End of aisle control system

• US 5,258,911 A
• Filed: 09/23/1991
• Issued: 11/02/1993
• Est. Priority Date: 04/09/1991
• Status: Expired due to Term

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Heindel, Thomas W., Wellman, Timothy A., Stammen, Harold A.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/763,821
• Time in Patent Office: 771 Days
• Field of Search: 364/424.01, 364/424.02, 318/587, 180/167, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0229 in combination with fixed guiding means
• CPC Class Codes: G05D 1/0261 using magnetic plots
• 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

Abstract

An end of aisle control system permits an operator controlled materials handling vehicle to be configured by following instructions given on a service terminal and easily positionable magnet sensors to a customer'"'"'s specific operating environment. In addition to end of aisle magnets that are buried in specified paths in the floor of a warehouse, magnets may be buried in other paths to accomplish specified functions, such as auto-resume and end aisle blocked. The buried magnets identify zones of operation and a microprocessor controls the maximum speed of travel in each of these zones. The maximum speed of the vehicle in each of the specified zones may be pre-selected according to the direction of travel of the vehicle, thus making the control system adaptable to a wide variety of operating environments. The end of aisle control system also controls the method of stopping the vehicle, either by the use of brakes, or by plugging the traction motor. Whenever the vehicle is stopped in response to action by the end of aisle control system, an audible and visual signal is presented, indicating that specific operator action is required before further movement in that same direction is possible.

Claims

1. A method for controlling the speed of an operator controlled materials handling vehicle comprising the steps of

establishing a plurality of vehicle operating zones in aisles of a warehouse,

placing position indicating devices in said aisles to identify the boundaries of each of said zones,

setting the maximum speed of operation for the vehicle within each of said zones,

sensing said zone boundary identifying position indicating devices, and

setting the speed of the vehicle as the vehicle transits from one zone to another and within each of said zones based on said set maximum speed of operation.

2. The method of claim 1 further including the step of establishing a mode for braking the vehicle in response to a transit of the vehicle from one zone to another.

3. The method of claim 1 wherein the step of establishing a plurality of vehicle operating zones includes the steps of establishing an auto guided zone and an end-of-aisle zone.

4. The method of claim 3 wherein the step of establishing vehicle operating zones further includes the step of establishing an end-aisle-blocked zone.

5. The method of claim 3 wherein each of the operating zones is defined by said position indicating devices placed in separate paths in the aisle.

6. The method of claim 5 wherein the position indicating devices are magnets and wherein said magnets in adjacent separate paths are oppositely polarized.

7. The method of claim 1 further including the steps of

selecting a mode for braking the vehicle for an end-of-aisle forward travel sensor,

selecting a mode for braking the vehicle for an end-of-aisle reverse travel sensor, and

selecting a mode for braking the vehicle for an end-of-aisle-blocked sensor.

8. The method of claim 2 wherein the step of establishing a mode for braking the vehicle in response to a transition of the vehicle from one zone to another includes establishing a mode of stopping or slowing the vehicle.

9. A method for establishing a maximum vehicle speed to be used in an end of aisle control system for an operator controlled materials handling vehicle comprising the steps of

establishing auto-guided vehicle operating zones;

locating position indicating devices in predetermined paths in the aisles for identifying the boundaries of each of said auto-guided zones;

providing the vehicle with a plurality of position indicating device sensors located above said predetermined paths;

establishing vehicle control functions in response to a transition of the vehicle from one zone to another, depending on the direction of travel of the vehicle, and

establishing maximum speed limits for the vehicle within each of said zones based on said direction of travel within said zone.

10. The method of claim 9 wherein said auto-guided vehicle operating zones includes an in-aisle zone, and an end-of-aisle zone.

11. The method of claim 10 wherein said operating zones further includes an end-aisle-blocked zone.

12. The method of claim 10 further including the step of preventing the vehicle from further travel in the original direction whenever an end-aisle-blocked zone in entered.

13. The method of claim 9 wherein said vehicle control functions includes one of the following operations:

plug to a predetermined speed, plug to a stop, brake to a stop, and no action.

14. The method of claim 9 further including identifying a location between adjacent end-of-aisle zones for indicating that the vehicle resumes operating according to an in-aisle zone speed prior to entering the beginning of an in-aisle zone.

15. The method of claim 14 wherein the step of identifying a location includes a step of placing a position indicating device in a predetermined path between said adjacent end of aisle zones.

16. The method of claim 9 wherein the step of establishing the vehicle control functions requires the vehicle to come to a complete stop, and further including a step of providing the operator with a visual signal indicating that a manual release switch must be activated before the vehicle can continue travel.

17. The method of claim 9 wherein the steps of establishing vehicle control functions and maximum speed limits are done by a service terminal temporarily connected to said vehicle.

18. A method of controlling the operating characteristics of an operator controlled materials handling vehicle in an aisle, the method comprising the steps of

establishing an end aisle zone by reference to an end aisle position indicating device placed in the aisle,

establishing the speed of the vehicle while in the end aisle zone,

establishing a stopping distance for the vehicle at the speed established in the end aisle zone, and

initiating the braking of the vehicle to a stop upon the vehicle reaching said stopping distance.

19. The method of claim 18 wherein the stopping distance is calculated by reference to the distance traveled by the vehicle after passing a predetermined known position.

20. The method of claim 18 wherein the stopping distance is calculated from said end aisle position indicating device.

21. The method of claim 18 wherein the stopping distance is indicated by an end aisle stop position indicating device installed in the aisle.

22. An end of aisle control apparatus for use on an operator controlled materials handling vehicle including

means for sensing floor mounted magnets in each of a plurality of paths identifying predetermined vehicle operating zones,

means for sensing and controlling the speed and direction of vehicle travel,

means responsive to said magnet sensing means for controlling the maximum speed of the vehicle based on the sensed direction of vehicle travel in each of said operating zones, and

means responsive to said magnet sensing means for controlling the slowing of the vehicle as it transits from a higher speed zone to a lower speed zone.

23. The apparatus of claim 22 wherein said means for controlling the slowing of the vehicle includes means for controlling the mechanical brakes of said vehicle.

24. The apparatus of claim 22 wherein said means for controlling the slowing of the vehicle includes means for plugging the traction motors powering the vehicle.

25. The apparatus of claim 22 wherein said means for controlling the slowing of the vehicle includes means for bring the vehicle to a complete stop, said means for controlling further including means for releasing the vehicle from a stopped condition and means for visually indicating that actuation of said releasing means is required.

26. A method of controlling the operation of a operator controlled materials handling vehicle as it approaches an end of an aisle, the method comprising the steps of

placing first and second position indicating devices in the aisle, the position indicating devices being spaced apart a first predetermined distance in the direction of movement of the vehicle,

providing separate first and second position indicating device sensors on the vehicle for detecting the passage of the vehicle over the first and second position indicating devices, respectively,

monitoring the distance the vehicle travels after passing at least one of the position indicating devices,

limiting the speed of the vehicle a second predetermined distance in the direction of the vehicle travel toward the nearest aisle end after detecting the presence of at least one of said position indicating devices, and

stopping the vehicle if the second position indicating device has not been detected within a predetermined distance after the detection of the first position indicating device.

27. The method of claim 26 further including the steps of

sensing the speed of the vehicle when at least one of said position indicating devices is detected,

sensing the speed of the vehicle a predetermined distance after detection of one of said position indicating devices, and

stopping the vehicle if the speed at the predetermined distance is greater than a predetermined percentage of its previous speed.

28. The method of claim 26 further including the step of performing a vehicle control function a third predetermined distance after detecting the presence of at least one of said position indicating devices.

29. The method of claim 28 wherein said vehicle control function includes the step of stopping the vehicle a predetermined distance after detecting the presence of one of said position indicating devices.

30. The method of claim 28 wherein said vehicle control function includes the step of permitting the vehicle to resume operating at it maximum permitted speed after traveling a predetermined distance.

31. The method of claim 28 further including the steps of

providing an additional position indicating device prior to the end of the aisle;

detecting the presence of said additional position indicating device; and

setting the monitored distance traveled to zero thereby to delay the operation of the vehicle control function.

32. A method of controlling the operation of a operator controlled materials handling vehicle as it approaches an end of an aisle, the method comprising the steps of

placing at least one position indicating device in the aisle,

providing at least one position indicating device sensor on the vehicle for detecting the passage of the vehicle over said position indicating device,

monitoring the distance the vehicle travels after passing said position indicating device, and

performing at least one vehicle control function in response to the vehicle travelling a predetermined distance in the direction of the vehicle travel toward the nearest aisle end after detecting the presence of said position indicating device, wherein said vehicle control function includes the step of slowing the vehicle to a predetermined maximum speed and further including the step of stopping the vehicle if its speed, after it has travelled a second predetermined distance from the detection of said position indicating device, is greater than a specified percentage of the speed of the vehicle when it first detected said position indicating device.

33. The method of claim 32 wherein said vehicle is slowed immediately upon detecting said position indicating device.

34. The method of claim 32 wherein said vehicle is slowed a predetermined distance after detecting said position indicating device.

35. The method of claim 32 wherein said vehicle control function further includes the step of stopping the vehicle after it has traveled a predetermined distance.

36. The method of claim 32 wherein said vehicle control function further includes the step of permitting the vehicle to resume its maximum operating speed after it has traveled a predetermined distance.

37. A method of controlling the operation of a operator controlled materials handling vehicle as it approaches an end of an aisle, the method comprising the steps of

placing at least one position indicating device in the aisle,

providing at least one position indicating device sensor on the vehicle for detecting the passage of the vehicle over said position indicating device,

monitoring the distance the vehicle travels after passing said position indicating device, and

performing at least one vehicle control function in response to the vehicle travelling a predetermined distance in the direction of the vehicle travel toward the nearest aisle end after detecting the presence of said position indicating device, and

providing a second position indicating device and stopping the vehicle if said second position indicating device has not been detected within a predetermined distance after the detection of the first position indicating device.