VEHICULAR NAVIGATION CONTROL INTERFACE

• US 20140188324A1
• Filed: 02/04/2014
• Published: 07/03/2014
• Est. Priority Date: 08/29/2011
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Zheng, Bing, Mallak, Thomas L., Mangette, Steve, Waltz, Lucas B.
• Granted Patent: US 9,002,626 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

Included are systems and methods for providing a vehicular navigation control interface. Some embodiments include a navigation system and a vehicle with a vehicle control module (VCM), a navigation control module (NCM), and a navigation control interface, where the VCM receives a manual command from an operator to implement a manual control function. In some embodiments the NCM receives an automatic command from the navigation system to implement an automatic control function via the VCM and the navigation control interface directly connects the VCM and the NCM to facilitate communication between the VCM and NCM for implementing automatic mode and for reporting implementation of a manual mode.

Claims

1-20. -20. (canceled)

21. A system comprising a navigation system and a vehicle with a vehicle control module (VCM), a navigation control module (NCM), and a navigation control interface, wherein:

the NCM receives an automatic command to implement an automatic control function;

the navigation control interface connects the VCM and the NCM to facilitate communication between the VCM and NCM for implementing the automatic control function and for reporting implementation of a manual mode;

the VCM sends traction data to the NCM via the navigation control interface for implementation in the automatic control function; and

the traction data comprises at least one of the following;

traction speed feedback, traction speed limit, traction acceleration force limit, and traction deceleration force limit.

22. A system of claim 21, wherein the automatic command comprises at least one of the following:

a plurality of path segments that directs the NCM to a predetermined destination and a coordinate of the predetermined destination.

23. A system of claim 21, wherein the VCM sends vehicle data to the NCM via the navigation control interface, wherein the vehicle data comprises at least one of the following:

a vehicle identifier, a vehicle state, a vehicle status, a counter, and a load weight.

24. A system of claim 23, wherein the vehicle state is identified as at least one of the following:

initialization, standby, manual, automatic, and an error.

25. A system of claim 23, wherein the vehicle status includes at least one of the following:

a mode select switch state, a brake switch state, an automatic contactor state, a traction mode, a steering mode, a hoist mode, and accessory mode, and an error.

26. A system of claim 21, wherein the VCM sends steering data to the NCM via the navigation control interface and wherein the steering data comprises at least one of wheel angle feedback, a counterclockwise wheel angle limit, limit, and a wheel angle rate limit.

27. A system of claim 21, wherein the VCM sends hoist data to the NCM via the navigation control interface, wherein the hoist data comprises at least one of the following:

a fork height, a hoist speed limit, a hoist acceleration limit, and a hoist height limit.

28. A system of claim 21, wherein the NCM sends the VCM at least one of the following via the navigation control interface:

system data, traction command data, steering command data, hoist command data, and accessory command data.

29. A system of claim 21, wherein the NCM sends system data to the VCM via the navigation control interface, wherein the system data comprises at least one of the following:

a system identifier, a navigation system state, a navigation system status, a counter, and a braking status.

30. A system of claim 21, wherein the NCM sends traction command data to the VCM via the navigation control interface, wherein the traction command data comprises at least one of the following:

a traction command and a traction gain.

31. A system of claim 21, wherein the NCM sends hoist command data to the VCM via the navigation control interface, wherein the hoist command data comprises at least one of the following:

a hoist command and a hoist gain.

32. A system of claim 21, wherein the NCM, the VCM, and the navigation control interface are part of a vehicle computing architecture on a forklift.

33. A system of claim 32, wherein the NCM receives automatic commands from the navigation system for navigating the forklift.

34. A system of claim 21, further comprising:

a display, a traction control module (TCM), and a steering control module (SCM), wherein;

the display provides the operator with information regarding operation of the vehicle;

the TCM is implemented as a first motor controller that receives and implements at least one of the following;

a power signal and a speed command; and

the SCM is implemented as a second motor controller that receives and implements a steering command.

35. A system of claim 34, further comprising a first can bus and a second can bus, wherein:

the first can bus provides a communication medium among the display, the VCM, the TCM, and the SCM; and

the second can bus is part of the navigation control interface that couples the VCM with the NCM and facilitates sending and receiving of data between the VCM and the NCM.

36. A system of claim 21, further comprising a remote computing device, wherein:

the remote computing device processes a work order, the work order identifying a location of a product that will be moved; and

the remote computing device determines whether the vehicle will perform the work order.

37. A system of claim 36, wherein the remote computing device comprises a server.

38. A vehicle comprising a vehicle control module (VCM), a navigation control module (NCM), a hardware interface, a traction control module (TCM), and a steering control module (SCM), wherein:

the NCM receives an automatic command from a navigation system to implement an automatic control function;

the NCM sends data related to the automatic command for implementing the automatic command;

the hardware interface connects the VCM and the NCM to facilitate communication of data between the VCM and NCM;

the VCM sends steering data to the NCM via the navigation control interface for implementation in the automatic control mode; and

the steering data comprises at least one of wheel angle feedback, a counterclockwise wheel angle limit, a clockwise wheel angle limit, and a wheel angle rate limit.

39. A vehicle comprising a vehicle control module (VCM) and a navigation control module (NCM), and a hardware interface, wherein:

the NCM sends data related to an automatic command for implementing an automatic control function;

the hardware interface connects the VCM and the NCM to facilitate communication of data between the VCM and NCM;

the VCM sends hoist data to the NCM via the navigation control interface for implementation of the automatic control function; and

the hoist data comprises at least one of the following;

a fork height, a hoist speed limit, a limit, and a hoist height limit.

40. A system comprising a navigation system and a vehicle with a vehicle control module (VCM), a navigation control module (NCM), and a navigation control interface, wherein:

the NCM receives an automatic command to implement an automatic control function;

the navigation control interface connects the VCM and the NCM to facilitate communication between the VCM and NCM for implementing the automatic control function and for reporting implementation of a manual mode;

the VCM sends accessory data to the NCM via the navigation control interface for implementation in the automatic control function of an accessory of the vehicle; and

the accessory data comprises at least one of the following;

a first accessory position, a second accessory position, an accessory upper limit, and an accessory lower limit.