Systems and methods for sensing a load carried by a material handling vehicle

• US 10,202,267 B2
• Filed: 10/27/2016
• Issued: 02/12/2019
• Est. Priority Date: 10/29/2015
• Status: Active Grant

• Current Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Original Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Inventors: Weiss, Joseph Andrew, Paterson, Robert
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Kerrigan, Michael V
• Application Number:
  US15/336,255
• Publication Number:
  US 20170121159A1
• Time in Patent Office: 838 Days
• CPC Class Codes: B62B 3/06 for simply clearing the load from the ground masted lift trucks B66F
• CPC Class Codes: B62B 5/005 Detachably mounted motor units
• CPC Class Codes: B62B 5/0073 Measuring a force
• CPC Class Codes: B66F 9/0755 Position control; Position detectors

Abstract

Systems and methods for sensing the presence of a load carried by a material handling vehicle are provided. The material handling vehicle includes a vehicle body, and a load supporting member configured to support the load. The material handling vehicle further includes a load sensor configured to determine the presence of the load within a defined range of the load supporting member.

Claims

1. A method for determining if a target load is engaged by a load supporting member of a material handling vehicle, the material handling vehicle including a load sensor, the method comprising:

defining a plurality of detection zones, via the load sensor, arranged sequentially along the load supporting member;

calculating a predetermined minimum number of the plurality of detection zones required for the load supporting member to engage the target load for transport;

manipulating the material handling vehicle to receive the target load with the load supporting member;

determining if the target load sequentially transitions through at least two of the plurality of detection zones as the material handling vehicle receives the target load;

upon determining that the target load sequentially transitions through at least two of the plurality of detection zones, determining if a number of the plurality of detections zones traversed by the target load is greater than or equal to the predetermined minimum number of the plurality of detection zones required for the load supporting member to engage the target load for transport; and

upon determining that the number of the plurality of detection zones traversed by the target load is greater than or equal to the predetermined minimum number, providing an indication that the target load is engaged by the load supporting member and ready for transport.

2. The method of claim 1, further comprising:

monitoring the plurality of detection zones traversed by the target load; and

correlating the traversed detection zones to a speed of the material handling vehicle.

3. The method of claim 1, further comprising:

determining if the target load does not sequentially transition through at least two of the plurality of detection zones; and

upon determining that the target load does not sequentially transition through at least two of the plurality of detection zones, providing an indication that loading of the target load was unsuccessful.

4. The method of claim 1, further comprising:

manipulating the material handling vehicle to unload the target load from the load supporting member;

determining if at least two of the plurality of detection zones are sequentially deactivated as the material handling vehicle unloads the target load;

upon determining that at least two of the plurality of detection zones are sequentially deactivated as the material handling vehicle unloads the target load, determining if a number of the plurality of detection zones deactivated is equal to the number of the plurality of detection zones traversed by the target load as the target load was received by the load supporting member; and

upon determining that the number of the plurality of detection zones deactivated is equal to the number of the plurality of detection zones traversed, providing an indication that the target load is disengaged from the load supporting member.

5. The method of claim 4, further comprising:

determining if at least two of the plurality of detection zones do not sequentially deactivate as the material handling vehicle unloads the target load; and

upon determining that at least two of the plurality of detection zones do not sequentially deactivate, providing an indication that the unloading of the target load was unsuccessful.

6. The method of claim 4, further comprising:

determining if the number of the plurality of detection zones deactivated is not equal to the number of the plurality of detection zones traversed; and

upon determining that the number of the plurality of detection zones deactivated is not equal to the number of the plurality of detection zones traversed, providing an indication that the unloading is not complete.

7. A method for determining if a target load is engaged by a load supporting member of a material handling vehicle, the material handling vehicle including a load sensor, the method comprising:

defining a plurality of detection zones, via the load sensor, arranged along the load supporting member;

manipulating the material handling vehicle to receive the target load with the load supporting member;

determining if the target load sequentially transitions through at least two of the plurality of detection zones as the material handling vehicle receives the target load;

upon determining that the target load sequentially transitions through at least two of the plurality of detection zones, determining if a number of the plurality of detections zones traversed by the target load is greater than or equal to a predetermined minimum number of the plurality of detection zones required for the load supporting member to engage the target load for transport; and

upon determining that the number of the plurality of detection zones traversed by the target load is greater than or equal to the predetermined minimum number, providing an indication that the target load is engaged by the load supporting member and ready for transport.

8. A material handling vehicle configured to transport a target load, the material handling vehicle comprising:

a vehicle body;

a load supporting member coupled to and extending from the vehicle body;

a load sensor defining a sensing area, wherein the sensing area includes a plurality of detection zones extending sequentially along the load supporting member; and

a controller in communication with the load sensor and configured to determine if the target load sequentially traverses at least two of the plurality of detection zones as the target load is received by the load supporting member, and provide an indication that the target load is engaged by the load supporting member and ready for transport.

9. The material handling vehicle of claim 8, wherein the controller is further configured to monitor a number of the plurality of detection zones traversed by the target load as the target load is received by the load supporting member.

10. The material handling vehicle of claim 9, wherein when the number of the plurality of detection zones traversed by the target load is greater than or equal to a predetermined minimum number required for transport, the controller is configured to provide an indication that the target load is engaged by the load supporting member and ready for transport.

11. The material handling vehicle of claim 10, wherein the controller is in communication with a warehouse management system and is configured to provide the indication to the warehouse management system.

12. The material handling vehicle of claim 8, further comprising a second load supporting member.

13. The material handling vehicle of claim 12, wherein the load sensor comprises an ultrasonic sensor arranged between the load supporting member and the second load supporting member.

14. The material handling vehicle of claim 8, wherein the load sensor comprises a light detection and ranging scanner.

15. The material handling vehicle of claim 14, wherein the light detection and ranging scanner is arranged on a backrest of the material handling vehicle and directed toward the load supporting member.

16. The material handling vehicle of claim 8, wherein the load sensor comprises a time-of-flight sensor.

17. The material handling vehicle of claim 16, wherein the time-of-flight sensor is arranged on a backrest of the material handling vehicle and directed toward the load supporting member.

18. The material handling vehicle of claim 8, wherein the load sensor comprises an array of photoelectric sensors arranged along the load supporting member.

19. The material handling vehicle of claim 18, wherein the photoelectric sensors are arranged in a horizontal direction parallel to a floor on which the material handling vehicle travels.

20. The material handling vehicle of claim 18, wherein the photoelectric sensors are arranged in a vertical direction normal to a top surface of the load supporting member.