Automated load handling for industrial vehicle

• US 10,233,064 B2
• Filed: 06/21/2017
• Issued: 03/19/2019
• Est. Priority Date: 07/06/2016
• Status: Active Grant

• Current Assignee: Hyster-Yale Group Inc.
• Original Assignee: Hyster-Yale Group Inc.
• Inventors: Hoffman, Matthew K.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/629,433
• Publication Number:
  US 20180009643A1
• Time in Patent Office: 636 Days
• CPC Class Codes: B62B 2203/28 Guiding the forks into the pallets
• CPC Class Codes: B62B 2203/29 Stops on the tines to arrest the pallets or other objects
• CPC Class Codes: B62B 2203/50 comprising weighing means
• CPC Class Codes: B62B 3/0612 power operated
• CPC Class Codes: B62B 5/0069 Control
• CPC Class Codes: B62B 5/0076 Remotely controlled
• CPC Class Codes: B66F 9/24 Electrical devices or systems

Abstract

A load handling system for a vehicle includes a set of forks that concurrently supports two or more pallets including a first pallet and a second pallet linearly positioned along a length of the forks, and a lifting system to raise and lower the forks. A traction system moves the vehicle in a direction of travel associated with withdrawing the forks from the pallets. Additionally, an actuation device generates an activation signal in response to being actuated by an operator, and a vehicle controller places the vehicle in an automated mode of operation in response to receiving the activation signal. In the automated mode of operation, a front end of the forks moves from the second pallet to the first pallet, and the first pallet is raised while the second pallet remains on a transport surface. The first pallet is then spaced apart from the second pallet by a predetermined distance and then lowered to the transport surface.

Claims

1. A load handling system for a vehicle, comprising:

a set of forks configured to concurrently support two or more pallets including a first pallet and a second pallet linearly positioned along a length of the forks;

a lifting system configured to raise and lower the forks;

a traction system configured to move the vehicle in a direction of travel associated with withdrawing the forks from the pallets; and

a vehicle controller configured to place the vehicle in an automated mode of operation in response to receiving an activation signal, wherein during the automated mode of operation the vehicle controller is configured to;

actuate the traction system a first time to move the vehicle in the direction of travel so that a front end of the forks moves from being under the second pallet to being under the first pallet;

actuate the lifting system to raise the first pallet supported on the front end of the forks while the second pallet remains on a transport surface;

actuate the traction system a second time to move the vehicle in the direction of travel so that the first pallet is spaced apart from the second pallet by a predetermined distance; and

actuate the lifting system to lower the first pallet to the transport surface at the predetermined distance from the second pallet.

2. The load handling system of claim 1, further comprising one or more light emitting devices configured to provide a visual indication to non-operator pedestrians that the vehicle has been placed in the automated mode of operation.

3. The load handling system of claim 1, wherein during the automated load handling operation the vehicle controller is further configured to actuate the traction system a third time to move the vehicle in the direction of travel so that the front end of the forks is completely removed from both the first pallet and the second pallet.

4. The load handling system of claim 3, wherein the predetermined distance provides sufficient clearance for the operator to walk between the first pallet and the second pallet, and wherein the vehicle is moved in the direction of travel by a second instance of the predetermined distance when the traction system is actuated the third time.

5. The load handling system of claim 1, further comprising one or more sensors configured to detect a presence of one or both of the first pallet and the second pallet and to generate a pallet presence signal, wherein the vehicle controller is configured to perform at least a portion of the automated load handling operation in response to receiving both the pallet presence signal and the activation signal.

6. The load handling system of claim 5, wherein the one or more sensors are configured to detect when the end of the forks has been withdrawn from the second pallet.

7. The load handling system of claim 5, wherein the one or more sensors are configured to detect when the first pallet is located on a back end of the forks and when the second pallet is located on the front end of the forks.

8. The load handling system of claim 1, further comprising one or more sensors configured to monitor for an obstacle located proximate to the vehicle and to generate a proximity alert in response to detecting the obstacle, wherein the vehicle controller is configured to disable the automated load handling operation in response to detecting the obstacle.

9. The load handling system of claim 8, wherein the vehicle controller is configured to disable the automated load handling operation in response to detecting that a distance to the obstacle is less than a total distance required by the vehicle to move in the direction of travel to both withdraw the forks from the second pallet and space apart the first pallet from the second pallet by the predetermined distance.

10. The load handling system of claim 9, wherein the total distance required to both withdraw the forks from the second pallet and space apart the first pallet from the second pallet is approximately two meters.

11. A method of performing a load handling operation for a vehicle having a set of forks configured to concurrently support both a first pallet and a second pallet linearly positioned along a length of the forks, a lifting system configured to raise and lower the forks, and a traction system configured to move the vehicle in a direction of travel associated with withdrawing the forks from pallets, the method comprising:

receiving, by a vehicle controller, an activation signal;

placing the vehicle in an automated mode of operation based, at least in part, on the activation signal;

actuating, by the vehicle controller, the traction system to move the vehicle in the direction of travel during the automated mode of operation, so that a front end of the forks moves from being under the second pallet to being under the first pallet;

actuating, by the vehicle controller, the lifting system to raise the first pallet supported on the front end of the forks during the automated mode of operation, while the second pallet remains on a transport surface;

actuating, by the vehicle controller, the traction system to move the vehicle in the direction of travel during the automated mode of operation, so that the first pallet is spaced apart from the second pallet by a predetermined distance; and

actuating, by the vehicle controller, the lifting system during the automated mode of operation, to lower the first pallet to the transport surface at the predetermined distance from the second pallet.

12. The method of claim 11, further comprising receiving, by the vehicle controller, a pallet presence signal from one or more sensors located within the forks, wherein the vehicle is placed in the automated mode of operation based, at least in part, on both the pallet presence signal and the activation signal.

13. The method of claim 11, further comprising controlling, by the vehicle controller, one or more light emitting devices mounted on the vehicle to provide a visual indication that the vehicle has been placed in the automated mode of operation.

14. The method of claim 11, wherein the one or more light emitting devices emit a first light characteristic when the vehicle is being manually operated, and wherein the one or more light emitting devices are controlled to emit a second light characteristic when the vehicle has been placed in the automated mode of operation.

15. The method of claim 11, further comprising receiving, by the vehicle controller, an obstacle monitoring signal from one or more sensors located on the vehicle, wherein the vehicle is placed in the automated mode of operation based, at least in part, on a determination that there are no immediate obstacles in the direction of travel.

16. The method of claim 15, further comprising determining a distance to the nearest obstacle based on the obstacle monitoring signal, wherein the vehicle is placed in the automated mode of operation based, at least in part, on a determination that the distance to the nearest obstacle is less than a total distance that the vehicle is required to move in the direction of travel while performing the load handling operation.

17. The method of claim 11, further comprises actuating the traction system to move the vehicle in the direction of travel so that the front end of the forks is completely removed from both the first pallet and the second pallet.

18. The method of claim 17, wherein the predetermined distance provides sufficient clearance for the operator to walk between the first pallet and the second pallet, and wherein the vehicle is moved in the direction of travel by a second instance of the predetermined distance when the traction system is actuated the third time.

19. The method of claim 11, wherein the traction system is further configured to move the vehicle in a second direction of travel associated with inserting the forks into pallets, the method further comprising:

receiving, by a vehicle controller, a second activation signal after the first pallet has been lowered to the transport surface at the predetermined distance from the second pallet;

actuating, by the vehicle controller, the lifting system to raise the first pallet supported on the end of the forks from the transport surface during a second automated mode of operation, wherein the first pallet is laterally spaced apart from the second pallet by the predetermined distance;

actuating, by the vehicle controller, the traction system to move the vehicle in the second direction of travel during the second automated mode of operation, so that the first pallet is moved towards the second pallet by the predetermined distance; and

actuating, by the vehicle controller, the lifting system to lower the first pallet to the transport surface during the second automated mode of operation, so that the first pallet is located next to the second pallet on the transport surface; and

actuating, by a vehicle controller, the traction system to move the vehicle in the second direction of travel during the second automated mode of operation, so that the front end of the forks moves from being under the first pallet to being under the second pallet.

20. The method of claim 19, further comprising:

receiving, by the vehicle controller, a pallet presence signal indicating that one or both of the first pallet and the second pallet are located above the forks during the second automated mode of operation;

actuating, by the vehicle controller, the lifting system to raise the forks to a maximum lift height during the second automated mode of operation, in response to receiving the pallet presence signal; and

placing the vehicle in a manual mode of operation after the forks have been raised to the maximum lift height.