MATERIALS HANDLING VEHICLE HAVING A STEER SYSTEM INCLUDING A TACTILE FEEDBACK DEVICE
First Claim
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1. A materials handling vehicle comprising:
- a frame comprising an operator'"'"'s compartment and a sensor capable of generating a signal indicative of an operator entering said operator'"'"'s compartment;
wheels supported on said frame;
a traction motor coupled to one of said wheels to effect rotation of said one wheel;
a steer-by-wire system associated with a steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising;
a control handle capable of being moved by an operator to define a steer control signal corresponding to a desired angular position of said steerable wheel;
a tactile feedback device associated with said control handle to generate a counter force on said control handle which varies based on a variable tactile feedback device signal;
a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis;
control apparatus coupled to said sensor to receive the signal from said sensor indicative of an operator entering said operator'"'"'s compartment, coupled to said control handle to receive said steer control signal, coupled to said steer motor to generate a first drive signal to said steer motor in response to said steer control signal from said control handle to effect angular movement of said steerable wheel about the first axis, coupled to said traction motor to generate a second drive signal to said traction motor, and coupled to said tactile feedback device to generate said tactile feedback device signal; and
said control apparatus increasing said tactile feedback device signal in response to an operator entering said operator'"'"'s compartment to inhibit an operator from making a quick turn request via said control handle.
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Abstract
A materials handling vehicle is provided comprising a frame comprising an operator'"'"'s compartment, wheels supported on the frame, at least one of the wheels being a steerable wheel, and a steer-by-wire system associated with the steerable wheel to effect angular movement of the steerable wheel. The vehicle further comprises a control apparatus.
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Citations
16 Claims
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1. A materials handling vehicle comprising:
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a frame comprising an operator'"'"'s compartment and a sensor capable of generating a signal indicative of an operator entering said operator'"'"'s compartment; wheels supported on said frame; a traction motor coupled to one of said wheels to effect rotation of said one wheel; a steer-by-wire system associated with a steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising; a control handle capable of being moved by an operator to define a steer control signal corresponding to a desired angular position of said steerable wheel; a tactile feedback device associated with said control handle to generate a counter force on said control handle which varies based on a variable tactile feedback device signal; a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis; control apparatus coupled to said sensor to receive the signal from said sensor indicative of an operator entering said operator'"'"'s compartment, coupled to said control handle to receive said steer control signal, coupled to said steer motor to generate a first drive signal to said steer motor in response to said steer control signal from said control handle to effect angular movement of said steerable wheel about the first axis, coupled to said traction motor to generate a second drive signal to said traction motor, and coupled to said tactile feedback device to generate said tactile feedback device signal; and said control apparatus increasing said tactile feedback device signal in response to an operator entering said operator'"'"'s compartment to inhibit an operator from making a quick turn request via said control handle. - View Dependent Claims (2, 3, 4, 5)
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6. A materials handling vehicle comprising:
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a frame comprising an operator'"'"'s compartment; wheels supported on said frame; a traction motor coupled to one of said wheels to effect rotation of said one wheel; a steer-by-wire system associated with a steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising; a control handle capable of being moved by an operator; a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis; control apparatus coupled to said steer motor to generate a first drive signal to said steer motor to effect angular movement of said steerable wheel about the first axis and coupled to said traction motor to generate a second drive signal to said traction motor to control its speed; and said control apparatus varying said first drive signal to said steer motor as a function of the speed of said traction motor so as to vary a speed limit of said steer motor. - View Dependent Claims (7, 8, 9)
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10. A materials handling vehicle comprising:
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a frame comprising an operator'"'"'s compartment and a sensor capable of generating a signal indicative of an operator leaving said operator'"'"'s compartment; wheels supported on said frame, at least one of said wheels being a steerable wheel; a steer-by-wire system associated with said steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising; a control handle capable of being moved by an operator to generate a steer control signal corresponding to a desired angular position of said steerable wheel; biasing structure associated with said control handle to bias said control handle towards a centered position corresponding to said steerable wheel being positioned in a straight-ahead position; a tactile feedback device associated with said control handle to generate a force counter to an operator applied force on said control handle which counter force varies based on a variable tactile feedback device signal; a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis; control apparatus coupled to said sensor to receive the signal from said sensor indicative of an operator leaving said operator'"'"'s compartment, coupled to said control handle to receive said steer control signal, coupled to said steer motor to generate a first drive signal to said steer motor in response to said steer control signal from said control handle to effect angular movement of said steerable wheel about the first axis, and coupled to said tactile feedback device to generate said tactile feedback device signal; and said steerable wheel is capable of being moved to an angular position within a first angular range when an operator is located within said operator'"'"'s compartment and is capable of being moved to an angular position within a second angular range which is less than said first angular range when an operator is located outside of said operator'"'"'s compartment. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification