Communication technique by which an autonomous guidance system controls an industrial vehicle

• US 8,433,469 B2
• Filed: 02/28/2012
• Issued: 04/30/2013
• Est. Priority Date: 03/18/2011
• Status: Active Grant

• Current Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Original Assignee: The Raymond Corporation (Toyota Motor Corporation)
• Inventors: Harvey, Dean S., Page, Stephen L., Day, Richard M.
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): WONG, YUEN H
• Application Number:
  US13/406,654
• Publication Number:
  US 20120239238A1
• Time in Patent Office: 427 Days
• Field of Search: 701/23, 187/223, 187/237
• US Class Current: 701/23
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0759 Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A propulsion drive system is operated by a controller to propel an industrial vehicle along a path in an unmanned mode. An autonomous processor module sends commands to the vehicle controller in response to messages received via a communication network from a guidance and navigation system. The guidance and navigation system transmits a message over the communication network, wherein that message contains a first numerical value specifying the velocity and a second numerical value specifying an amount that the propulsion drive system is to turn a wheel of the industrial vehicle. The message also specifies a maximum speed limit and indicators commanding that a load carried by the industrial vehicle be raised and lowered. The autonomous processor module transmits a feedback message indicate actual vehicle operating parameters to the guidance and navigation system.

Claims

1. A guidance and navigation system for operating an industrial vehicle in an unmanned/autonomous mode, wherein the industrial vehicle includes a vehicle controller connected by first communication network to a propulsion drive system which propels the industrial vehicle and includes an autonomous processor module connected to send messages over the first communication network and connected to a second communication network;

and

wherein the guidance and navigation system being operative to determine a path to be taken and guides the industrial vehicle along that path by sending a first message to the autonomous processor module via that second communication network, in which the first message contains a first value specifying a velocity for the propulsion drive system and a second value specifying an amount that the propulsion drive system is to turn a wheel of the industrial vehicle, the first message causes the autonomous processor module to inspect the first and second values and if found compatible with operation of the industrial vehicle, the autonomous processor module sends the first and second values in a reformatted message via the first communication network to the vehicle controller, which results in the vehicle controller using the first and second values to send at least one operating command to the propulsion drive system.

2. The guidance and navigation system as recited in claim 1 wherein the first message also specifies a maximum speed at which the industrial vehicle is permitted to travel in the unmanned/autonomous mode.

3. The guidance and navigation system as recited in claim 1 wherein the industrial vehicle has an apparatus for raising and lowering a load being carried, and the first message further contains one indicator designating that the load be raised and another indicator designating that the load be lowered.

4. The guidance and navigation system as recited in claim 1 wherein the first message, sent by the guidance and navigation system, contains an indicator indicating whether the industrial vehicle is operating in the unmanned/autonomous mode or a manned/manual mode.

5. The guidance and navigation system as recited in claim 1 wherein the first message contains a value that changes each successive time the autonomous processor module sends that type of message over the second communication network.

6. The guidance and navigation system as recited in claim 1 wherein the guidance and navigation system sends a second message via the second communication network that specifies limits for a steering angle of the wheel, a vehicle propulsion acceleration rate, a vehicle propulsion deceleration rate, and a braking rate.

7. The guidance and navigation system as recited in claim 1 wherein the guidance and navigation system sends a third message via the second communication network that specifies whether the industrial vehicle encountered an obstacle in its path.

8. The guidance and navigation system as recited in claim 1 wherein the guidance and navigation system receives a feedback message via the second communication network, wherein the feedback message indicates an actual velocity of the industrial vehicle.

9. The guidance and navigation system as recited in claim 1 wherein the guidance and navigation system receives a feedback message via the second communication network, wherein the feedback message indicates an actual velocity of the industrial vehicle, an amount that a wheel is turned to steer the industrial vehicle, a state of charge of a battery, and a state of a brake.

10. The guidance and navigation system as recited in claim 1 wherein the guidance and navigation system receives a feedback message via the second communication network, wherein the feedback message indicates operation in one of the unmanned/autonomous mode, a manned/manual mode, or a training mode.

11. A method for controlling an industrial vehicle in an unmanned/autonomous mode, wherein the industrial vehicle includes a propulsion drive system that is operated by a vehicle controller to propel the industrial vehicle along a path, and an autonomous processor module operatively connected to send commands to the vehicle controller in response to messages received via a communication network, the method comprising:

a guidance and navigation system determining a path to be taken by the industrial vehicle;

in response to the path, the guidance and navigation system transmitting a first message over the communication network to the autonomous processor module, wherein the first message contains a first value specifying velocity for the propulsion drive system and a second value specifying an amount that the propulsion drive system is to turn a wheel of the industrial vehicle;

the autonomous processor module inspecting the first and second values, and if found compatible with operation of the industrial vehicle, the first and second values are sent in a reformatted message to the vehicle controller; and

the vehicle controller responding to the reformatted message by controlling operation of the propulsion drive system.

12. The method as recited in claim 11 wherein the first message also specifies a maximum speed at which the industrial vehicle is permitted to travel in the unmanned/autonomous mode.

13. The method as recited in claim 11 wherein the industrial vehicle has an apparatus for raising and lowering a load being carried, and the first message further contains one indicator designating that the load be raised and another indicator designating that the load be lowered.

14. The method as recited in claim 11 wherein the first message contains an indicator designating whether the industrial vehicle is operating in the unmanned/autonomous mode or a manned/manual mode.

15. The method as recited in claim 11 wherein the first message contains a numerical value that is changed by the guidance and navigation system each time that type of message is sent over the communication network.

16. The method as recited in claim 11 further comprising the guidance and navigation system transmitting a second message over the communication network, wherein the second message specifies limits for a steering angle of a vehicle wheel, a vehicle propulsion acceleration rate, a vehicle propulsion deceleration rate, and a braking rate.

17. The method as recited in claim 11 further comprising the guidance and navigation system transmitting a third message over the communication network, wherein the third message specifies whether the industrial vehicle encountered an obstacle in its path while operating in the unmanned/autonomous mode.

18. The method as recited in claim 11 wherein guidance and navigation system receives a feedback message from the autonomous processor module, wherein the feedback message indicates an actual velocity of the industrial vehicle.

19. The method as recited in claim 11 wherein guidance and navigation system receives a feedback message from the autonomous processor module, wherein the feedback message indicates an actual velocity of the industrial vehicle, an amount that a wheel is turned to steer the industrial vehicle, a state of charge of a battery, and a state of a brake.

20. The method as recited in claim 11 wherein guidance and navigation system receives a feedback message from the autonomous processor module, indicating operation in one of the unmanned/autonomous mode, a manned/manual mode, or a training mode.

21. An industrial vehicle comprising:

a propulsion drive system for propelling the industrial vehicle;

a vehicle controller for operating the propulsion drive system;

a first communication network through which the vehicle controller and the propulsion drive system exchange messages;

a second communication network;

an autonomous processor module connecting the first communication network to the second communication network; and

a guidance and navigation system comprising a sensor for detecting a present location of the industrial vehicle and in an unmanned/autonomous operating mode determines a path to be taken and produces commands to guide the industrial vehicle along the path, and being operative to send a first message via the second communication network to the autonomous processor module, wherein the first message contains a first value specifying a velocity for the propulsion drive system and a second value specifying an amount that the propulsion drive system is to turn a wheel of the industrial vehicle;

wherein the autonomous processor module inspects the first and second values and transfers only those first and second values that are compatible with operation of the industrial vehicle to the vehicle controller via the first communication network.

22. The industrial vehicle as recited in claim 21 wherein the first message also specifies a maximum speed at which the industrial vehicle is permitted to travel in the unmanned/autonomous mode.

23. The industrial vehicle as recited in claim 21 wherein the industrial vehicle has an apparatus for raising and lowering a load being carried, and the first message contains one indicator designating that the load be raised and contains another indicator designating that the load be lowered.

24. The industrial vehicle as recited in claim 21 wherein the first message contains an indicator designating whether the industrial vehicle is operating in the unmanned/autonomous mode or a manned/manual mode.

25. The industrial vehicle as recited in claim 21 wherein the first message contains a value that changes each time that type of message is sent over the second communication network.

26. The industrial vehicle as recited in claim 21 wherein the guidance and navigation system sends a second message to the autonomous processor module that specifies limits for a steering angle of a vehicle wheel, a vehicle propulsion acceleration rate, a vehicle propulsion deceleration rate, and a braking rate.

27. The industrial vehicle as recited in claim 21 wherein the guidance and navigation system sends a third message to the autonomous processor module that specifies whether the industrial vehicle encountered an obstacle in its path while operating in the unmanned, autonomous mode.

28. The industrial vehicle as recited in claim 21 wherein the autonomous processor module sends a feedback message to the guidance and navigation system, wherein the feedback message indicates an actual velocity of the industrial vehicle.

29. The industrial vehicle as recited in claim 21 wherein the autonomous processor module sends a feedback message to the guidance and navigation system wherein the feedback message indicates an actual velocity of the industrial vehicle, an amount that a wheel is turned to steer the industrial vehicle, a state of charge of a battery, and a state of a brake.

30. The industrial vehicle as recited in claim 21 wherein the autonomous processor module sends a feedback message to the guidance and navigation system indicating operation in one of the unmanned, autonomous mode, a manned, manual mode, or a training mode.