Systems and methods of remotely controlling a materials handling vehicle

• US 10,179,723 B2
• Filed: 11/27/2017
• Issued: 01/15/2019
• Est. Priority Date: 09/14/2006
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Kraimer, James V., Pollack, Jay G., Wellman, Timothy A., Manci, Lewis H., Siefring, Vernon W., Schumacher, Mark E., Green, Matthew M., Castaneda, Anthony T.
• Primary Examiner(s): KING, CURTIS J
• Application Number:
  US15/822,830
• Publication Number:
  US 20180079633A1
• Time in Patent Office: 414 Days
• Field of Search: None
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60R 25/00 Fittings or systems for preventing or indicating unauthorised use or theft of vehicles locks for vehicles E05B77/00-E05B85/00
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/07581 Remote controls
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 9/00896 specially adapted for particular uses
• CPC Class Codes: G07C 9/00944 Details of construction or manufacture
• CPC Class Codes: G08B 1/08 using electric transmission ; transformation of alarm signals to electrical signals from a different medium, e.g. transmission of an electric alarm signal upon detection of an audible alarm signal
• CPC Class Codes: G08C 17/02 using a radio link
• CPC Class Codes: G08C 2201/20 : Binding and programming of remote control devices

Abstract

A materials handling vehicle includes an operator platform from which an operator can drive the vehicle; a traction control system for advancing the vehicle across a floor surface; at least one sensor configured to detect the presence of an object located at a position proximate to the vehicle; and a controller communicably coupled to the at least one sensor and the traction control system. The controller is responsive to the output of the at least one sensor to stop or slow down the vehicle if an object is detected proximate to the vehicle and the vehicle is traveling in response to a remote travel request. However, the controller does not slow down or stop the vehicle if an object is proximate to the vehicle while the operator is driving the vehicle on the operator platform.

Claims

1. A materials handling vehicle comprising:

an operator platform from which an operator can drive the vehicle;

a traction control system for advancing the vehicle across a floor surface;

an operator presence sensor configured to detect the presence of the operator on the operator platform;

at least one sensor configured to detect the presence of an object located at a position proximate to the vehicle; and

a controller communicably coupled to the at least one sensor and the traction control system, wherein;

the controller is responsive to the output of the at least one sensor to stop or slow down the vehicle if an object is detected proximate to the vehicle and the vehicle is traveling in response to a remote travel request; and

the controller does not slow down or stop the vehicle if an object is proximate to the vehicle while the operator is driving the vehicle on the operator platform; and

when the controller receives a remote travel request, the controller evaluates the status of the operator presence sensor, and the controller is configured to;

cause the traction control system to advance the vehicle if the status from the operator presence sensor is not indicative of the presence of an operator on the vehicle; and

decide to not implement the remote travel request if the status from the operator presence sensor is indicative of the presence of an operator on the vehicle.

2. The materials handling vehicle of claim 1, further comprising a load handling assembly, a power unit, and at least one steered wheel.

3. The materials handling vehicle of claim 1, further comprising an indicator that provides at least one of an audible and a visual cue when the vehicle is traveling in response to a remote travel request.

4. The materials handling vehicle of claim 1, wherein the object that is detected proximate to the vehicle comprises an object in the path of travel of the vehicle.

5. The materials handling vehicle of claim 4, wherein the controller is further communicably coupled to a brake control system for stopping the vehicle, and the controller is configured to cause the brake control system to stop the vehicle if the vehicle is moving under wireless remote control in response to receipt of a remote travel request and one or more of the at least one sensor indicates the detection of an object in the path of travel of the vehicle.

6. The materials handling vehicle of claim 1, wherein the output of the at least one sensor is overridden while the operator is driving the vehicle from the operator platform.

7. The materials handling vehicle of claim 1, wherein the controller is configured to decide to not implement the remote travel request if the status from one or more of the at least one sensor is indicative of the presence of an object proximate to the vehicle.

8. The materials handling vehicle of claim 1, wherein the remote travel request is requested by an operator of the vehicle using a wireless remote control device.

9. The materials handling vehicle of claim 8, wherein the remote control device is donned on at least one of the operator'"'"'s finger, hand, arm, or wrist.

10. A method of operating a materials handling vehicle having a controller and an operator platform from which an operator can drive the vehicle, the method comprising:

receiving, by the controller, an output of at least one sensor that is configured to detect the presence of an object located at a position proximate to the vehicle;

receiving, by the controller, an output of an operator presence sensor;

stopping or slowing down the vehicle, by the controller, if an object is detected proximate to the vehicle and the vehicle is traveling in response to a remote travel request;

overriding, by the controller, the output of the at least one sensor if an operator is sensed on the vehicle by the operator presence sensor; and

when the controller receives a remote travel request, the controller evaluates the status of the operator presence sensor, and the controller is configured to;

cause the traction control system to advance the vehicle if the status from the operator presence sensor is not indicative of the presence of an operator on the vehicle; and

decide to not implement the remote travel request if the status from the operator presence sensor is indicative of the presence of an operator on the vehicle.

11. The method of claim 10, wherein the object that is detected proximate to the vehicle comprises an object in the path of travel of the vehicle.

12. The method of claim 10, wherein the controller is configured to decide to not implement the remote travel request if the status from one or more of the at least one sensor is indicative of the presence of an object proximate to the vehicle.

13. The method of claim 10, wherein the remote travel request is requested by an operator of the vehicle using a wireless remote control device, the remote control device being donned on at least one of the operator'"'"'s finger, hand, arm, or wrist.

14. A materials handling vehicle comprising:

an operator platform from which an operator can drive the vehicle;

a traction control system for advancing the vehicle across a floor surface;

an operator presence sensor configured to detect the presence of the operator on the operator platform;

at least one sensor configured to detect the presence of an object located at a position proximate to the vehicle; and

a controller communicably coupled to the at least one sensor and the traction control system, wherein;

the controller is responsive to the output of the at least one sensor to stop or slow down the vehicle if an object is detected proximate to the vehicle and the vehicle is traveling in response to a remote travel request; and

wherein the output of the at least one sensor is overridden while the operator is sensed on the vehicle by the operator presence sensor; and

when the controller receives a remote travel request, the controller evaluates the status of the operator presence sensor, and the controller is configured to;

cause the traction control system to advance the vehicle if the status from the operator presence sensor is not indicative of the presence of an operator on the vehicle; and

decide to not implement the remote travel request if the status from the operator presence sensor is indicative of the presence of an operator on the vehicle.

15. The materials handling vehicle of claim 14, wherein the controller is further communicably coupled to a brake control system for stopping the vehicle, and the controller is configured to cause the brake control system to stop the vehicle if the vehicle is moving under wireless remote control in response to receipt of a remote travel request and one or more of the at least one sensor indicates the detection of an object in the path of travel of the vehicle.

16. The materials handling vehicle of claim 14, wherein:

the controller is configured to decide to not implement the remote travel request if the status from one or more of the at least one sensor is indicative of the presence of an object proximate to the vehicle.

17. The materials handling vehicle of claim 14, further comprising a load handling assembly, a power unit, and at least one steered wheel.

18. The materials handling vehicle of claim 14, further comprising an indicator that provides at least one of an audible and a visual cue when the vehicle is traveling in response to a remote travel request.

19. The materials handling vehicle of claim 14, wherein the object that is detected proximate to the vehicle comprises an object in the path of travel of the vehicle.

20. The materials handling vehicle of claim 14, wherein the remote travel request is requested by an operator of the vehicle using a wireless remote control device.