Industrial vehicle comprising tag reader and reader module

• US 9,811,088 B2
• Filed: 05/06/2016
• Issued: 11/07/2017
• Est. Priority Date: 05/06/2015
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Walton, Daniel D., Sherman, Nicholas J.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/148,195
• Publication Number:
  US 20160327955A1
• Time in Patent Office: 550 Days
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: E04H 5/02 Buildings or groups of buildings for industrial purposes, e.g. for power-plants or factories buildings forming part of cooling plants E04H5/10
• CPC Class Codes: G01C 21/3811 Point data, e.g. Point of Interest [POI]
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• 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 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G06K 17/0029 the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
• CPC Class Codes: G06K 7/10366 the interrogation device being adapted for miscellaneous applications
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

According to one embodiment of the present disclosure, an industrial vehicle is provided comprising industrial vehicle hardware, a user interface, tag reader, reader module, and vehicle controller. The tag reader and the reader module cooperate to identify individual tags of a tag layout comprising a plurality of zone identification tags and a plurality of zone tags. Each zone identification tag occupies a position in the tag layout that corresponds to a unique set of zone tags. Each unique set of zone tags comprises a plurality of zone tags. The reader module discriminates between the plurality of zone identification tags and the plurality of zone tags identified in the tag layout, correlates an identified zone identification tag with a unique set of zone tags, and correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both.

Claims

1. An industrial vehicle comprising industrial vehicle hardware, a user interface, a tag reader, a reader module, and a vehicle controller, wherein:

the industrial vehicle hardware comprises storage and retrieval hardware and a vehicle drive mechanism;

the tag reader and the reader module cooperate to identify individual tags of a tag layout;

the individual tags of the tag layout comprise a plurality of zone identification tags and a plurality of zone tags;

each zone identification tag occupies a position in the tag layout that corresponds to a unique set of zone tags;

each unique set of zone tags comprises a plurality of zone tags;

the reader module

discriminates between the plurality of zone identification tags and the plurality of zone tags identified in the tag layout,

correlates an identified zone identification tag with a unique set of zone tags, and

correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to (i) the correlation of vehicle functionality with an identified zone tag, tag-dependent positional data, or both, (ii) user input at a user interface of the industrial vehicle, or (iii) both.

2. The industrial vehicle as claimed in claim 1 wherein:

the individual tags of the tag layout comprise a plurality of function tags;

the reader module

discriminates between the function tags identified in the tag layout, and

correlates vehicle functionality or at least partial negation of currently implemented vehicle functionality with an identified function tag; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with an identified function tag.

3. The industrial vehicle as claimed in claim 2 wherein:

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the respective aisle paths along which the plurality of zone tags are spaced comprise respective end points; and

the plurality of function tags are positioned beyond the respective end points.

4. The industrial vehicle as claimed in claim 2 wherein:

the plurality of zone tags are spaced along an aisle path;

an aisle path comprises one or more aisle function zones; and

respective aisle function zones are bounded by function tags positioned on opposite sides of the aisle function zone along the aisle path.

5. The industrial vehicle as claimed in claim 1, wherein:

the individual tags of the tag layout comprise a plurality of aisle extension tags;

the reader module correlates vehicle functionality with an identified aisle extension tag, tag-dependent positional data derived from the identified aisle extension tag, or both;

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with an identified aisle extension tag, tag-dependent positional data, or both;

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the respective aisle paths along which the plurality of zone tags are spaced comprise respective end points;

the respective aisle paths comprise respective aisle expansion areas beyond the respective end points; and

the plurality of aisle extension tags are positioned along the respective aisle paths in the aisle expansion areas.

6. The industrial vehicle as claimed in claim 1 wherein:

the individual tags of the tag layout comprise a plurality of aisle extension tags;

the reader module correlates vehicle functionality with an identified aisle extension tag, tag-dependent positional data derived from the identified aisle extension tag, or both;

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with an identified aisle extension tag, tag-dependent positional data, or both;

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the respective aisle paths along which the plurality of zone tags are spaced comprise respective end points; and

the plurality of aisle extension tags are positioned along the respective aisle path between the end points.

7. The industrial vehicle as claimed in claim 1 wherein:

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the respective aisle paths along which the plurality of zone tags are spaced comprise respective end points;

the tag layout comprises end-cap pairs positioned at the end points of the respective aisle paths;

respective end-cap pairs comprise an outer end-cap tag and an inner end-cap tag;

each outer end-cap tag of an end-cap pair is positioned farther from an aisle path midpoint than a corresponding inner end-cap tag of the end-cap pair; and

the reader module discriminates between the outer end-cap tag and the inner end-cap tag.

8. The industrial vehicle as claimed in claim 7 wherein:

the reader module correlates exit-specific vehicle functionality with an identified outer end-cap tag and correlates entry-specific vehicle functionality with an identified inner end-cap tag; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to entry-specific vehicle functionality as the industrial vehicle enters an aisle path and exit-specific vehicle functionality as the industrial vehicle exits an aisle path.

9. The industrial vehicle as claimed in claim 7 wherein the inner end-cap tag comprises a zone identification tag of the plurality of zone identification tags.

10. The industrial vehicle as claimed in claim 7 wherein:

the inner end-cap tag comprises an outermost zone tag of the unique set of zone tags; and

the outermost zone tag is a zone tag which is positioned farther from the aisle path midpoint than corresponding zone tags from the unique set of zone tags.

11. The industrial vehicle as claimed in claim 7 wherein:

respective aisle paths comprise vehicle entry and vehicle exit portions;

the individual tags of the tag layout comprises one or more end-cap rows;

respective end-cap rows comprise a plurality of end-cap pairs; and

the end-cap rows are spaced across respective end points in vehicle entry and vehicle exit portions such that the reader module identifies the individual tags of the end-cap row regardless of where the industrial vehicle crosses the end-cap row within the vehicle entry or vehicle exit portion of the aisle path.

12. The industrial vehicle as claimed in claim 1 wherein:

the individual tags of the tag layout comprise a plurality of aisle entry tags;

respective aisle entry tags are positioned along an aisle path between vehicle entry and vehicle exit portions of the aisle path;

the reader module discriminates between the aisle entry tags and the tags of tag layout along the aisle path and correlates end-of-aisle vehicle functionality with an identified aisle entry tag;

the industrial vehicle hardware comprises a vehicle drive mechanism;

the end-of-aisle vehicle functionality comprise a traveling speed of the vehicle drive mechanism; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of end-of-aisle traveling speed with an identified aisle entry tag and the traveling speed of the vehicle drive mechanism as a function of tag-dependent positional data and an exit portion distance to the respective vehicle entry or vehicle exit portions.

13. The industrial vehicle as claimed in claim 1 wherein:

respective zone tags are positioned along an aisle path between vehicle exit portions of the aisle path;

the reader module correlates end-of-aisle vehicle functionality with an identified zone tag;

the industrial vehicle hardware comprises a vehicle drive mechanism;

the end-of-aisle vehicle functionality comprise a traveling speed of the vehicle drive mechanism; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of end-of-aisle travelling speed with an identified zone tag and the traveling speed of the vehicle drive mechanism as a function of tag-dependent positional data and an exit portion distance to the respective vehicle entry and vehicle exit portions.

14. The industrial vehicle as claimed in claim 1 wherein the unique set of zone tags comprises one or more function tags, one or more aisle extension tags, one or more aisle entry tags, or combinations thereof.

15. The industrial vehicle as claimed in claim 1 wherein:

the reader module comprises a reader memory coupled to a reader processor;

each individual tag of the tag layout corresponds to a unique identification code;

the reader memory comprises one or more memory locations;

each unique identification code corresponds to a memory location in the reader memory; and

each memory location comprises at least one of indexing data, operational data, and tag position data.

16. The industrial vehicle as claimed in claim 15 wherein:

the reader memory comprises one or more aisle zone groups of unique identification codes;

each unique set of zone tags corresponds to an aisle zone group of unique identification codes;

each zone identification tag corresponds to indexing data used to index the reader memory to the aisle zone group of unique identification codes corresponding to the unique set of zone tags that occupies a position in the tag layout that corresponds to the zone identification tag; and

the reader module reads the memory locations corresponding to each aisle zone group of unique identification codes in either order of their identification codes or reverse order of their identification codes depending upon the direction of travel of the industrial vehicle along respective aisle paths.

17. The industrial vehicle as claimed in claim 15 wherein:

the reader memory comprises one or more aisle zone groups of unique identification codes;

each unique set of zone tags corresponds to an aisle zone group of unique identification codes;

each zone identification tag corresponds to indexing data used to index the reader memory to the aisle zone group of unique identification codes corresponding to the unique set of zone tags that occupies a position in the tag layout that corresponds to the zone identification tag

the reader module comprises cache memory coupled to the reader memory;

the reader module copies the aisle zone group of unique identification codes from the reader memory into the cache memory when an identified zone identification tag indexes the reader memory to a corresponding aisle zone group of unique identification codes; and

the reader module correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both using the cache memory of the aisle zone group to reduce a correlation time.

18. The industrial vehicle as claimed in claim 15 wherein:

the reader memory comprises a reset group of unique identification codes and one or more function zone groups of unique identification codes;

the individual tags of the tag layout comprise a plurality of function tags;

the reader module discriminates between the function tags identified in the tag layout;

the identified function tag corresponds to either the reset group of unique identification codes or one of the function zone groups in the reader memory;

the function tags corresponding to the one or more function groups of unique identification codes correspond to vehicle functionality; and

the function tags corresponding to the reset group of unique identification codes correspond to at least partial negation of currently implement vehicle functionality.

19. The industrial vehicle as claimed in claim 18 wherein:

the reset group of unique identification codes comprises a single memory location in the reader memory; and

the individual function tags corresponding to the reset group comprises the same unique identification code.

20. The industrial vehicle as claimed in claim 18 wherein:

respective function zone groups comprise a single memory location in the reader memory; and

the individual function tags corresponding to each function zone group have the same unique identification code.

21. The industrial vehicle as claimed in claim 18 wherein:

respective function zone groups comprise one or more memory locations in the reader memory; and

the unique identification codes corresponding to the function zone group are stored in the reader memory in order of their identification codes.

22. The industrial vehicle as claimed in claim 15 wherein:

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the individual tags of the tag layout comprise a plurality of aisle extension tags positioned along the respective aisle paths;

the reader module correlates vehicle functionality with an identified aisle extension tag, tag-dependent positional data derived from the identified aisle extension tag, or both;

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with an identified aisle extension tag, tag-dependent positional data, or both; and

the aisle extension tags correspond to a default group of unique identification codes in the reader memory.

23. The industrial vehicle as claimed in claim 15 wherein:

the individual tags of the tag layout comprise a plurality of aisle entry tags positioned along respective aisle paths;

respective aisle entry tags are positioned along an aisle path between vehicle entry and vehicle exit portions of the aisle path;

the reader module correlates end-of-aisle vehicle functionality with an identified aisle entry tag;

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of end-of-aisle vehicle functionality with an identified aisle entry tag; and

the aisle entry tags correspond to the default group of unique identification codes in the reader memory.

24. The industrial vehicle as claimed in claim 23 wherein:

the unique identification codes of the default group are organized by the position of one or more aisle paths in the tag layout; and

the unique identification codes corresponding to each aisle path are stored in reader memory in order of their identification codes.

25. The industrial vehicle as claimed in claim 15 wherein:

the unique identification codes are stored in the reader memory in the following order;

a confidence group first, a reset group second, a default group third, one or more aisle zone groups fourth, and one or more function zone groups fifth; and

when an individual tag of the tag layout is identified, the reader module reads the reader memory in the stored order until the unique identification code corresponding to the identified tag is read.

26. The industrial vehicle as claimed in claim 15 wherein:

the tag reader comprises two read antennas;

the unique identification codes corresponding to the individual tags of the tag layout comprise one or more bit locations;

the bit locations comprise a multi-antenna bit;

the reader module

identifies the individual tags of the tag layout with only one read antenna when the multi-antenna bit is disabled, and

identifies the individual tags of the tag layout with either read antenna when the multi-antenna bit is enabled;

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

the respective aisle paths comprised end points;

the multi-antenna bit of the individual tags of the tag layout at the respective end points is enabled; and

the multi-antenna bit of the individual tags of the tag layout beyond the respective end points is disabled.

27. The industrial vehicle as claimed in claim 15 wherein:

the unique identification codes corresponding to the individual tags of the tag layout comprise one or more bit locations;

the bit locations comprises a side definition bit;

the reader memory comprises one or more aisle zone groups of unique identification codes;

the plurality of zone tags are spaced along respective aisle paths of a plurality of aisle paths;

each unique set of zone tags and associated zone identification tags along an aisle path correspond to an aisle zone group of unique identification codes;

respective zone identification tags are positioned at respective end points of the aisle path and correspond to a start side of the plurality of zone tags and an end side of the plurality of zone tags;

the side definition bit of the zone identification tag corresponding to the start side of the plurality of zone tags comprise a start side bit;

the side definition bit of the zone identification tag corresponding to the end side of the plurality of zone tags comprise a end side bit; and

the reader module

identifies the start side bit and indexes the reader memory to a beginning of the aisle zone group of unique identification codes corresponding to the unique set of zone tags along the aisle path, and

identifies the end side bit and indexes the reader memory to an ending of the aisle zone group of unique identification codes corresponding to the unique set of zone tags along the aisle path.

28. The industrial vehicle as claimed in claim 1 wherein the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with an identified zone tag.

29. The industrial vehicle as claimed in claim 1 wherein the vehicle controller controls operational functions of the industrial vehicle hardware in response to the correlation of vehicle functionality with tag-dependent positional data.

30. The industrial vehicle as claimed in claim 29 wherein:

the industrial vehicle hardware comprises a travel distance sensor that is configured to measure a travel distance of the industrial vehicle; and

the tag reader, the reader module, the travel distance sensor, and the vehicle controller cooperate to derive tag-dependent positional data from identified zone tags and travel distance data from the travel distance sensor.

31. The industrial vehicle as claimed in claim 1 wherein an individual tag of the tag layout is identified when:

the tag reader receives a signal from the individual tag; and

the industrial vehicle travels beyond a read range of the tag reader.

32. The industrial vehicle as claimed in claim 31 wherein:

the tag reader receives a signal from two individual tags of the tag layout when both individual tags are within the read range;

the reader module increments a counter when it receives a signal from the two individual tags until the tag reader receives a signal from only one of the two individual tags for a read count;

the industrial truck travels beyond the read range of the individual tag with the read count; and

the reader module identifies the individual tag with the read count.

33. The industrial vehicle as claimed in claim 1 wherein:

the user interface comprises a lift height control device, a vehicle speed control device, a touch screen hardware control interface, an override button, or combinations thereof;

the user interface comprises an override mechanism for generating an override signal;

the vehicle functionality comprise override data; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to the override data upon receipt of the override signal.

34. A system comprising a remote computer and the industrial vehicle as claimed in claim 1 wherein:

the remote computer comprises computer memory storing load location data;

the remote computer is communicatively coupled to the vehicle controller; and

the vehicle controller controls operational functions of the industrial vehicle hardware in response to vehicle functionality that is correlated with load location data stored in the computer memory of the remote computer.

35. The system as claimed in claim 34 wherein:

the industrial vehicle comprises a display device;

the vehicle controller sends the load location data to the display device; and

the load location data comprises an aisle identifier.

36. A system comprising a remote computer and the industrial vehicle as claimed in claim 1 wherein:

the remote computer comprises computer memory coupled to a computer processor;

the remote computer is communicatively coupled to the reader module;

the computer memory comprises one or more memory locations;

each unique identification code corresponds to a memory location in the computer memory;

each memory location comprises at least one of indexing data, operational data, and tag position data; and

the reader module comprises cache memory and

copies unique identification codes corresponding with the unique set of zone tags from the computer memory into the cache memory when the corresponding zone identification tag is identified, and

correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both using the cache memory of the aisle zone group to reduce a correlation time.

37. An industrial vehicle comprising industrial vehicle hardware, a tag reader, a reader module, a travel distance sensor, and a vehicle controller, wherein:

the industrial vehicle hardware comprises storage and retrieval hardware and a vehicle drive mechanism;

the tag reader and the reader module cooperate to identify individual tags of a tag layout;

the individual tags of the tag layout comprise a plurality of zone tags and a plurality of zone identification tags;

each zone identification tag occupies a position in the tag layout that corresponds to a unique set of zone tags;

each unique set of zone tags comprises a plurality of zone tags spaced along an aisle path;

the reader module

discriminates between the plurality of zone identification tags and the plurality of zone tags identified in the tag layout, and

correlates an identified zone identification tag with a unique set of zone tags;

the travel distance sensor measures a travel distance of the industrial vehicle; and

the tag reader, the reader module, the travel distance sensor, and the vehicle controller cooperate to derive tag-dependent positional data from identified zone tags and travel distance data from the travel distance sensor.

38. An industrial vehicle comprising storage and retrieval hardware, a tag reader, a reader module, and a vehicle controller, wherein:

the storage and retrieval hardware is configured to store and retrieve items from selected storage elements positioned along an aisle path;

the tag reader and the reader module cooperate to identify individual tags along the aisle path;

the tag reader comprises two read antennas positioned on opposite sides of a longitudinal travel axis of the industrial vehicle;

the read antennas define respective read ranges and generate respective tag read signals when tags enter the respective read ranges of the read antennas;

the tag reader and the reader module further cooperate to generate a vehicle direction signal when the individual tags are identified primarily with reference to tag read signals from only one of the two read antennas; and

the vehicle controller controls operational functions of the storage and retrieval hardware partially as a function of the vehicle direction signal.