Systems and methods of remotely controlling a materials handling vehicle

• US 9,082,293 B2
• Filed: 09/14/2007
• Issued: 07/14/2015
• Est. Priority Date: 09/14/2006
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Wellman, Timothy A., Kraimer, James V., Pollack, Jay G.
• Primary Examiner(s): Mawari, Redhwan k
• Application Number:
  US11/855,310
• Publication Number:
  US 20080071429A1
• Time in Patent Office: 2,860 Days
• Field of Search: 700/213
• US Class Current: 1/1
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/07581 Remote controls
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• 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: G05D 1/0261 using magnetic plots
• 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
• CPC Class Codes: G07C 9/00309 operated with bidirectional data transmission between data carrier and locks
• CPC Class Codes: G07C 9/00896 specially adapted for particular uses
• CPC Class Codes: G07C 9/00944 Details of construction or manufacture
• 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 supplemental control system for a materials handling vehicle comprises a wearable control device, and a corresponding receiver on the materials handling vehicle. The wearable control device is donned by an operator interacting with the materials handling vehicle, and comprises a wireless transmitter and a travel control communicably coupled to the wireless transmitter. Actuation of the travel control causes the wireless transmitter to transmit a first type signal designating a request to advance the vehicle in a first direction. The receiver is supported by the vehicle for receiving transmissions from the wireless transmitter. A traction control of the vehicle is responsive to a receipt of the first type signal by the receiver to cause the vehicle to advance.

Claims

1. A supplemental remote control system in combination with a materials handling vehicle comprising:

said materials handling vehicle comprising a power unit including at least one wheel and a load handling assembly including a pair of forks; and

said supplemental remote control system comprising;

a wearable wireless remote control device that is donned by an operator interacting with said materials handling vehicle, said wearable wireless remote control device comprising;

a wireless transmitter; and

a travel control communicably coupled to said wireless transmitter, wherein actuation of said travel control causes said wireless transmitter to wirelessly transmit a travel request as a first type signal requesting said vehicle to advance in a first direction;

a receiver associated with said vehicle for receiving transmissions from said wireless transmitter at said vehicle; and

a controller associated with said vehicle that is communicably coupled to said receiver and to a traction control system of said vehicle, said controller being responsive to receipt of said first type signal by said receiver, wherein said controller is responsive to receipt of said first type signal by said receiver to evaluate at least one vehicle condition, to decide whether to implement said travel request based upon the evaluation of said at least one vehicle condition and to cause said traction control system to advance said vehicle if said controller decides to implement said travel request based upon the evaluation of said at least one vehicle condition.

2. The supplemental remote control system according to claim 1, wherein said wearable wireless remote control device further comprises:

a glove garment having a button on a finger thereof and a circuit that connects said button to a docking area on said garment;

wherein;

actuation of said button implements said travel control; and

said wireless transmitter is provided on a detachably mountable communications device that temporarily docks to said docking area of said garment to couple said wireless transmitter to said button.

3. The supplemental remote control system according to claim 2, wherein an antenna is provided integral with said glove garment so as to connect to said wireless transmitter when said detachably mountable communications device is temporarily docked to said docking area of said glove garment.

4. The supplemental remote control system according to claim 1, wherein:

said controller communicates with said traction system of said vehicle to determine whether said vehicle is moving, movement of said vehicle corresponding to said at least one condition; and

said controller is configured to decide to not implement said travel request if said at least one condition indicates that said vehicle is moving.

5. The supplemental remote control system according to claim 1, further comprising:

at least one sensor communicably coupled to said controller, each said at least one sensor configured to detect the presence of an object located at a position either on a platform of said vehicle from which said vehicle may be operated or proximate to said vehicle;

wherein;

said at least one vehicle condition evaluated by said controller comprises a status of each sensor and said controller is configured to decide to not implement said travel request if said status from at least one sensor is indicative of the presence of an object.

6. The supplemental remote control system according to claim 1, wherein:

said controller communicates with a steer control system of said vehicle to determine whether said vehicle has a steer angle within predetermined limits, said steer angle of said vehicle corresponding to said at least one condition; and

said controller is configured to either not implement said travel request or to first communicate with said steer control system to correct said steer angle to within said predetermined limits if said at least one condition indicates that said steer angle exceeds said predetermined limits.

7. The supplemental remote control system according to claim 1, wherein said controller communicates with said traction control system to cause said vehicle to coast to a stop upon detecting a predetermined stopping event associated with movement of said vehicle under wireless remote control in response to receipt of said first type signal.

8. The supplemental remote control system according to claim 7, wherein said predetermined stopping event comprises said vehicle exceeding at least one of a predetermined maximum distance continuously traveled without stopping or a predetermined maximum time continuously traveled without stopping under wireless remote control in response to receipt of said first type signal.

9. The supplemental remote control system according to claim 1, wherein said controller communicates with a brake control system associated with said vehicle to apply a brake to stop said vehicle upon detecting a predetermined event associated with movement of said vehicle under wireless remote control in response to receipt of said first type signal by said receiver.

10. The supplemental remote control system according to claim 9, wherein said predetermined stopping event comprises said vehicle exceeding at least one of a predetermined maximum distance continuously traveled without stopping or a predetermined maximum time continuously traveled without stopping under wireless remote control in response to receipt of said first type signal.

11. The supplemental remote control system according to claim 1, further comprising:

at least one sensor communicably coupled to said controller, each said at least one sensor configured to detect the presence of an object located proximate to said vehicle;

wherein said controller communicates with a brake control system associated with said vehicle to brake said vehicle to a stop if said vehicle is moving under wireless remote control in response to receipt of said first type signal and at least one sensor indicates the detection of an object in the travel path of said vehicle.

12. The supplemental remote control system according to claim 1, wherein said wearable wireless remote control device further comprises a disable control, wherein actuation of said disable control causes said wireless transmitter to transmit a second type signal requesting said vehicle to stop;

wherein

said controller causes said vehicle to stop responsive to receipt of said second type signal and to disable power to said vehicle if said vehicle is moving under wireless remote control in response to receipt of said first type signal.

13. The supplemental remote control system according to claim 1, wherein said controller is configured to disregard commands from said wearable wireless remote control device if said wearable wireless remote control device exceeds a predetermined range greater than 25 feet (7.62 meters).

14. The supplemental remote control system according to claim 1, further comprising requiring an operator identification code entered into said controller prior to said vehicle responding to said first type signal.

15. A method of operating a supplemental remote control system for a materials handling vehicle comprising:

providing a materials handling vehicle comprising a power unit including at least one wheel and a load handling assembly including a pair of forks;

providing a wearable wireless remote control device that is donned by an operator interacting with said materials handling vehicle, said wearable wireless remote control device having a wireless transmitter and a travel control communicably coupled to said wireless transmitter, wherein actuation of said travel control causes said wireless transmitter to wirelessly transmit a travel request as a first type signal requesting said vehicle to advance in a first direction;

providing a receiver associated with said vehicle for receiving transmissions from said wireless transmitter at said vehicle; and

providing a controller associated with said vehicle that is communicably coupled to said receiver and to a traction control system of said vehicle, said controller being responsive to receipt of said first type signal by said receiver, wherein said controller;

evaluates at least one vehicle condition;

decides whether to implement said travel request based upon the evaluation of said at least one vehicle condition; and

causes said traction control system to advance said vehicle if said controller decides to implement said travel request based upon the evaluation of said at least one vehicle condition.

16. The method according to claim 15, further comprising configuring said vehicle for traveling power unit first in response to said travel request if said controller decides to implement said travel request.

17. The method according to claim 15, further comprising limiting the speed of travel of said vehicle to a predetermined maximum speed if said vehicle is moving under wireless remote control in response to receipt of said first type signal.

18. The method according to claim 15, wherein said controller is configured to cause said traction control system to advance said vehicle for as long as maintained actuation of said travel control on said wearable wireless remote control device is detected, unless said vehicle exceeds predetermined maximum distance or time traveled in response to said first type signal, despite a continued detection of continued actuation of said travel control.

19. The method according to claim 15, wherein said providing a wearable remote control device further comprises:

providing a glove garment having a button on a finger thereof and a circuit that connects said button to a docking area on said garment;

wherein actuation of said button implements said travel control; and

providing said wireless transmitter on a detachably mountable communications device that temporarily docks to said docking area of said garment to couple said wireless transmitter to said button.

20. A supplemental remote control system in combination with a materials handling vehicle comprising:

said materials handling vehicle comprising a power unit including at least one wheel and a load handling assembly including a pair of forks; and

said supplemental remote control system comprising;

a wearable wireless remote control device that is donned by an operator interacting with said materials handling vehicle, said wearable wireless remote control device comprising;

a wireless transmitter; and

a travel control communicably coupled to said wireless transmitter, wherein actuation of said travel control causes said wireless transmitter to wirelessly transmit a travel request as a first type signal requesting said vehicle to advance in a first direction;

a receiver associated with said vehicle for receiving transmissions from said wireless transmitter at said vehicle;

a controller associated with said vehicle that is communicably coupled to said receiver and to a traction control system of said vehicle, said controller being responsive to receipt of said first type signal by said receiver;

at least one sensor communicably coupled to said controller, each said at least one sensor configured to detect the presence of an object located proximate to said vehicle; and

wherein said controller communicates with a brake control system associated with said vehicle to brake said vehicle to a stop if said vehicle is moving under wireless remote control in response to receipt of said first type signal and at least one sensor indicates the detection of an object in the travel path of said vehicle.

21. The supplemental remote control system according to claim 20, wherein said wearable wireless remote control device further comprises:

a glove garment having a button on a finger thereof and a circuit that connects said button to a docking area on said garment;

wherein;

actuation of said button implements said travel control; and

said wireless transmitter is provided on a detachably mountable communications device that temporarily docks to said docking area of said garment to couple said wireless transmitter to said button.

22. The supplemental remote control system according to claim 21, wherein an antenna is provided integral with said glove garment so as to connect to said wireless transmitter when said detachably mountable communications device is temporarily docked to said docking area of said glove garment.

23. The supplemental remote control system according to claim 20, wherein:

said controller communicates with said traction system of said vehicle to determine whether said vehicle is moving; and

said controller is configured to decide to not implement said travel request if said vehicle is moving.

24. The supplemental remote control system according to claim 20, further comprising:

at least one sensor communicably coupled to said controller, each said at least one sensor configured to detect the presence of an object located at a position either on a platform of said vehicle from which said vehicle may be operated or proximate to said vehicle;

wherein;

said controller is configured to decide to not implement said travel request if a status from at least one sensor is indicative of the presence of an object.

25. The supplemental remote control system according to claim 20, wherein:

said controller communicates with a steer control system of said vehicle to determine whether said vehicle has a steer angle within predetermined limits; and

said controller is configured to either not implement said travel request or to first communicate with said steer control system to correct said steer angle to within said predetermined limits if said steer angle exceeds said predetermined limits.

26. The supplemental remote control system according to claim 20, wherein said controller communicates with said traction control system to cause said vehicle to coast to a stop upon detecting a predetermined stopping event associated with movement of said vehicle under wireless remote control in response to receipt of said first type signal.

27. The supplemental remote control system according to claim 26, wherein said predetermined stopping event comprises said vehicle exceeding at least one of a predetermined maximum distance continuously traveled without stopping or a predetermined maximum time continuously traveled without stopping under wireless remote control in response to receipt of said first type signal.

28. The supplemental remote control system according to claim 20, wherein said controller communicates with said brake control system associated with said vehicle to apply said brake to stop said vehicle upon detecting a predetermined event associated with movement of said vehicle under wireless remote control in response to receipt of said first type signal by said receiver.

29. The supplemental remote control system according to claim 28, wherein said predetermined stopping event comprises said vehicle exceeding at least one of a predetermined maximum distance continuously traveled without stopping or a predetermined maximum time continuously traveled without stopping under wireless remote control in response to receipt of said first type signal.

30. The supplemental remote control system according to claim 20, wherein:

said wearable wireless remote control device further comprises a disable control;

actuation of said disable control causes said wireless transmitter to transmit a second type signal requesting said vehicle to stop; and

said controller causes said vehicle to stop responsive to receipt of said second type signal and to disable power to said vehicle if said vehicle is moving under wireless remote control in response to receipt of said first type signal.

31. The supplemental remote control system according to claim 20, wherein said controller is configured to disregard commands from said wearable wireless remote control device if said wearable wireless remote control device exceeds a predetermined range greater than 25 feet (7.62meters).

32. The supplemental remote control system according to claim 20, further comprising requiring an operator identification code entered into said controller prior to said vehicle responding to said first type signal.

33. A method of operating a supplemental remote control system for a materials handling vehicle comprising:

providing a materials handling vehicle comprising a power unit including at least one wheel and a load handling assembly including a pair of forks;

providing a wearable wireless remote control device that is donned by an operator interacting with said materials handling vehicle, said wearable wireless remote control device having a wireless transmitter and a travel control communicably coupled to said wireless transmitter, wherein actuation of said travel control causes said wireless transmitter to wirelessly transmit a travel request as a first type signal requesting said vehicle to advance in a first direction;

providing a receiver associated with said vehicle for receiving transmissions from said wireless transmitter at said vehicle;

providing a controller associated with said vehicle that is communicably coupled to said receiver and to a traction control system of said vehicle, said controller being responsive to receipt of said first type signal by said receiver;

providing at least one sensor communicably coupled to said controller, each said at least one sensor configured to detect the presence of an object located proximate to said vehicle; and

wherein said controller communicates with a brake control system associated with said vehicle to brake said vehicle to a stop if said vehicle is moving under wireless remote control in response to receipt of said first type signal and at least one sensor indicates the detection of an object in the travel path of said vehicle.

34. The method according to claim 33, further comprising configuring said vehicle for traveling power unit first in response to said travel request if said controller decides to implement said travel request.

35. The method according to claim 33, further comprising limiting the speed of travel of said vehicle to a predetermined maximum speed if said vehicle is moving under wireless remote control in response to receipt of said first type signal.

36. The method according to claim 33, wherein said controller is configured to cause said traction control system to advance said vehicle for as long as maintained actuation of said travel control on said wearable wireless remote control device is detected, unless said vehicle exceeds predetermined maximum distance or time traveled in response to said first type signal, despite a continued detection of continued actuation of said travel control.

37. The method according to claim 33, wherein said providing a wearable remote control device further comprises:

providing a glove garment having a button on a finger thereof and a circuit that connects said button to a docking area on said garment;

wherein actuation of said button implements said travel control; and

providing said wireless transmitter on a detachably mountable communications device that temporarily docks to said docking area of said garment to couple said wireless transmitter to said button.