METHOD FOR OPERATING A MATERIALS HANDLING VEHICLE UTILIZING MULTIPLE DETECTION ZONES

• US 20130124014A1
• Filed: 01/10/2013
• Published: 05/16/2013
• Est. Priority Date: 09/14/2006
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Elston, Edwin R., Siefring, Vernon W., Jensen, Eric L.
• Granted Patent: US 8,725,363 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/121 Fork lift trucks, Clarks
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B66F 9/07509 Braking
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/07572 Propulsion arrangements
• CPC Class Codes: B66F 9/07581 Remote controls
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• 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: 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: G08C 17/02 : using a radio link
• CPC Class Codes: G08C 2201/20 : Binding and programming of remote control devices

Abstract

A multiple detection zone supplemental remote control system for a materials handling vehicle comprises one or more sensors capable of defining multiple contactless detection zones at least towards the front of the forward travel direction of a remotely controlled vehicle. The vehicle responds to the detection of objects within the designated zones based upon predetermined actions, such as to slow down or stop the vehicle, and/or to take other action, such as to perform a steer angle correction.

Claims

1. A method for operating a materials handling vehicle utilizing multiple detection zones comprising:

defining a first detection zone in an area proximate to the vehicle;

defining a second detection zone in an area proximate to the vehicle;

performing a first action if an unacceptable detection occurs in the first detection zone; and

performing a second action different from the first action if an unacceptable detection occurs in the second detection zone.

2. The method of claim 1, wherein the first and second detection zones are defined by at least one contactless obstacle sensor on the vehicle.

3. The method of claim 1, wherein:

said defining a first detection zone comprises defining a stop zone;

said defining a second detection zone comprises defining a first speed zone;

said performing a first action comprises implementing a stop action to stop the vehicle if the vehicle is traveling and an obstacle is detected in the stop zone; and

said performing a second action comprises implementing a speed reduction action to reduce the speed of the vehicle to a first predetermined speed if the vehicle is traveling at a speed greater than the first predetermined speed and an obstacle is detected in the first speed zone.

4. The method of claim 3, further comprising:

defining a third detection zone in an area at least partially in front of the forward traveling direction of the vehicle, the third detection zone comprising a second speed zone; and

implementing a second speed reduction action to reduce the speed of the vehicle to a second predetermined speed if the vehicle is traveling at a speed greater than the second predetermined speed and an obstacle is detected in the second speed zone.

5. The method of claim 3, further comprising preventing operation of the vehicle if an obstacle is detected within the stop zone before the vehicle begins travel.

6. The method of claim 1, further comprising:

associating each detection zone with an associated speed control zone and a corresponding maximum speed; and

limiting the vehicle speed to the predetermined maximum speed of an associated speed control zone based upon the detection of an obstacle in that speed zone.

7. The method of claim 1, further comprising modifying at least one vehicle parameter other than speed in response to detecting an obstacle in at least one detection zone.

8. The method of claim 1, wherein at least one of the detection zones comprises a steer angle correction zone, and further comprising implementing a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone.

9. The method of claim 8, wherein said implementing a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone further comprises selecting a direction of steer angle adjustment based upon a determination of a position of a detected obstacle.

10. The method of claim 8, wherein the at least two detection zones comprise a plurality different steer angle correction zones, and further comprising implementing a different steer angle correction amount for each steer angle correction zone.

11. The method of claim 1, further comprising remotely controlling the vehicle via a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel.

12. The method of claim 1, wherein said performing a first action comprises performing a first action if an obstacle is detected in the first detection zone.

13. The method of claim 12, wherein said performing a second action comprises performing a second action different from the first action if a load platform on the vehicle is not in a valid designated position.