SENSOR CONFIGURATION FOR A MATERIALS HANDLING VEHICLE

• US 20130197760A1
• Filed: 03/05/2013
• Published: 08/01/2013
• Est. Priority Date: 12/04/2008
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Castaneda, Anthony T., Dues, Jeffry D., Green, Matthew M., Manci, Lewis H., Schloemer, James F., Schumacher, Mark E., Siefring, Vernon W., Wellman, Timothy A., Wershing, Jesse
• Granted Patent: US 9,522,817 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: B66F 9/075 Constructional features or details
• CPC Class Codes: B66F 9/07509 Braking
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/07581 Remote controls
• 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: 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 a power unit, a load handling assembly, at least one first obstacle detector, and at least one second obstacle detector. The at least one first obstacle detector is mounted at a first location on the power unit to detect an object located along a path of travel of the power unit beyond a non-detect zone of the at least one first obstacle detector. The at least one second obstacle detector is mounted at a second location on the power unit, spaced from the first location in a first direction, and is capable of detecting an object in the non-detect zone of the at least one first obstacle detector.

Claims

1. A materials handling vehicle comprising:

a power unit;

a load handling assembly;

at least one first obstacle detector mounted at a first location on said power unit to detect an object located along a path of travel of said power unit beyond a non-detect zone of said at least one first obstacle detector; and

at least one second obstacle detector mounted at a second location on said power unit, spaced from said first location in a first direction, and capable of detecting an object in said non-detect zone of said at least one first obstacle detector.

2. The materials handling vehicle of claim 1, wherein said at least one first obstacle detector is located at a front portion of said power unit.

3. The materials handling vehicle of claim 2, wherein said at least one second obstacle detector is spaced away from said at least one first obstacle detector in a direction towards said load handling assembly.

4. The materials handling vehicle of claim 1, wherein said at least one first obstacle detector comprises a sweeping laser sensor.

5. The materials handling vehicle of claim 4, wherein said sweeping laser sensor is capable of detecting an object in any of first, second, and third zones, the first and third zones comprising steer bumper zones used for implementing steer correction maneuvers and the second zone comprising a stop zone used for stopping the vehicle.

6. The materials handling vehicle of claim 4, wherein said at least one second obstacle detector comprises first and second point laser sensors spaced from one another in a second direction that is generally perpendicular to said first direction.

7. The materials handling vehicle of claim 6, wherein said first direction is a vertical direction and said second direction is a horizontal direction.

8. The materials handling vehicle of claim 1, wherein said first direction is a horizontal direction.

9. A materials handling vehicle comprising:

a power unit;

a load handling assembly;

at least one first obstacle detector mounted at a first location on said power unit to detect an object located in a scan zone along a path of travel of said power unit beyond a non-detect zone of said at least one first obstacle detector, said non-detect zone being located between said scan zone of said first obstacle detector and the vehicle; and

at least one second obstacle detector mounted at a second location on said power unit spaced from said first obstacle detector in a first direction and capable of detecting an object in said non-detect zone.

10. The materials handling vehicle of claim 9, wherein said at least one first obstacle detector is located at a front portion of said power unit.

11. The materials handling vehicle of claim 10, wherein said at least one second obstacle detector is spaced away from said at least one first obstacle detector in a direction towards said load handling assembly.

12. The materials handling vehicle of claim 9, wherein said at least one first obstacle detector comprises a sweeping laser sensor capable of detecting an object in any of first, second, and third zones, the first and third zones comprising steer bumper zones used for implementing steer correction maneuvers and the second zone comprising a stop zone used for stopping the vehicle.

13. The materials handling vehicle of claim 9, wherein said at least one second obstacle detector comprises first and second point laser sensors spaced from said sweeping laser sensor in a vertical direction and spaced from one another in a horizontal direction.

14. The materials handling vehicle of claim 9, wherein said non-detect zone is located just in front of the vehicle and underneath said scan zone of said at least one first obstacle detector.

15. The materials handling vehicle of claim 9, wherein said first direction is a horizontal direction

16. A materials handling vehicle comprising:

a power unit;

a load handling assembly;

at least one first obstacle detector comprising a sweeping laser sensor mounted at a first location on said power unit to detect an object located in a scan zone along a path of travel of said power unit beyond a non-detect zone of said at least one first obstacle detector; and

at least one second obstacle detector mounted on said power unit below said at least one first obstacle detector and capable of detecting an object in said non-detect zone underneath said scan zone of said at least one first obstacle detector.

17. The materials handling vehicle of claim 16, wherein said sweeping laser sensor is capable of detecting an object in any of first, second, and third zones, the first and third zones comprising steer bumper zones used for implementing steer correction maneuvers and the second zone comprising a stop zone used for stopping the vehicle.

18. The materials handling vehicle of claim 16, wherein said at least one second obstacle detector comprises first and second point laser sensors spaced from one another in a horizontal direction.

19. The materials handling vehicle of claim 16, wherein said non-detect zone is located just in front of the vehicle and underneath said scan zone of said sweeping laser sensor.

20. The materials handling vehicle of claim 19, wherein said scan zone of said sweeping laser sensor is oriented at an angle from said first location toward a floor surface.

21. A materials handling vehicle comprising:

a power unit;

a load handling assembly coupled to said power unit;

at least one obstacle detector mounted to said power unit to detect an object located along a path of travel of said power unit, said detector generating a distance signal upon detecting an object corresponding to a distance between the detected object and said power unit; and

a controller receiving said distance signal and generating a corresponding vehicle stop or maximum allowable speed signal based on said distance signal.

22. The materials handling vehicle as set out in claim 21, further comprising a load sensor to generate a weight signal indicative of a weight of a load on said load handling assembly.

23. The materials handling vehicle as set out in claim 22, wherein said controller receives said distance signal and said weight signal and generates a corresponding vehicle stop or maximum allowable speed signal based on said distance and weight signals.

24. The materials handling vehicle as set out in claim 23, wherein for a given first load weight, if a sensed object is located at a distance within a first detection zone, a stop signal is generated by said controller to effect stopping of said vehicle.

25. The materials handling vehicle as set out in claim 24, wherein for said given first load weight, if a sensed object is located at a distance within a second detection zone spaced further away from said power unit than said first detection zone, then a first maximum allowable vehicle speed is defined corresponding to said first load weight and an object being detected in said second detection zone.

26. The materials handling vehicle as set out in claim 25, wherein for said given first load weight, if a sensed object is located at a distance within a third detection zone spaced further away from said power unit than said first and second detection zones, then a second maximum allowable vehicle speed greater than said first maximum is defined corresponding to said first load weight and an object being detected in said third detection zone.

27. A materials handling vehicle comprising:

a power unit;

a load handling assembly coupled to said power unit;

at least one obstacle detector mounted to said power unit to detect an object located along a path of travel of said power unit, said detector generating a distance signal upon detecting an object corresponding to a distance between the detected object and said power unit;

a load sensor to generate a weight signal indicative of a weight of a load on said load handling assembly; and

a controller receiving said distance signal and said weight signal and generating a corresponding vehicle stop or maximum allowable speed signal based on said distance and weight signals.

28. The materials handling vehicle as set out in claim 27, wherein for a given first load weight, if a sensed object is located at a distance within a first detection zone, a stop signal is generated by said controller to effect stopping of said vehicle.

29. The materials handling vehicle as set out in claim 28, wherein for said given first load weight, if a sensed object is located at a distance within a second detection zone spaced further away from said power unit than said first detection zone, then a first maximum allowable vehicle speed is defined corresponding to said first load weight and an object being detected in said second detection zone.

30. The materials handling vehicle as set out in claim 29, wherein for said given first load weight, if a sensed object is located at a distance within a third detection zone spaced further away from said power unit than said first and second detection zones, then a second maximum allowable vehicle speed greater than said first maximum is defined corresponding to said first load weight and an object being detected in said third detection zone.