INTEGRATION OF AN AUTONOMOUS INDUSTRIAL VEHICLE INTO AN ASSET MANAGEMENT SYSTEM

• US 20120239224A1
• Filed: 02/14/2012
• Published: 09/20/2012
• 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: McCabe, Paul P., Donahue, Timothy E.
• Granted Patent: US 9,547,945 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B60L 2200/42 Fork lift trucks
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0265 using buried wires
• 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: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A control system operates an industrial vehicle that includes a propulsion drive system and a guidance and navigation system operatively connected to the propulsion drive system to control motion of the industrial vehicle along a path, in an unmanned, autonomous mode. A wireless communicator transmits vehicle operational data to an asset management computer located remotely from the industrial vehicle, and receives commands from the asset management computer for remotely controlling operation of the industrial vehicle. For example, when the vehicle encounters an obstacle in the path a message indicating that event is sent to the asset management computer where a human operator can send a command which instructs the industrial vehicle how to avoid the obstacle.

Claims

1. A control system, for operating an industrial vehicle in a facility, comprising:

a propulsion drive system for propelling the industrial vehicle;

sensors for gathering operational data regarding operation of the industrial vehicle;

a guidance and navigation system onboard the industrial vehicle and connected to the propulsion drive system to control motion of the industrial vehicle along a path in an unmanned, autonomous mode;

a wireless communicator coupled to the guidance and navigation system and operable to transmit wirelessly the operational data and receive wirelessly commands for controlling operation of the industrial vehicle in a remote control mode; and

an asset management computer located remotely from the industrial vehicle and receiving the operational data transmitted by the wireless communicator, and comprising an input device for a person to respond to the operational data by producing commands that are transmitted for remotely controlling operation of the industrial vehicle.

2. The control system as recited in claim 1 further comprising a sensor for detecting an obstacle in the path of the industrial vehicle.

3. The control system as recited in claim 1 further comprising a video camera for producing an image of an area adjacent to the industrial vehicle, wherein the wireless communicator transmits the image to the asset management computer.

4. The control system as recited in claim 1 further comprising a local area network connected to the asset management computer and comprising a plurality of wireless signal transceivers each for bidirectional communication with the wireless communicator.

5. The control system as recited in claim 4 further comprising a charging equipment for replenishing energy in a storage device that is onboard the industrial vehicle, wherein the charging equipment is connected to the local area network.

6. The control system as recited in claim 1 wherein the guidance and navigation system is operable to receive an indication that an energy storage device onboard the industrial vehicle requires recharging, and to respond to that indication by autonomously directing the industrial vehicle along a path to a recharging area at the facility.

7. The control system as recited in claim 1 wherein in the remote control mode wireless communicator receives commands for controlling the propulsion drive system.

8. The control system as recited in claim 1 further comprising operator controls onboard the industrial vehicle for manual operation by a person, wherein the control system has a manual mode in which the propulsion drive system operates in response to manual operation of the operator controls.

9. A method for controlling an industrial vehicle at a facility, wherein the industrial vehicle includes a guidance and navigation system that, in an unmanned, autonomous mode, controls motion of the industrial vehicle along a first path, said method comprising:

gathering operational data regarding the industrial vehicle operating in the unmanned, autonomous mode;

transmitting the operational data, via a wireless communicator onboard the industrial vehicle, to an asset management computer located remotely from the industrial vehicle; and

transmitting a command from the asset management computer to the wireless communicator, wherein the command directs the industrial vehicle to perform a given operation.

10. The method as recited in claim 9 wherein the command directs the industrial vehicle to travel along a second path at the facility.

11. The method as recited in claim 10 wherein the operational data indicates presence of an obstacle in the first path and movement of the industrial vehicle along a second path avoids the obstacle.

12. The method as recited in claim 10 further comprising transmitting a plurality of commands from the asset management computer to the wireless communicator, which plurality of commands direct steering of a wheel on the industrial vehicle and velocity at which a wheel is rotated to propel the industrial vehicle.

13. The method as recited in claim 9 wherein the operational data indicates an incapacity of the industrial vehicle;

and the command enables the industrial vehicle to overcome the incapacity.

14. The method as recited in claim 9 wherein the operational data relates to a rechargeable energy source onboard the industrial vehicle;

and the method further comprises responding to the operational data by directing the industrial vehicle to travel to a recharging area at the facility.

15. The method as recited in claim 14 wherein guidance and navigation system, in the unmanned, autonomous mode, directs the industrial vehicle to travel to the recharging area.

16. The method as recited in claim 14 wherein the industrial vehicle is directed to travel to the recharging area by commands from the asset management computer.

17. The method as recited in claim 9 wherein the operational data relates to a rechargeable energy source onboard the industrial vehicle;

and the method further comprises employing the operational data to determine when the rechargeable energy source requires recharging; and

transmitting a recharging required message via a wireless communicator to the asset management computer.

18. A method for controlling an industrial vehicle at a facility, wherein the industrial vehicle includes a propulsion drive system, a guidance and navigation system, and a wireless communicator for bidirectional communication with an asset management computer located remotely from the industrial vehicle, said method comprising:

(a) operating the industrial vehicle in an unmanned, autonomous mode that comprises;

the guidance and navigation system sensing environmental conditions outside the vehicle and in response thereto controlling the propulsion drive system to direct the industrial vehicle to travel along a first path,

gathering operational data regarding the industrial vehicle, and

transmitting the operational data, from a wireless communicator onboard the industrial vehicle to an asset management computer located remotely from the industrial vehicle;

(b) operating the industrial vehicle in manual mode that comprises;

the industrial vehicle receiving control signals from operator controls that are manipulated by human operator onboard the industrial vehicle, and

controlling the propulsion drive system in response to the control signals to direct the industrial vehicle to travel along a second path; and

(c) operating the industrial vehicle in remote control mode that comprises;

the industrial vehicle receiving commands from the asset management computer, and

controlling operation of the industrial vehicle in response to the commands.

19. The method as recited in claim 18 wherein operating the industrial vehicle in remote control mode further comprises transmitting the operational data, from the wireless communicator to the asset management computer.

20. The method as recited in claim 18 wherein the commands received from the an asset management computer are produced in response to real-time inputs from a person.

21. The method as recited in claim 18 further comprising in response to the operational data transmitted from a wireless communicator, the asset management computer generating an alert indication to personnel at the facility.

22. The method as recited in claim 18 wherein controlling operation of the industrial vehicle comprises operating the propulsion drive system in response to the commands to direct the industrial vehicle to travel along a third path.