 10. The travel command is also referred to herein as a “travel signal”, “travel request” or “go signal”. The travel request is used to initiate a request to the truck 10 to travel by a predetermined amount, e.g., to cause the truck 10 to advance or jog in a first direction by a limited travel distance. The first direction may be defined, for example, by movement of the truck 10 in a power unit 14 first, i.e., forks 16 to the back, direction. However, other directions of travel may alternatively be defined. Moreover, the truck 10 may be controlled to travel in a generally straight direction or along a previously determined heading. Correspondingly, the limited travel distance may be specified by an approximate travel distance, travel time or other measure.
Thus, a first type signal received by the receiver 102 is communicated to the controller 103. If the controller 103 determines that the travel signal is a valid travel signal and that the current vehicle conditions are appropriate (explained in greater detail below), the controller 103 sends a signal to the appropriate control configuration of the particular truck 10 to advance and then stop the truck 10. As will be described in greater detail herein, stopping the truck 10 may be implemented, for example, by either allowing the truck 10 to coast to a stop or by applying a brake to stop the truck.
As an example, the controller 103 may be communicably coupled to a traction control system, illustrated as a traction motor controller 106 of the truck 10. The traction motor controller 106 is coupled to a traction motor 107 that drives at least one steered wheel 108 of the truck 10. The controller 103 may communicate with the traction motor controller 106 so as to accelerate, decelerate, adjust and/or otherwise limit the speed of the truck 10 in response to receiving a travel request from the remote control device 70, 170. The controller 103 may also be communicably coupled to a steer controller 112, which is coupled to a steer motor 114 that steers at least one steered wheel 108 of the truck 10. In this regard, the truck may be controlled by the controller 103 to travel an intended path or maintain an intended heading in response to receiving a travel request from the remote control device 70, 170.
As yet another illustrative example, the controller 103 may be communicably coupled to a brake controller 116 that controls truck brakes 117 to decelerate, stop or otherwise control the speed of the truck in response to receiving a travel request from the remote control device 70, 170. Still further, the controller 103 may be communicably coupled to other vehicle features, such as main contactors 118, and/or other outputs 119 associated with the truck 10, where applicable, to implement desired actions in response to implementing remote travel functionality.
According to various aspects of the present invention, the controller 103 may communicate with the receiver 102 and with the traction controller 106 to operate the vehicle under remote control in response to receiving travel commands from the associated remote control device 70, 170. Moreover, the controller 103 may be configured to perform a first action if the vehicle is traveling under remote control in response to a travel request and an obstacle is detected in a first one of the detection zones. The controller 103 may be further configured to perform a second action different from the first action if the vehicle is traveling under remote control in response to a travel request and an obstacle is detected in a second one of the detection zones. In this regard, when a travel signal is received by the controller 103 from the remote control device 70, 170, any number of factors may be considered by the controller 103 to determine whether the travel signal should be acted upon and what action(s) should be taken, if any. The particular vehicle features, the state/condition of one or more vehicle features, vehicle environment, etc., may influence the manner in which controller 103 responds to travel requests from the remote control device 70, 170.
The controller 103 may also refuse to acknowledge the travel signal depending upon vehicle condition(s), e.g., that relate to environmental or/operational factor(s). For example, the controller 103 may disregard an otherwise valid travel request based upon information obtained from one or more of the sensors 58, 76. For example, according to various aspects of the present invention, the controller 103 may optionally consider factors such as whether an operator is on the truck 10 when determining whether to respond to a travel command from the remote control device 70, 170. For example, as noted above, the truck 10 may comprise at least one presence sensor 58 for detecting whether an operator is positioned on the vehicle. In this regard, the controller 103 may be further configured to respond to a travel request to operate the vehicle under remote control when the presence sensor(s) 58 designate that no operator is on the vehicle.
Any other number of reasonable conditions may also/alternatively be implemented by the controller 103 to interpret and take action in response to received signals. Other exemplary factors are set out in greater detail in U.S. Provisional Patent Application Ser. No. 60/825,688, filed Sep. 14, 2006 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” U.S. patent application Ser. No. 11/855,310, filed Sep. 14, 2007 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” U.S. patent application Ser. No. 11/855,324, filed Sep. 14, 2007 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” U.S. Provisional Patent Application Ser. No. 61/119,952, filed Dec. 4, 2008 entitled “MULTIPLE ZONE SENSING FOR REMOTELY CONTROLLED MATERIALS HANDLING VEHICLES,” and U.S. Provisional Patent Application Ser. No. 61/234,866, filed Aug. 18, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE,” the disclosures of which are each already incorporated by reference herein.
Upon acknowledgement of a travel request, the controller 103 interacts with the traction motor controller 106, e.g., directly, indirectly, via the CAN bus 110, etc., to advance the truck 10. Depending upon the particular implementation, the controller 103 may interact with the traction motor controller 106 to advance the truck 10 by a predetermined distance. Alternatively, the controller 103 may interact with the traction motor controller 106 to advance the truck 10 for a period of time in response to the detection and maintained actuation of a travel control on the remote 70. Further alternatively, the truck 10 may be configured to jog for as long as a travel control signal is received. Still further alternatively, the controller 103 may be configured to “time out” and stop the travel of the truck 10 based upon a predetermined event, such as exceeding a predetermined time period or travel distance regardless of the detection of maintained actuation of a corresponding control on the remote control device 70, 170.
The remote control device 70, 170 may also be operative to transmit a second type signal, such as a “stop signal”, designating that the truck 10 should brake and/or otherwise come to rest. The second type signal may also be implied, e.g., after implementing a “travel” command, e.g., after the truck 10 has traveled a predetermined distance, traveled for a predetermined time, etc., under remote control in response to the travel command. If the controller 103 determines that the signal is a stop signal, the controller 103 sends a signal to the traction controller 106, the brake controller 116 and/or other truck component to bring the truck 10 to a rest. As an alternative to a stop signal, the second type signal may comprise a “coast signal”, designating that the truck 10 should coast, eventually slowing to rest or a “controlled deceleration signal.”
The time that it takes to bring the truck 10 to a complete rest may vary, depending for example, upon the intended application, the environmental conditions, the capabilities of the particular truck 10, the load on the truck 10 and other similar factors. For example, after completing an appropriate jog movement, it may be desirable to allow the truck 10 to “coast” some distance before coming to rest so that the truck 10 stops slowly. This may be achieved by utilizing regenerative braking to slow the truck 10 to a stop. Alternatively, a braking operation may be applied after a predetermined delay time to allow a predetermined range of additional travel to the truck 10 after the initiation of the stop operation. It may also be desirable to bring the truck 10 to a relatively quicker stop, e.g., if an object is detected in the travel path of the truck 10 or if an immediate stop is desired after a successful jog operation. For example, the controller may apply predetermined torque to the braking operation. Under such conditions, the controller 103 may instruct the brake controller 116 to apply the brakes 117 to stop the truck 10.
Referring to
Although six obstacle sensors 76 are shown for purposes of clarity of discussion herein, any number of obstacle sensors 76 may be utilized. The number of obstacle sensors 76 will likely vary, depending upon the technology utilized to implement the sensor, the size and/or range of the detection zones, the number of detection zones, and/or other factors.
In the illustrative example, a first detection zone 78A is located proximate to the power unit 14 of the truck 10. A second detection zone 78B is defined adjacent to the first detection zone 78A and appears to generally circumscribe the first detection zone 78A. A third area is also conceptually defined as all area outside the first and second detection zones 78A, 78B. Although the second detection zone 78B is illustrated as substantially circumscribing the first detection zone 78A, any other practical arrangement that defines the first and second detection zones 78A, 78B may be realized. For example, all or certain portions of the detection zones 78A, 78B may intersect, overlap or be mutually exclusive. Moreover, the particular shape of the detection zones 78A, 78B can vary. Still further, any number of detection zones may be defined, further examples of which are described in greater detail herein.
Still further, the detection zones need not surround the entire truck 10. Rather, the shape of the detection zones may be dependent upon the particular implementation as set out in greater detail herein. For example, if the detection zones 78A, 78B are to be used for speed control while the truck 10 is moving without an operator riding thereon, under remote travel control in a power unit first (forks to the rear) orientation, then the detection zones 78A, 78B may be oriented forward of the direction of travel of the truck 10. However, the detection zones can also cover other areas, e.g., adjacent to the sides of the truck 10.
According to various aspects of the present invention, the first detection zone 78A may further designate a “stop zone”. Correspondingly, the second detection zone 78B may further designate a “first speed zone”. Under this arrangement, if an object, e.g., some form of obstacle is detected within the first detection zone 78A, and the materials handling vehicle 10 is traveling under remote control in response to a travel request, then the controller 103 may be configured to implement an action such as a “stop action” to bring the truck 10 to a stop. In this regard, travel of the truck 10 may continue once the obstacle is clear, or a second, subsequent travel request from the remote control device 70, 170 may be required to restart travel of the truck 10.
If a travel request is received from the remote control device 70, 170 while the truck is at rest and an object is detected within the first detection zone 78A, then the controller 103 may refuse the travel request and keep the truck at rest until the obstacle is cleared out of the stop zone.
If an object/obstacle is detected within the second detection zone 78B, and the materials handling vehicle 10 is traveling under remote control in response to a travel request, then the controller 103 may be configured to implement a different action. For example, the controller 103 may implement a first speed reduction action to reduce the speed of the vehicle to a first predetermined speed, such as where the vehicle is traveling at a speed greater than the first predetermined speed.
Thus, assume the truck 10 is traveling in response to implementing a travel request from the remote control device at a speed V2 as established by a set of operating conditions where the obstacle sensors 76 do not detect an obstacle in any detection zone. If the truck is initially at rest, the truck may be accelerated up to speed V2. The detection of an obstacle within the second detection zone 78B (but not the first detection zone 78A) may cause the truck 10, e.g., via the controller 103 to alter at least one operational parameter, e.g., to slow down the truck 10 to a first predetermined speed V1, which is slower than the speed V2. That is, V1<V2. Once the obstacle is cleared from the second detection zone 78B, the truck 10 may resume its speed V2, or the truck 10 may maintain its speed V1 until the truck stops and the remote control device 70, 170 initiates another travel request. Still further, if the detected object is subsequently detected within the first detection zone 78A, the truck 10 will be stopped as described more fully herein.
Assume as an illustrative example, that the truck 10 is configured to travel at a speed of approximately 2.5 miles per hour (mph) (4 Kilometers per hour (Km/h)) if the truck 10 is traveling without an operator onboard and is under remote control in response to a travel request from a corresponding remote control 70, so long as no object is detected in a defined detection zone. If an obstacle is detected in the second detection zone 78B, then the controller 103 may adjust the speed of the truck 10 to a speed of approximately 1.5 mph (2.4 Km/h) or some other speed less than 2.5 miles per hour (mph) (4 Kilometers per hour (Km/h)). If an obstacle is detected in the first detection zone 78A, then the controller 103 stops the truck 10.
The above example assumes that the truck 10 is traveling under remote control. In this regard, the obstacle sensors 76 can be used to adjust the operating conditions of the unoccupied truck 10. However, the obstacle sensors 76 and corresponding controller logic may also be operative when the truck 10 is being driven by an operator, e.g., riding on the platform or other suitable location of the truck 10. Thus, according to various aspects of the present invention, the controller 103 may stop the vehicle or refuse to allow the vehicle to move if an object is detected within the stop zone 78A regardless of whether the truck is being driven by an operator or operating under remote control. Correspondingly, depending upon the specific implementation, its speed control capability of the second detection zone 78B may be implemented regardless of whether the vehicle is operating under remote control, or whether an operator is riding on the vehicle while driving it.
However, according to various aspects of the present invention, there may be situations where it is desirable to disable one or more of the detection zones when the truck 10 is being driven by an operator. For example, it may be desirable to override/disable the obstacle sensors 76/controller logic while the operator is driving the truck 10 regardless of external conditions. As a further example, it may be desirable to override/disable the obstacle sensors 76/controller logic while the operator is driving the truck 10 to allow the operator to navigate the truck 10 in tight quarters, e.g., to navigate tight spaces, travel around corners, etc., that might otherwise activate one or more of the detection zones. As such, the activation of the controller logic to utilize the detection of objects in the detection zones to help control the vehicle while the vehicle is occupied by an operator, according to various aspects of the present invention, may be manually controlled, programably controlled or otherwise selectively controlled.
According to other aspects of the present invention, it may be desirable to disable one or more of the detection zones when an operator is walking alongside the truck 10 and controlling operation of the truck 10 with a supplemental control, such as a jog switch/button, e.g., located on a side portion of the truck 10. Such a jog switch may be used to move or jog the truck 10 in a forward direction at a predetermined and preferably low speed, as will be apparent to those skilled in the art. For example, it may be desirable to override/disable the obstacle sensors 76/controller logic while the operator is actuating the jog switch regardless of external conditions. As a further example, it may be desirable to override/disable the obstacle sensors 76/controller logic while the operator is actuating the jog switch to allow the operator to navigate the truck 10 in tight quarters, e.g., to navigate tight spaces, travel around corners, etc., that might otherwise activate one or more of the detection zones. As yet a further example, upon the operator releasing the jog switch, the truck 10 may coast to a stop. Upon the releasing of the jog switch and the truck 10 coasting, one or more of the disabled detection zones may be enabled, i.e., by enabling one or more of the obstacle sensors 76/controller logic.
Referring to
According to further aspects of the present invention, multiple obstacle sensors 76 can work together to obtain object sensing. For example, a first ultrasonic sensor may send out a ping signal. The first ultrasonic sensor and one or more additional ultrasonic sensors may then listen for a response. In this way, the controller may use diversity in identifying the existence of an object within one or more of the detection zones.
With reference to
If an object such as an obstacle is detected in the third detection zone 78C and the truck 10 is moving under remote control, then a third action may be performed, e.g., the truck 10 may be reduced in speed or otherwise limited to a second speed, e.g., approximately 2.5 mph (4 Km/h). Thus, the third detection zone may further designate a second speed zone. If no obstacles are detected in the first, second and third detection zones 78A, 78B, 78C, then the vehicle may be remotely controlled to travel, e.g., in response to a remote travel request, at a rate that is greater than the rate of speed when an obstacle is in the third detection zone, e.g., a speed of approximately 4 mph (6.2 Km/h).
As
According to various aspects of the present invention, any number of detection zones of any shape may be implemented. For example, depending upon desired truck performance, many small zones may be defined at various coordinates relative to the truck 10. Similarly, a few large detection zones may be defined base upon desired truck performance. As an illustrative example, a database, equation, function or other means of data comparison, such as a look-up table may be set up in the memory of the controller. If travel speed while operating under remote travel control is an operational parameter of interest, then the table may associate travel speed with the detection zones defined by distance, range, position coordinates or some other measure. If the truck 10 is traveling under remote control and an obstacle sensor detects an object, then the distance to that detected object may be used as a “key” to look up a corresponding travel speed in the table. The travel speed retrieved from the table can be utilized by the controller 103 to adjust the truck 10, e.g., to slow it down, etc.
Depending upon factors such as the desired speed of the truck when operating under remote control and the required stopping distance, the anticipated load to be transported by the truck 10, whether a certain amount of coast is required for load stability, vehicle reaction time, etc., the areas of each detection zone may be chosen. Moreover, factors such as the range of each desired detection zone etc. may be considered to determine the number of obstacle sensors 76 required. In this regard, such information may be static, or dynamic, e.g., based upon operator experience, vehicle load, nature of the load, environmental conditions, etc.
It is also contemplated that the controller 103 may generate a warning signal or alarm if an object or a person is detected in a detection zone.
As an illustrative example, in a configuration with multiple detection zones, e.g., three detection zones, as many as seven or more object detectors, e.g., ultrasonic sensors and/or laser sensors may be required to provide a range of coverage desired by a corresponding application. In this regard, the detector(s) may be able to look ahead of the direction of travel of the vehicle by a sufficient distance to allow the appropriate response, e.g., to slow down. In this regard, at least one sensor may be capable of looking several meters forward in the direction of travel of the truck 10.
According to various aspects of the present invention, the multiple detection speed zones allows a relatively greater maximum forward travel speed while operating under remote control that prevents unnecessarily early vehicle stops by providing one or more intermediate zones where the vehicle slows down before deciding to come to a complete stop.
According to further aspects of the present invention, the utilization of multiple detection zones allows a system that rewards the corresponding operator for better alignment of the truck 10 during pick operations. For example, an operator may position the truck 10 so as to not be aligned with a warehouse aisle. As such, as the vehicle is jogged forward, the second detection zone 78B may initially detect an obstacle such as a pick bin or warehouse rack. In response to detecting the rack, the vehicle will slow down. If the rack is sensed in the first detection zone 78A, then the vehicle will come to rest, even if the truck 10 has not jogged its entire programmed jog distance. Similar un-necessary slow-downs or stops may also occur in congested and/or messy aisles.
According to various aspects of the present invention, the truck 10 may shape speed and braking operation parameters based upon the information obtained from the obstacle sensors 76. Moreover, the logic implemented by the truck 10 in response to the detection zones may be changed or varied depending upon a desired application. As a few illustrative examples, the boundaries of each zone in a multiple zone configuration may be programably (and/or reprogramably) entered in the controller, e.g., flash programmed. In view of the defined zones, one or more operational parameters may be associated with each zone. The established operational parameters may define a condition, e.g., maximum allowable travel speed, an action, e.g., brake, coast or otherwise come to a controlled stop, etc. The action may also be an avoidance action. For example, an action may comprise adjusting a steer angle or heading of the truck 10.
In accordance with a further embodiment of the present invention, one or more obstacle sensors, such as the obstacle sensors 76A, 76B shown in
Values defining the vehicle stop and maximum allowable speed signals may be experimentally determined and stored in a look-up table, such as the one illustrated in
With reference to the example lookup table in
For any load weight on the forks 16, if an object is detected in the first detection zone, the controller 103 generates a “stop signal,” designating that the vehicle 10 brake. For any given load weight, the maximum allowable speed of the vehicle is less if an object is detected in the second or the third detection zone as compared to a state where no object is being detected. Also for any given load weight, the maximum allowable speed of the vehicle is less if an object is detected in the second detection zone as compared to when an object is detected in the third detection zone. The maximum allowable vehicle speeds for the second and third detection zones are defined for each load weight so that the vehicle's speed can be reduced in a controlled manner as the vehicle continues to move towards the object so that the vehicle can eventually be safely brought to a stop prior to the truck reaching the point where the object is located. These speeds are experimentally determined and can vary based on vehicle type, size and its braking capabilities.
For example, if the load weight on the vehicle equals 1500 pounds, and an object is sensed in the first detection zone, which first zone is nearest to the vehicle power unit 14, then a stop signal is generated by the controller 103 to effect stopping of the vehicle 10, see
The obstacle sensors may comprise ultrasonic transducers. Ultrasonic transducers are known to experience a phenomena known as transducer “ring down.” Essentially “ring down” is the tendency of a transducer to continue to vibrate and transmit ultrasonic signals after the control signal that is used for initiating a transmitted signal has ceased. This “ring down” signal decreases in magnitude rather rapidly, but during the time that it is decreasing to a level below a threshold detection level, detection structure forming part of each obstacle sensor will respond to such “ring down” signals if the signals are above a reference level and thus can indicate that a “ring down” signal is a reflected or return signal when in fact it is not. A common technique to avoid this problem is to blank out all return signals generated by the obstacle sensors for a preselected period of time after initiation of a transmission. The preselected time is determined based on various factors including the type of transducer that is used, but during this preselected time no valid returns can be sensed. If the obstacle sensors are positioned near a front 10A of the vehicle 10, see obstacle sensors 76A in
In the embodiment illustrated in
According to various aspects of the present invention, a steer correction algorithm is implemented, e.g., by the controller 103. Referring to
For example, referring additionally to
As a few additional examples, although a laser sensor 2000 is illustrated for purposes of discussion herein, other sensing technologies may be utilized, examples of which may include ultrasonic sensors, infrared sensors, etc. For example, ultrasonic sensors, e.g., located to the sides of the truck 10, may define the left and right steer bumper zones 132A, 132B. Selection of the type(s) of sensors used on the truck 10 may depend upon the particular operating conditions of the truck 10.
Additionally, the laser sensor 2000 or one or more additional sensors may be used to define other detection zones, e.g., for stopping, speed limiting, etc. The laser sensor 2000 (or one or more additional sensors) may define a “stop zone”, and/or a “slow down zone” as described in detail herein. For example, if a single stop zone is defined and an object is detected in the stop zone, which may extend, for example, about 1.2 meters in front of a forward traveling direction of the truck 10, the controller 103 may cause the truck 10 to stop, as set out in detail herein. Additionally or alternatively, if an object is detected in a slow down zone, the controller 103 may cause the truck 10 to slow down. It is noted that, according to this embodiment, it may be preferable to define a stop zone while not defining a slow down zone.
Further, the truck 10 may comprise one or more load presence sensors 53, see
It should be understood that any number of detection zones may be implemented, and the implemented detection zones may overlap or define discrete, mutually exclusive zones. Depending upon the sensor and sensor processing technologies utilized, the input(s) to the controller 103 designating an object in the steer bumper zones 132A, 132B may be in other formats. As yet a further illustration, the first and second laser steer bumper zones 132A, 132B may be defined by both ultrasonic sensors and one or more laser sensors. For example, the laser sensor 2000 may be utilized as a redundant check to verify that the ultrasonic sensors properly detect an object in either the left or right steer bumper zones 132A, 132B, or vice versa. As yet a further example, ultrasonic sensors may be utilized to detect an object in the left or right steer bumper zones 132A, 132B and the laser sensor 2000 may be utilized to distinguish or otherwise locate the object to determine whether the object was detected in the left steer bumper zone 132A or the right steer bumper zone 132B. Other arrangements and configurations may alternatively be implemented.
If a steer bumper zone warning designates that an object is detected in the left steer bumper zone 132A, then a steer correction routine is implemented at 156 that includes computing a steer angle correction to steer the truck 10 to the right according to a first set of parameters. By way of illustration and not by way of limitation, a steer right correction implemented at 156 may include steering the truck 10 to the right at a right direction steer angle. In this regard, the right direction steer angle may be fixed or variable. For example, the controller 103 may command the steer controller 112 to ramp up to some desired steer angle, e.g., 8-10 degrees to the right. By ramping up to a fixed steer angle, sudden changes in the angle of the steer wheel(s) will not occur, resulting in a smoother performance. The algorithm accumulates the distance traveled at the steer correction angle, which may be a function of how long the appropriate steer bumper input is engaged.
According to various aspects of the present invention, the steered wheel angular change may be controlled to achieve, for example, a substantially fixed truck angle correction as a function of accumulated travel distance. The travel distance accumulated while performing a steer correction maneuver may be determined based upon any number of parameters. For example, the distance traveled during the steer correction may comprise the distance traveled by the truck 10 until the detected object is no longer within the associated left bumper detection zone 132A. The accumulated travel distance may also/alternatively comprise, for example, traveling until a time out is encountered, another object is detected in any one of the bumper or detection zones, and/or predetermined maximum steer angle is exceeded, etc.
Upon exiting a right steer correction at 156, e.g., by maneuvering the truck 10 so that no object is detected within the left steer bumper detection zone 132A, a left steer compensation maneuver is implemented at 158. The left steer compensation maneuver at 158 may comprise, for example, implementing a counter steer to adjust the travel direction of the truck 10 to an appropriate heading. For example, the left steer compensation maneuver may comprise steering the truck 10 at a selected or otherwise determined angle for a distance that is a percentage of the previously accumulated travel distance. The left steer angle utilized for the left steer compensation maneuver may be fixed or variable, and may be the same as, or different from the steer angle utilized to implement the right steer correction at 156.
By way of illustration and not by way of limitation, the distance utilized for the left steer compensation maneuver at 158 may be approximately one quarter to one half of the accumulated travel distance while implementing the right steer correction at 156. Similarly, the left steer angle to implement the left steer compensation maneuver may be approximately one half of the angle utilized to implement the right steer correction at 156. Thus, assume that the right steer angle is 8 degrees and the accumulated steer correction travel distance is 1 meter. In this example, the left steer compensation may be approximately one half of right steer correction, or −4 degrees, and the left steer compensation will occur for a travel distance of approximately ¼ meters to ½ meters.
The particular distance and/or angle associated with the left steer compensation maneuver at 158 may be selected, for example, so as to dampen the “bounce” of the truck 10 as the truck 10 moves along its course to steer correct away from detected obstacles. As an illustration, if the truck 10 steer corrects at a fixed degrees per distance traveled, the controller 103 may be able to determine how much the corresponding truck angle has changed, and therefore, adjust the left steer compensation maneuver at 158 to correct back towards the original or other suitable heading. Thus, the truck 10 will avoid “ping ponging” down an aisle and instead, converge to a substantially straight heading down the center of the aisle without tedious manual repositioning required by the truck operator. Moreover, the left steer compensation maneuver at 158 may vary depending upon the particular parameters utilized to implement the right steer correction at 156.
Correspondingly, if a steer bumper zone warning designates that an object is detected in the right steer bumper zone 132B, then a steer correction routine is implemented at 160 that includes computing a steer angle correction to steer the truck 10 to the left according to a second set of parameters. By way of illustration and not by way of limitation, a steer left correction implemented at 160 may include steering the truck 10 to the left at a left steer angle. In this regard, the left steer correction maneuver at 160 may be implemented in a manner analogous to that described above at 156, except that the correction is to the right at 156 and to the left at 160.
Similarly, upon exiting a left steer correction at 160, e.g., by maneuvering the truck 10 so that no object is detected within the right bumper detection zone 132B, a right steer compensation maneuver is implemented at 162. The right steer compensation maneuver at 162 may comprise, for example, implementing a counter steer to adjust the travel direction of the truck 10 to an appropriate heading in a manner analogous to that described at 158, except that the steer compensation maneuver at 158 is to the left and the steer compensation maneuver at 162 is to the right.
After implementing the steer compensation maneuver at 158 or 162, the truck may return to a substantially straight heading, e.g., 0 degrees at 164 and the process loops back to the beginning to wait for the detection of another object in either of the steer bumper zones 132A, 132B.
The algorithm can further be modified to follow various control logic implementations and/or state machines to facilitate various anticipated circumstances. For example, it is possible that a second object will move into either steer bumper zone 132A or 132B while in the process of implementing a steer compensation maneuver. In this regard, the truck 10 may iteratively attempt to steer correct around the second object. As another illustrative example, if object(s) are simultaneously detected in both the left and right steer bumper zones 132A, 132B, the controller 103 may be programmed to maintain the truck 10 at its current heading (e.g., zero degree steer angle), until either one or more steer bumper zones 132A, 132B are cleared or the associated detection zones cause the truck 10 to come to a stop.
According to further aspects of the present invention, a user and/or service representative may be able to customize the response of the steer angle correction algorithm parameters. For example, a service representative may have access to programming tools to load customized variables, e.g., in the controller 103, for implementing steer correction. As an alternative, a truck operator may have controls that allow the operator to input customized parameters into the controller, e.g., via potentiometers, encoders, a software user interface, etc.
The output of the algorithm illustrated in
Referring to
The truck 10 maintains steer correction until an event occurs, such as the disengagement of the object, e.g., when the scanning laser or other implemented sensor technology no longer detects an object in the left steer bumper zone 132. Assume that the truck 10 accumulated a travel distance of one half of a meter during the steer correction maneuver, which was fixed at 8 degrees. Upon detecting that the left steer bumper zone signal has disengaged, a counter steer compensation is implemented to compensate for the change in heading caused by the steer correction. By way of example the steer compensation may steer the truck 10 to the left for approximately one quarter meter accumulated travel distance, at 4 degrees. For very narrow aisles, the Left/Right steer bumper zone sensors may provide very frequent inputs/little time between senses compared to relatively wider aisles.
The various steer angle corrections and corresponding counter steer compensations may be determined empirically, or the angles, ramp rates, accumulated distances, etc., may be computed, modeled or otherwise derived.
In the illustrative arrangement, the system will try to maintain the truck 10 centered in the aisle as the truck 10 advances in response to receiving a corresponding wirelessly transmitted travel request by the transmitter 70. Moreover, bounce, e.g., as measured by the distance from the centerline of a warehouse aisle, is damped. Still further, there may be certain conditions where the truck 10 may still require some operator intervention in order to maneuver around certain objects in the line of travel.
Referring now to
The illustrated power unit 1014 comprises an operator's area 1030 having a first end section 1032 positioned opposite the forks 1016, a second end section 1034 positioned adjacent to the forks 1016 and a step-through operator's station 1036 dividing the first end section 1032 from the second end section 1034. A first work area is provided towards the first end section 1032 of the power unit 1014 and includes a control area 1040 for driving the truck 1010 and for controlling the features of the load handling assembly 1012. The first end section 1032 may also optionally comprise a first storage area 1046, e.g., for securing loose items that a corresponding truck operator may wish to keep track of. The first end section 1032 also defines a compartment 1048 for containing a battery, control electronics and motor(s), such as a traction motor, steer motor and lift motor for the forks (not shown).
As shown for purposes of illustration, and not by way of limitation, the control area 1040 comprises a handle 1052 for steering the truck 1010, which may include controls such as grips, butterfly switches, thumbwheels, rocker switches, a hand wheel, a steering tiller, etc., for controlling the acceleration/braking and travel direction of the truck 1010. For example, as shown, a control such as a switch grip 1054 may be provided on the handle 1052, which is spring biased to a center neutral position. Rotating the switch grip 1054 forward and upward will cause the truck 1010 to move forward, e.g., power unit 1014 first, at a speed proportional to the amount of rotation of the switch grip 1054. Similarly, rotating the switch grip 1054 toward the rear and downward of the truck 1010 will cause the truck 1010 to move in reverse, e.g., forks 1016 first, at a speed proportional to the amount of rotation of the switch grip 1054. Devices may also be provided for sounding a horn or for performing other truck functions.
The step-through operator's station 1036 provides a platform 1056 upon which an operator may stand to drive the truck 1010 and operate the load handling features of the truck 1010. Presence sensors 1058 may also be provided, e.g., on, above, or under the platform 1056 or otherwise provided about the operator's station 1036, to detect the presence of an operator on the truck 1010 as will be explained in greater detail herein. In the exemplary truck of
The second end section 1034 of the power unit 1014 may comprise an operator rest pad or other suitable support structure, a grab bar 1062 and a second storage area 1064. An antenna 1066 is provided for receiving control signals from a corresponding remote control device 1070, which in one embodiment comprises a transmitter, a power pack, and a control structure, as will be described in greater detail herein. As shown, radio frequency (RF) performance is facilitated by coupling the antenna 1066 to the second end section 1034 of the power unit 1014, e.g., along or otherwise proximate to a vertically extending post 1067 that may also support a light source 1068. The placement of the antenna 1066 above the light source 1068 on the post 1067 provides a convenient location for promoting RF reception and may eliminate variability from the light source 1068 and its associated wires running past the antenna 1066. Alternatively, the antenna 1066 can be positioned anywhere else on the truck 1010. The light source 1068 may be utilized to provide information about the state of the truck 1010 and/or state of wireless communication between a properly paired wireless remote control and the truck. For example, the light may illuminate when the truck 1010 is in motion and blink or illuminate in defined patterns to indicate prescribed conditions.
The grab bar 1062 may be used by the operator as a grasping surface, e.g., when entering, exiting or operating the truck 1010. Additionally, the grab bar 1062 and other included posts, e.g., an additional optional grab bar towards the first end section 1032 (not shown) may be further utilized, for example, to support accessories such as scanners, computers, radios, communications devices and other electronics, lights, clipboards, fans, storage units and other work or convenience related accessories, or other required items for performing intended tasks within an application. For example, the grab bar 1062, or second end section 1034 in general, may be used to mount supplemental operational controls.
The exemplary truck 1010 is provided for illustration and not by way of limitation. In practice, the truck 1010 may be implemented in other formats, styles and features, such as an end control pallet truck that includes a steering tiller arm that is coupled to a tiller handle for steering the truck. In this regard, the truck 1010 may have similar or alternative control arrangements to that shown in
In addition to or in lieu of the light source 1068, an indicator, e.g., audible, visible etc., may be associated with the remote control system as will be described in greater detail herein. For example, as shown, the truck 1010 may include an indicator such as a strobe light 1072, which is illustrated as being positioned on or adjacent to the second end section 1034 of the power unit 1014 mounted relatively low to the ground. The indicator may alternatively be mounted in any other practical location, e.g., on a load backrest, on a vertically extending pole such as the light source 1068, or other part of the truck 1010.
The strobe light 1072 may be set to a unique pattern that is associated with remote control operation. As such, when the truck 1010 is not operating under wireless remote control, the strobe pattern can change relative to when the truck 1010 is operating under wireless remote control. For example, the strobe light 1072 may be turned off or changed in intensity, pattern etc. when the truck 1010 is not under wireless remote control. Comparatively, the strobe can flash when the truck 1010 is under wireless remote control. The speed, intensity or other patterns can vary based upon the operating conditions of the truck, e.g., to indicate motion, fault conditions, etc. As illustrated, the light pattern 1074 from the strobe light 1072 is directed generally downward at an angle towards the forks 1016. As such, the strobe area is not distracting to the operator or to other people in the vicinity of the truck 1010, e.g., in the working aisle of the truck 1010, yet is apparent and visible to the operator and other people in the vicinity of the truck 1010.
The truck 1010 may also comprise one or more object sensors 1076, which are provided about the truck 1010, e.g., towards the first end section 1032 of the power unit 1014 and/or to the sides of the power unit 1014. The object sensors 1076 may comprise any suitable proximity or contact detection technology, such as ultrasonic sensors, optical recognition devices, infrared sensors, laser sensors, etc. For example, the object sensors 1076 may be implemented by Bosch URF6 ultrasonic sensors and a corresponding controller.
The object sensors 1076 may be used to detect the presence of objects within a predefined area of the power unit 1014, such as within a predefined detection area 1078 as illustrated in dashed lines. In practice, the range of each object sensor 1076 may be different, and the sensor detection areas 1078 may overlap or otherwise be arranged, depending upon the specific implementation and selection of proximity detecting technology. For example, the object sensors 1076 towards the front of the power unit 1014 may have a range of approximately 0-5 feet (0-1.5 meters) and the object sensors 1076 to the sides of the power unit 1014 may have a range of approximately 0-2 feet (0-0.6 meters). Moreover, the detection range of the object sensors 1076 may be adjustable or be otherwise made dynamically variable. For example, the range of the object sensors 1076 may be extended if certain operating conditions are detected, etc. As an example, the range of the object sensors 1076 may be adjusted based upon the speed of the truck 1010 when advancing under wireless remote control.
Further, the truck 1010 may comprise one or more load presence sensors 1080. The load presence sensor(s) 1080 may comprise proximity or contact technology, e.g., a contact switch, a pressure sensor, an ultrasonic sensor, optical recognition device, infrared sensor or other suitable technology that detects the presence of a suitable load carrying structure, e.g., a pallet or other platform, collection cage, etc. The load presence sensor(s) 1080 may be mounted towards the front of the power unit 1014, to a load backrest or other suitable support structure, the location of which will likely depend upon the technology deployed.
Referring to
In one exemplary arrangement, the remote control device 1070 is operative to wirelessly transmit a travel request as first type signal, also referred to herein as a “travel signal” or “go signal” to the receiver on the truck 1010. The travel request is used to request the truck 1010 to advance or jog in a first direction. The first direction may be defined, for example, by movement of the truck 1010 in a power unit 1014 first, i.e., forks 1016 to the back, direction. However, other directions of travel may alternatively be defined. Moreover, the truck 1010 may be controlled to travel in a generally straight direction or along a previously determined heading.
The first type signal is received by the receiver 1102 and is communicated to the controller 1103. If the controller 1103 determines that the travel signal is a valid travel signal and that the current vehicle conditions are appropriate (explained in greater detail herein), the controller 1103 sends a signal to the appropriate control configuration of the particular truck 1010 to advance and then stop the truck 1010. As described herein, stopping the truck 1010 may be implemented by either allowing the truck 1010 to coast to a stop or by applying a brake to stop the truck.
As an example, the controller 1103 may be communicably coupled to a traction control system, illustrated as a traction motor controller 1106 of the truck 1010. The controller is responsive to receipt of the first type signal by the receiver 1102 to evaluate at least one vehicle condition, to decide whether to implement the travel request based upon the evaluation of the vehicle condition(s) and to cause the traction control system to advance the truck 1010 if the controller decides to implement the travel request based upon the evaluation of the condition(s).
The traction motor controller 1106 is coupled to a traction motor 1107 that drives at least one steered wheel 1108 of the truck 1010. The controller 1103 may communicate with the traction motor controller 1106 in such a way so as to limit the speed of the truck 1010 in response to receiving a travel request from the remote control device 1070. For example, the travel speed of the truck 1010 may be limited to typical walking speed, e.g., up to or around 2.75 miles per hour (4.4 kilometers per hour).
There may be noise and/or interference, e.g., from other wireless and remote control systems in the vicinity of the truck 1010. As such, either the receiver 1102 or the controller 1103 may perform signal analysis to discriminate valid travel signals from invalid signals. For example, the controller 1103 may determine that the receiver 1102 has provided a travel signal at an improper frequency or on an improper channel. Moreover, an operator and/or transmitter identification (ID) code may be embedded into the travel request. Under such a case, the controller 1103 may be operatively configured to respond to messages bearing only certain ID codes or to exclude/disregard commands from certain ID codes.
Also, the travel signal may be detected at a power level that is too strong or too weak to be considered a valid signal. For example, if a signal is too strong, it may indicate that an operator is too close to the truck 1010 to initiate automated travel. Correspondingly, if a signal is too weak, that may indicate that an operator has exceeded a predetermined range from the truck 1010 for allowed remote control.
Still further, the controller 1103 may require an acknowledgement signal or other bi-directional communication from the remote control device 1070 that was not timely received. For example, the controller 1103 may be coupled to a transmitter 1109 on the truck 1010 to facilitate bi-directional communication with the wireless remote control device 1070. Under these and other similar circumstances, the controller 1103 may opt to disregard a received travel request and not take action if the bi-directional communication is not properly confirmed. Still further, bi-directional communication may be utilized for pairing the receiver 1102 in the truck 1010 to a corresponding instance of a wireless remote control device 1070.
The controller 1103 may also refuse to acknowledge the travel signal depending upon vehicle condition(s) that relate to environmental or operational factors. For example, the controller 1103 may disregard an otherwise valid travel request based upon information derived from one or more of the sensors 1058, 1076, 1080. In this regard, the sensors 1058, 1076, 1080 etc. may be coupled to the controller 1103 via the inputs 1104 or via a suitable truck network, such as a control area network (CAN) bus 1110. Any other number of reasonable conditions may also/alternatively be implemented by the controller 1103 to interpret and take action in response to received signals.
The CAN bus 1110 facilitates a convenient platform for the controller 1103 of the truck 1010 to communicate with any truck system or module connected to the CAN bus 1110 to make decisions as to how to implement commands received from the remote control device 1070. Moreover, relevant information derived from the truck 1010 can be communicated back to the remote control device 1070 by utilizing the transmitter 1109 in the truck 1010 to communicate with a corresponding receiver in the remote control device 1070.
The CAN protocol is a convenient network platform for material handling vehicles as there is no addressing of subscribers or stations in the conventional network sense. Rather, the CAN defines a prioritized system of transmitted messages where the priority of a given message broadcast across the CAN bus 1110 is dependent upon a corresponding message identifier code. A message broadcast from a first module can be received by all nodes or modules connected to the CAN bus 1110. Thus, the controller 1103 can make intelligent decisions with regard to wireless remote control and/or to the exchange of information with a corresponding paired wireless remote control device 1070 based upon any number of factors, states, conditions, etc., that can be conveyed across the CAN bus 1110.
The network may alternatively comprise any other bus system, e.g., a Local Interconnect Network (LIN) or a Vehicle Area Network (VAN), etc., or communications capabilities, such as a wiring harness, bus other signal propagation manner or other control network. As such, the various controllers and electronics on the truck 1010 may broadcast, unicast or otherwise communicate with each other.
Upon acknowledgement of a valid travel request, the controller 1103 interacts with the traction motor controller 1106, e.g., via the CAN bus 1110 or other communication coupling, to advance the truck 1010. Depending upon the particular implementation, the controller 1103 may interact with the traction motor controller 1106 to advance the truck 1010 by a predetermined distance. Alternatively, the controller 1103 may interact with the traction motor controller 1106 to advance the truck 1010 for a period of time in response to the detection and maintained actuation of the control on the remote control device 1070. Further, the truck 1010 may be configured to jog for as long as a travel control signal is received. However, the controller 1103 may further be configured to “time out” and stop the travel of the truck 1010 based upon a predetermined event, such as exceeding a predetermined time period or travel distance regardless of whether maintained actuation of a corresponding control on the remote control device 1070. Other control arrangements may alternatively be implemented for effecting the range, duration, speed, etc. of the truck 1010 when operating under wireless remote control, examples of which will be set out in greater detail herein.
The controller 1103 may also communicate, e.g., via the CAN bus 1110 or otherwise, with a steer control system to cause the truck 1010 to adjust a travel path of the truck 1010. For example, the controller 1103 may communicate with a steer controller 1112 to command or otherwise control a steer motor 1114 or other suitable control device, which also couples to the steered wheel(s) 1108 of the truck 1010. For example, the controller 1103 may straighten out the truck 1010, or adjust a steer angle of the truck 1010 before or during a wireless remote control initiated travel operation. As such, the controller 1103 may default to a mode of operation wherein the truck 1010 travels in a straight direction or along a predetermined heading when the truck 1010 is moving under wireless remote control in response to receipt of a travel request. The controller 1103 may further impose a steer angle limit during remote control operations if the truck 1010 is to travel in a direction where the steered wheel(s) 1108 is not straight. For example, the controller 1103 may limit the angle that the truck 1010 can travel when executing remote controlled travel requests to a range of approximately 5 to 10 degrees. Thus, in addition to jogging the traction motor 1107, the controller 1103 may also straighten out or otherwise adjust or control the steered wheel 1108.
The remote control device 1070 may also be operative to transmit a second type signal, such as a “stop signal”, designating that the truck 1010 should brake and/or otherwise come to rest. The second type signal may also be implied, e.g., after implementing a “travel” command. The second type signal is received by the receiver 1102 and is communicated to the controller 1103. If the controller 1103 determines that the stop signal is a valid stop signal, the controller 1103 sends a signal to a brake control system, e.g., via the CAN bus 1110 or otherwise. For example, the controller 1103 may communicate with a brake controller 1116 of the truck 1010 to cause an appropriate brake arrangement 1117 to bring the truck 1010 to rest. As an alternative to a stop signal, the second type signal may comprise a “coast signal”, designating that the coast should allow the truck 1010 to eventually come to rest. For example, if a coast signal is recognized by the controller 1103 as a valid coast signal, then the controller 1103 may disengage drive to the truck 1010, e.g., by instructing the traction controller 1106 to stop applying a signal to drive the traction motor 1107, but otherwise allow the truck 1010 to coast and gradually slow to a stop. Any number of reasonable conditions or factors may be considered by the controller 1103 to interpret and take action in response to received stop or coast signals. Further, rather than the remote control device 1070 transmitting a second type signal to request that the truck 1010 implement a particular function, the remote control device 1070 may transmit multiple instances of the first type signal, i.e., if a button on the remote control device 1070 is “double clicked”, to request that the truck 1010 implement a particular function, as will be discussed below.
The time that it takes to bring the truck 1010 to a complete rest may vary, depending for example, upon the intended application, the environmental conditions, the capabilities of the particular truck 1010 and other similar factors. For example, after completing an appropriate jog movement, it may be desirable to allow the truck 1010 to “coast” some distance before coming to rest so that the truck 1010 stops slowly. This may be achieved by utilizing regenerative braking to slow the truck 1010 to a stop so that a predetermined range of travel distances may be achieved from the initiation of the stop operation until the time in which the truck finally comes to rest. Alternatively, a braking operation may be applied after a predetermined delay time to allow a predetermined range of additional travel to the truck 1010 after the initiation of the stop operation. It may also be desirable to bring the truck 1010 to a relatively quicker stop, e.g., if an object is detected in the travel path of the truck 1010 or if an immediate stop is desired after a successful jog operation. For example, the controller may apply predetermined torque to the braking operation. Under such conditions, the controller 1103 instructs the brake controller 1116 to apply the brake arrangement 1117 to stop the truck 1010.
Moreover, if a truck disable function is implemented, the truck 1010 may stop with maximum braking torque. For example, the remote control device 1070 may include a disable control that transmits a message instructing the truck 1010 to brake and/or shut down. In response to the disable function, the truck 1010 may also switch off a main contactor 1118 that is utilized to power up the truck 1010. Under this arrangement, the truck 1010 may require a restart operation, e.g., by using a key switch or other suitable configuration to re-initiate a truck startup procedure. The controller 1103 may also interact with other truck outputs 1119 to implement desired activities, e.g., to control a horn, light source, display, etc. As such, the controller 1103 may interact with various components of the truck 1010, with the operator and with wireless remote control devices 1070 to implement various traveling, stopping, coasting and power enabling strategies.
As noted above, the controller 1103 may communicate with the brake controller 1116 to cause the brake arrangement 1117 to bring the truck 1010 to rest under various conditions. For example, the outputs of the object sensors 1076 may be overridden while the operator is driving the truck 1010, for example, to allow the operator to navigate the truck 1010 in tight spaces and around corners that might otherwise activate one or more of the object sensors 1076. However, the outputs of the object sensors 1076 may be effective and not overridden when no operator is sensed on the truck 1010. As such, the controller 1103 may communicate with the brake controller 1116 to stop the truck 1010 if the controller 1103 determines that an object is in the path of travel of the truck 1010, e.g., as detected by the object sensors 1076 during travel in response to receiving a remote travel request from the remote control device 1070.
Additionally, the controller 1103 may refuse to implement a travel request in response to receiving a travel signal from a corresponding remote control device 1070 if the platform presence sensor(s) 1058 detect the presence of a person on the truck, or where the load presence sensors 1080 indicate that a corresponding load platform, e.g., a pallet, is not in position on the forks 1016 of the truck 1010. Still further, the controller 1103 may communicate with the brake controller 1116 to stop the truck 1010 if the load presence sensors 1080 detect a change of the load platform from a valid designated position.
The remote control device 1070, the receiver 1102 and the transmitter 1109 may communicate over a range of frequencies, thus allowing the remote control device 1070 and corresponding truck 1010 to lock onto a frequency or frequencies that have minimal interference from outside sources. Additionally, any number of wireless technologies may be utilized to facilitate interaction between the truck 1010 and the remote control device 1070, including the use of spread spectrum technologies.
As an example, technologies such as a Bluetooth communications link or a derivative thereof, may be formed between the transmitter in the remote control device 1070 and the receiver 1102 on the truck 1010. The Bluetooth and similar communication technologies allow control over remote output power intensity, adjustable output power, multiple sub-channels and frequency hopping to reduce the likelihood of noise and other interference in the work area. Bluetooth bandwidth may also simplify transmission of voice control, as described in greater detail herein.
If the truck 1010 includes a tiller arm instead of the illustrated steering control, the truck may include a steering arm brake. As such, a steering arm locking device may be provided for placing the truck into a coast mode of operation when using the remote, for example, as disclosed in U.S. Pat. No. 6,595,306, assigned to the same assignee, and which is herein incorporated by reference.
Referring to
It may be desirable to set or otherwise program the range of the object sensors 1076 for detecting obstacles in the path of the truck 1010, which is traveling in response to receiving a travel request from the remote control device 1070. For example, as shown, each of the object sensors 1076 are set to detect objects in their path within a distance, which is schematically suggested by the range designated by the dashed detection area 1078 proximate to each object sensor 1076. The side-located object sensors 1076 are not illustrated in
For each actuation of the travel request on the remote control device 1070, the operator can advance the truck 1010 without taking the time to physically engage the controls on the truck 1010. For example, upon issuing a travel request via the remote control device 1070, the operator may walk towards the next item to be retrieved, or perform some other task. The truck 1010 automatically travels forward by an amount corresponding to the travel request. For example, if travel for a predetermined distance is commanded, after traveling the predetermined distance, the truck 1010 stops, without requiring a separate control action from the operator. Alternatively, the truck 1010 may stay in motion for as long as a jog command is issued by the remote control device 1070, e.g., by maintained actuation of a travel button. Under this later configuration, the truck 1010 continues to travel until the operator releases the travel button, the operator engages a stop or coast button, a specified maximum continuous travel time expires, or some other appropriate action stops the truck 1010.
As an example of a first optional manner in which an operator can interact with the truck 1010, assume that an operator travels with the truck 1010 down the aisle 1120. A first row 1142 of storage locations 1122 is located on a first side of the truck 1010. A second row 1144 of storage locations 1122 is located on a second side of the truck 1010. Each of the first and second rows 1142, 1144 of storage locations 1122 include a plurality of individual storage areas, which may be bins, pallets, delineated or otherwise designated areas, etc. Moreover, each storage location 1122 may comprise several independent storage areas that are vertically stacked, such as in a racking system in a warehouse facility or distribution center. As such, there may be multiple levels of storage at each storage location 1122. During automatic operation of the truck via the remote control device 1070, the truck 1010 travels down the aisle 1120. For example, the truck 1010 is illustrated traveling with the power unit 1014 forward as illustrated by the directional arrow 1132. Thus, the forks 1016 are towards the back of the truck 1010 when traveling under remote control. Other travel directions may be alternatively implemented.
Assume that the operator is initially located at position A, and that an item is to be picked from a storage location 1122 designated as storage location “1122-1” in row 1144. The operator walks from position A to the storage location “1122-1” to retrieve the desired pick item. After picking the desired contents, the operator is at position B, which is just in front of storage location “1122-1”. It is further assumed that the operator has advanced or is in the process of advancing the truck 1010 using the remote control device 1070 such that a load platform 1146 that is situated on the forks 1016 of the truck 1010 is located at position C, which is in the vicinity of position B. The operator need not carry any item(s) of the pick order to the truck 1010 when walking from position A to storage location “1122-1”. Moreover, by the time that the operator arrives at position B with the item(s) picked from storage location “1122-1” (or shortly before or thereafter), the truck 1010 has come to rest at position C. Thus, the operator need only carry the pick item(s) a relatively short distance from storage location “1122-1” to position B.
After placing the pick onto the load platform 1146 of the truck 1010, the operator may then step onto the truck 1010 to drive to the next location, or if there are additional items to be picked in the current aisle 1120, the operator may move the truck 1010 using the travel control of the remote control device 1070.
Continuing with the above example, it is assumed that the operator is now located at position B, and that an item is to be picked from a storage location 1122 designated as storage location “1122-2” in row 1142. The operator walks from position B to storage location “1122-2” to retrieve the desired pick item. Moreover, the operator initiates a wireless remote control travel request, e.g., by using the remote control device 1070 to wirelessly transmit a first type (“travel”) signal to the receiver on the truck 1010. By the time that the operator arrives at position D with the item picked from storage location “1122-2” (or shortly before or thereafter), the truck 1010 has traveled under wireless remote control from position C and has come to rest at position E, which is in the vicinity of position D. Again, the operator places the retrieved item on the load platform 1146 of the truck 1010 in a manner that minimizes the distance that the operator must walk while carrying items on the pick order.
Moreover, by moving the truck 1010 foreword while picking, the time required to pick from a given aisle 1120 can be reduced because the operator need not interrupt the pick process to reposition or reorient the truck 1010. Still further, as schematically illustrated, a single actuation of a travel control on the remote control device 1070 may cause the truck 1010 to advance a distance S1 and then stop. As such, after actuating the travel control via the remote control device 1070, the truck 1010 is positioned in a convenient place for the operator to place previously retrieved items in a manner that minimizes the distance that the operator must carrying the picked item(s). Moreover, because the operator need not disrupt picking or other work related tasks, the operator may save energy and time in completing a given task, e.g., compared with an operation wherein the operator is required to continually stop working to advance the truck to its next location.
One measure of productivity of an operator is the time that the operator spends at the pick face. That is, how much time is spent picking orders compared to time spent relocating the truck 1010 and performing other tasks not immediately related to locating and loading pick items. As is evident in the discussion above, the time required to relocate the truck 1010 has been reduced allowing the operator to spend more time picking items. Moreover, the truck 1010 can be remotely controlled to always stay in front of the operator, allowing the operator to work towards a load carrying portion of the truck 1010. This minimizes the distance that the operator must travel to fetch and load pick items, and further reduces the distance that the operator must walk while carrying the pick items. This may become significant, especially where the forks 1016 of the truck 1010 are relatively long. For example, certain forks 1016 can support triple length loads, such as three pallets.
Moreover, warehouse management system software that directs operators in their picking operations can take into account the remote travel control of the truck 1010 when planning pick orders so that the advantages of the remote control can be further enhanced by more efficient computer processing when preparing the pick orders.
Referring to
The devices 1148 generate signals in response to detecting the end of the aisle 1120, e.g., by sensing the corresponding RFID tags 1150, which trigger the truck 1010 to stop if it is under wireless remote jog control. For example, signals from the devices 1148 may couple to corresponding inputs, e.g., appropriate ones of the inputs 1104 on the controller 1103. For example, if the controller 1103 detects an appropriate signal from one of the devices 1148 and the controller 1103 detects that it is currently operating the truck 1010 in response to a travel request from the remote control device 1070, the controller 1103 may issue an appropriate command to the brake controller 1116 to stop the truck 1010.
In the illustrated example, the aisle 1120 is 15 feet (approximately 4.6 meters) wide and the RFID antennas 148 are configured to detect the corresponding RFID tags 1150 within a radius of 13 feet (approximately 3.9 meters). This provides sufficient overlap of coverage in the aisle 1120 for detection by the truck 1010 and provides ample distance for the exemplary truck 1010 to brake or otherwise come to a rest proximate to the end of the aisle. In practice, other ranges may be utilized and may be varied, based for example, upon the stopping requirements of the truck 1010 and corresponding wireless remote control implementation, the sensing technology utilized and other suitable factors.
Referring to
The process waits to receive a travel request at 1202. If no travel request is received, the process continues to wait. If a travel request is received, the process may either implement the travel request 1202 or perform optional checks or evaluations of vehicle conditions to determine whether to acknowledge or otherwise implement the travel request, examples of which are illustrated at 1204, 1206, 1208 and 1210.
For example, the process may require that the truck 1010 is stopped before recognizing a new travel request. This vehicle condition requirement may be implemented, for example, where the controller 1103 limits the maximum amount of continuous travel of the vehicle without stopping while under wireless remote control in response to receipt of the first type (travel request) signal(s). In this regard, the controller 1103 may determine whether the truck 1010 is currently stopped at 1204, e.g., using feedback from an encoder or other suitable device to detect motion of the truck. If the truck 1010 is not stopped, the process may optionally wait until the truck 1010 has come to rest or the process may ignore or otherwise terminate evaluation of whether to implement the received travel request as indicated by the dashed lines.
Moreover, the process may require that not only that the truck 1010 be stopped, but that there is no movement of the truck 1010 for a predetermined period of time. Thus, for example, if the truck 1010 is stopped, the process may determine whether a predetermined interval has passed after detecting that the truck 1010 has come to rest at 1206. If the predetermined interval has not passed, the process may wait until the predetermined interval has lapsed or the process may ignore or otherwise terminate processing of the received travel request as indicated by the dashed lines.
The process may also check at 1208 for vehicle conditions such as operational and/or environmental conditions that would affect operation of the truck in response to a remote travel request. If the vehicle condition check(s) indicate that it is okay to proceed processing the received travel request, then processing continues. Otherwise, the process may wait to resolve the condition, or the process may ignore or otherwise terminate processing of the received travel request as indicated by the dashed lines.
Operational and environmental conditions that may cause the process to ignore or otherwise refuse to implement a travel request from the remote control device 1070 may include factors such as detecting an operator on the platform, detecting an object in the travel path of the truck 1010, detecting that the truck is in an area or location where wireless remote control is not allowed, e.g., at the end of aisles or at intersections such as by using the RFID tags described with reference to
The process may also check that a steer angle of the truck 1010 is within a predetermined range of steer angles at 1210. If the steered wheel(s) of the truck 1010 are turned beyond the predetermined range, the steer angle may be corrected at 1212. Alternatively, the system may default the steered wheel to a predetermined position, e.g., steered straight or the system may ignore or otherwise terminate processing of the received travel request.
The truck 1010 is then moved forward at 1214. For example, if each evaluated vehicle condition is satisfied by the controller as allowing remote travel, the controller causes the traction control system to advance the truck 1010. The truck 1010 may also sound an alarm or provide other forms of audible or visual cues when the truck 1010 is traveling in response to wireless remote control commands, or when the travel control on the remote control device 1070 remains actuated, such as by using the light source 1068 and/or the indicator such the strobe light 1072. As further illustrative examples, a horn and/or other cue may be controlled by relays or other suitable switching devices to be active concomitantly with engagement of the traction motor while the truck 1010 operates in response to wireless remote control commands.
The process checks at 1216 to determine whether a predetermined stopping event has occurred. For example, the process may check to determine whether the operator has deactivated the travel control on the remote control device 1070. Upon deactivating the travel control, the truck 1010 stops, e.g., by applying a brake, by coasting or by performing other suitable stopping operations. The process may also check at 1216 to determine whether a predetermined time of travel, distance of travel or other like event has passed in response to movement of the vehicle in response to wireless remote control.
For example, the truck 1010 may be configured to travel a maximum distance of continuous movement in response to a single wireless remote control travel request. As another example, the truck 1010 may be configured to travel a maximum distance of continuous movement in response to repeated successive wireless remote control travel requests. An exemplary range may comprise a travel distance limited to 25-50 feet (approximately 7.6 meters to 15.2 meters). As another example, the truck 1010 may be configured to travel for up to a predetermined maximum continuous travel time.
Other exemplary stopping events may comprise vehicle conditions, e.g., as imposed by predefined travel limits, receiving a stop or disable command, detecting an obstacle in the travel path of the truck 1010, detecting a person on the truck 1010, detecting a change in the position of the load carrying device (e.g., pallet, cage), detecting mechanical, electrical, pneumatic, hydraulic abnormal conditions of the truck, etc. If the predetermined stopping event is met at 1216, the truck 1010 is stopped or controlled to coast to a rest at 1218 and the system resets. If the operator issues a travel request from the wireless control device 1070 before a given task is complete, the system may wait for the current task to complete before issuing the next command.
According to various aspects of the present invention, the remote control device 1070 may be a wearable wireless remote control device that is donned by the operator who is interacting with the truck 1010. In general, the wearable wireless remote control device 1070 may comprise a wireless transmitter and a travel control, e.g., a button or switch that is communicably coupled to the wireless transmitter. As described herein, actuation of the travel control causes the wireless transmitter to transmit a first type signal, which may request the truck 1010 to advance in a first direction. Depending upon the particular implementation, the wireless remote control device 1070 may further include a power pack such as a battery for powering the remote control device electronics, a control area where the travel control is located on the operator, e.g., on or about a hand of the operator and a communications link between the transmitter and the control area where the transmitter is physically spaced from the control area when worn by the operator.
If the travel request is properly received by the receiver 1102 and is determined to be a valid travel request, the truck 1010 may be wirelessly remotely controlled to travel for a prescribed time and/or distance, and then enter a controlled brake or coast as described in greater detail herein.
While the remote control device 1070 is illustrated in
Moreover, any of the disclosed configurations for the remote control device 1070 may be equipped with steering compensation controls. For example, the remote control device 1070 may include additional controls within the control area, such as a left steer button and a right steer button in addition to the travel button and optional stop or coast button. The amount of remotely controllable steer correction will likely depend upon a number of factors such as environment of use, typical anticipated correction, etc. However, in one exemplary arrangement, small steer angle corrections, e.g., on the order of 1 degree or less may be implemented for each actuation of the left and right steer controls.
Further, the remote control system may be integrated with a steer angle control of the truck 1010. The steer angle control is typically implemented using a potentiometer, encoder or other suitable input device, and may be positioned at any convenient location on the truck 1010. When used in combination with additional steering controls, the steer angle control sets a desired heading of the truck 1010. As an example, an operator may line up the truck 1010 in an aisle parallel to a row of racks in a warehouse operation. Using angle sensing feedback from the steer controller 1112 (shown in
A system that implements the jog control functionality set out herein may implement additional advanced features to satisfy specific performance requirements. For example, the transmitters may be equipped with a “global stop” command that shuts down all trucks 1010 within range of the transmitter that are operating under remote control. Thus, all receivers may be programmed or otherwise configured to recognize a stop command, e.g., using a global or common command sequence. Moreover, the global stop command may be transmitted by appending an operator ID so that the identity of the operator who issues the global stop command can be identified.
In each of the illustrated exemplary systems, an antenna for the transmitter could be located in a transmitter box, woven into the garment, e.g., by integrating the antenna into Velcro, straps, bands, or other components associated with the transmitter, that is donned by the operator, located in wiring between the transmitter box and controls, etc.
Still further, the transmitter may be directional. For example, a target may be provided on the truck 1010, e.g., as part of the receiver 1102 or antenna 1066. Thus, the operator must point the transmitter of the remote control device 1070 at or towards the target in order to cause the operation of the control, e.g., a jog command, to be received by the truck 1010. Alternatively, certain commands may be non-directional, whereas other controls are directional. For example, the global stop (where provided) may not require detection by a target in order to be effectuated. On the other hand, a control to initiate a jog operation may be required to be detected by a suitable target. Targeted detection may be accomplished, for example, using infrared or other suitable technologies.
The numerous exemplary configurations of the remote control described herein are presented by way of illustration and not by way of limitation of the manner in which a remote control may be configured. The various described features may be commingled into any desired configuration. Moreover, additional features may be provided in addition to, or in lieu of the features set out herein. Still further, the truck, remote control system and/or components thereof, including the remote control device 1070, may comprise any additional and/or alternative features or implementations, examples of which are disclosed in U.S. Provisional Patent Application Ser. No. 60/825,688, filed Sep. 14, 2006 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. patent application Ser. No. 11/855,310, filed Sep. 14, 2007 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. patent application Ser. No. 11/855,324, filed Sep. 14, 2007 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. Provisional Patent Application Ser. No. 61/222,632, filed Jul. 2, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. patent application Ser. No. 12/631,007, filed Dec. 4, 2009, entitled “MULTIPLE ZONE SENSING FOR MATERIALS HANDLING VEHICLES;” U.S. Provisional Patent Application Ser. No. 61/119,952, filed Dec. 4, 2008, entitled “MULTIPLE ZONE SENSING FOR REMOTELY CONTROLLED MATERIALS HANDLING VEHICLES;” U.S. Provisional Patent Application Ser. No. 61/234,866, filed Aug. 18, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE;” U.S. patent application Ser. No. 12/649,738, filed Dec. 30, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. patent application Ser. No. 12/649,815, filed Dec. 30, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE;” International Patent Application Serial No. PCT/US09/66789, filed Dec. 4, 2009, entitled “MULTIPLE ZONE SENSING FOR MATERIALS HANDLING VEHICLES;” International Patent Application Serial No. PCT/US09/69839, filed Dec. 30, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” International Patent Application Serial No. PCT/US09/69833, filed Dec. 30, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE;” International Patent Application Serial No. PCT/US07/78455, filed Sep. 14, 2007, entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE;” U.S. Pat. No. 7,017,689, issued Mar. 28, 2006, entitled “ELECTRICAL STEERING ASSIST FOR MATERIAL HANDLING VEHICLE;” and/or U.S. patent application Ser. No. 13/011,366, filed Jan. 21, 2011 entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” the entire disclosures of which are each incorporated by reference herein.
Referring now to
As shown in
The first obstacle detector 2050 according to this aspect of the invention may comprise a sweeping laser sensor capable of detecting objects, for example, in first, second, and third zones Z1, Z2, Z3 (also referred to herein as scan zones or detection zones), which first, second, and third zones Z1, Z2, Z3 may comprise planar zones, see
The second obstacle detectors 2052A and 2052B according to this aspect of the invention may comprise point laser sensors that are capable of detecting objects between one or more of the zones Z1, Z2, Z3 and the vehicle 2010, i.e., underneath one or more of the zones Z1, Z2, Z3, as illustrated in
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limiting to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Having thus described the invention of the present application in detail and by reference to preferred embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the invention defined in the appended claims.
This application is a continuation of U.S. patent application Ser. No. 13/785,640, filed Mar. 5, 2013, entitled “SENSOR CONFIGURATION FOR A MATERIALS HANDLING VEHICLE,” which is a continuation-in-part of U.S. patent application Ser. No. 12/649,738, filed Dec. 30, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” and a continuation-in-part of International Patent Application Serial No. PCT/US09/69839, filed Dec. 30, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” which each claim the benefit of U.S. Provisional Patent Application Ser. No. 61/222,632, filed Jul. 2, 2009, entitled “APPARATUS FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” the entire disclosures of each of which are hereby incorporated by reference herein. This application claims the benefit of the filing date of U.S. Provisional Patent Application Ser. No. 61/222,632 through U.S. patent application Ser. No. 13/785,640, which is currently pending in the United States Patent and Trademark Office. This application is also a continuation-in-part of U.S. patent application Ser. No. 12/631,007, filed Dec. 4, 2009, entitled “MULTIPLE ZONE SENSING FOR MATERIALS HANDLING VEHICLES,” and a continuation-in-part of International Patent Application Serial No. PCT/US09/66789, filed Dec. 4, 2009, entitled “MULTIPLE ZONE SENSING FOR MATERIALS HANDLING VEHICLES,” which each claim the benefit of U.S. Provisional Patent Application Ser. No. 61/119,952, filed Dec. 4, 2008, entitled “MULTIPLE ZONE SENSING FOR REMOTELY CONTROLLED MATERIALS HANDLING VEHICLES,” the entire disclosures of each of which are hereby incorporated by reference herein. This application claims the benefit of the filing date of U.S. Provisional Patent Application Ser. No. 61/119,952 through U.S. patent application Ser. No. 13/785,640, which is currently pending in the United States Patent and Trademark Office. This application is also a continuation-in-part of U.S. patent application Ser. No. 12/649,815, filed Dec. 30, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE,” and a continuation-in-part of International Patent Application Serial No. PCT/US09/69833, filed Dec. 30, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE,” which each claim the benefit of U.S. Provisional Patent Application Ser. No. 61/234,866, filed Aug. 18, 2009, entitled “STEER CORRECTION FOR A REMOTELY OPERATED MATERIALS HANDLING VEHICLE,” the entire disclosures of each of which are hereby incorporated by reference herein. This application claims the benefit of the filing date of U.S. Provisional Patent Application Ser. No. 61/234,866 through U.S. patent application Ser. No. 13/785,640, which is currently pending in the United States Patent and Trademark Office. This application is also a continuation-in-part of U.S. patent application Ser. No. 13/011,366, filed Jan. 21, 2011, entitled “SYSTEMS AND METHODS OF REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” and a continuation-in-part of International Patent Application Serial No. PCT/US12/22011, filed Jan. 20, 2012, entitled “SYSTEM FOR REMOTELY CONTROLLING A MATERIALS HANDLING VEHICLE,” the entire disclosures of each of which are hereby incorporated by reference herein.
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