Floor conveyor

• US 10,611,615 B2
• Filed: 07/14/2017
• Issued: 04/07/2020
• Est. Priority Date: 07/14/2016
• Status: Active Grant

• Current Assignee: Toyota Material Handling Manufacturing Sweden AB (Toyota Motor Corporation)
• Original Assignee: Toyota Material Handling Manufacturing Sweden AB (Toyota Motor Corporation)
• Inventors: Valfridsson, Goran, Rogers, Terence
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/650,200
• Publication Number:
  US 20180016126A1
• Time in Patent Office: 998 Days
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• 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

Abstract

Systems and methods for a floor conveyor include a control unit and a sensor device, the control unit operable to control the travel functions of the floor conveyor, the sensor device arranged to be able to provide the control unit with sensor data, the sensor device arranged such that it can detect objects in a plane, the plane extending along the a first side of the floor conveyor, the plane comprises a stop section, the floor conveyor arranged such that if an object is detected in the stop section the floor conveyor is stopped by control of the travel function from the control unit upon receipt by it of a sensor data indicating the object being positioned in the stop section, the stop section also extending along a section of a second side of the floor conveyor, the second side being essentially perpendicular to the first side.

Claims

1. A floor conveyor comprising:

a control unit operable to control a travel function of the floor conveyor;

a sensor device arranged to provide the control unit with sensor data, the sensor device arranged to generate a detection plane to detect objects, wherein the detection plane is to extend along a first side of the floor conveyor, the detection plane including a stop section,

wherein the control unit is configured to stop the floor conveyor when an object is detected within the stop section of the detection plane;

wherein the detection plane is oriented at an angle relative to a horizontal plane; and

wherein the detection plane is to extend from the sensor device toward a surface on which the floor conveyor is supported, and wherein a range of the detection plane is configured to leave a gap between a lowermost end of the detection plane and the surface.

2. The floor conveyor of claim 1, wherein the sensor device is configured to detect objects on the first side, a section of a second side, and a section of a third side of the floor conveyor.

3. The floor conveyor of claim 2, wherein the first side of the floor conveyor is positioned opposite a load carrier on the floor conveyor.

4. The floor conveyor of claim 1, wherein the sensor device is mounted on the floor conveyor such that a longitudinal symmetry line of the floor conveyor intersects a portion of the sensor device.

5. The floor conveyor of claim 1, wherein the sensor device is a laser sensor.

6. The floor conveyor of claim 1, wherein the sensor device is configured to generate the detection plane such that the stop section has a side that is angled relative to a symmetry line of the floor conveyor.

7. The floor conveyor of claim 6, wherein the sensor device is configured to generate the detection plane such that the detection plane includes a follow section and a steer away section;

wherein the control unit is configured to cause the floor conveyor to keep a constant distance from an object detected within the follow section; and

wherein the control unit is configured to cause the floor conveyor to steer away from an object detected within the steer away section.

8. The floor conveyor of claim 1, wherein the stop section is wedge shaped, the wedge shape having a narrowing width as the stop section extends away from the floor conveyor.

9. The floor conveyor of claim 1, wherein the stop section includes a first subsection and a second subsection, and wherein the sensor device is configured to alter at least one of a shape or a position of the first subsection in response to an object being detected.

10. A floor conveyor comprising:

a sensor device, the sensor device configured to;

generate a detection plane having a first subsection and a second subsection, the detection plane having a stop section;

alter at least one of a shape or a position of the first subsection within the detection plane; and

a control unit in communication with the sensor device, the control unit configured to stop the floor conveyor if an object is detected within the stop section of the detection plane,

wherein the stop section is wedge shaped, the wedge shape having a narrowing width as the stop section extends away from the floor conveyor.

11. The floor conveyor of claim 10, wherein the sensor device is further configured to alter at least one of a shape or a position of the second subsection.

12. The floor conveyor of claim 10, wherein the floor conveyor is configured to:

generate the first subsection on a first side of a symmetry line of the floor conveyor, using the sensor device;

generate the second subsection on a second side of the symmetry line of the floor conveyor, using the sensor device;

alter the position of the first subsection such that the first subsection is on the second side of the symmetry line, using the sensor device; and

alter the position of the second subsection such that the second subsection is on the first side of the symmetry line, using the sensor device.

13. The floor conveyor of claim 10, wherein the stop section has a first side that is oriented at an angle relative to a symmetry line of the floor conveyor;

and

wherein the stop section has a second side oriented substantially parallel to the symmetry line of the floor conveyor.

14. The floor conveyor of claim 10, wherein the detection plane is directed toward a surface on which the floor conveyor is supported, and wherein a range of the detection plane is configured to leave a gap between a lowermost end of the detection plane and the surface.

15. A floor conveyor comprising:

a sensor device, the sensor device configured to generate a detection plane having a stop section, the detection plane extending toward a surface upon which the floor conveyor is supported;

a control unit in communication with the sensor device, the control unit configured to stop the floor conveyor if an object is detected within the stop section of the detection plane; and

wherein a side of the stop section is to be oriented at an angle relative to a straight path of travel of the floor conveyor;

wherein the detection plane includes a follow section; and

wherein the control unit is configured to cause the floor conveyor to follow an object that is detected within the follow section.

16. The floor conveyor of claim 15, wherein the detection plane includes a steer away section;

and

wherein the control unit is configured to cause the floor conveyor to maneuver away from an object that is detected within the steer away section.

17. The floor conveyor of claim 15, wherein the sensor device is configured to leave a gap between a lowermost end of the detection plane and the surface.

18. The floor conveyor of claim 15, wherein the detection plane includes a first subsection and a second subsection, and wherein the sensor device is configured to alter at least one of a shape or a position of the second subsection.