Method for operating a materials handling vehicle utilizing multiple detection zones

• US 8,725,363 B2
• Filed: 01/10/2013
• Issued: 05/13/2014
• Est. Priority Date: 09/14/2006
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Elston, Edwin R., Siefring, Vernon W., Jensen, Eric L.
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US13/738,097
• Publication Number:
  US 20130124014A1
• Time in Patent Office: 488 Days
• Field of Search: 701/23, 701/28, 701/36, 701/49, 701/50, 701/301, 701/302, 701/1, 701/2, 701/93, 340/904, 340/935, 340/435, 340/436, 340/438, 340/463, 340/464, 340/466, 340/467, 180/9.22, 180/9.23, 180/9.32
• US Class Current: 701/50
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/121 Fork lift trucks, Clarks
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/08 Interaction between the driver and the control system
• CPC Class Codes: B66F 9/07509 Braking
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/07572 Propulsion arrangements
• CPC Class Codes: B66F 9/07581 Remote controls
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• 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 multiple detection zone supplemental remote control system for a materials handling vehicle comprises one or more sensors capable of defining multiple contactless detection zones at least towards the front of the forward travel direction of a remotely controlled vehicle. The vehicle responds to the detection of objects within the designated zones based upon predetermined actions, such as to slow down or stop the vehicle, and/or to take other action, such as to perform a steer angle correction.

Claims

1. A method for operating a materials handling vehicle utilizing multiple detection zones comprising:

defining a first detection zone comprising a stop zone in an area proximate to the vehicle;

defining a second detection zone comprising a first speed reduction zone in an area proximate to the vehicle;

defining a third detection zone comprising a second speed reduction zone in an area proximate to the vehicle;

performing a first action by a controller on the vehicle if the vehicle is traveling and an obstacle is detected in the stop zone, the first action comprising the controller implementing a stop action to stop the vehicle;

performing a second action by the controller if the vehicle is traveling and an obstacle is detected in the first speed reduction zone, the second action comprising the controller implementing a speed reduction action to reduce the speed of the vehicle to a first predetermined speed if the vehicle is traveling at a speed greater than the first predetermined speed;

performing a third action by the controller if the vehicle is traveling and an obstacle is detected in the second speed reduction zone, the third action comprising the controller implementing a speed reduction action to reduce the speed of the vehicle to a second predetermined speed different than the first predetermined speed if the vehicle is traveling at a speed greater than the second predetermined speed;

detecting whether an operator is positioned on the vehicle with at least one presence sensor; and

allowing the vehicle to travel in response to a travel request signal when the at least one presence sensor designates that no operator is on the vehicle.

2. The method of claim 1, wherein the first and second detection zones are defined by at least one contactless obstacle sensor on the vehicle.

3. The method of claim 1, further comprising the controller preventing operation of the vehicle if an obstacle is detected within the stop zone before the vehicle begins travel.

4. The method of claim 1, further comprising the controller modifying at least one vehicle parameter other than speed in response to detecting an obstacle in at least one steer angle correction zone.

5. The method of claim 4, further comprising the controller implementing a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone.

6. The method of claim 5, wherein the controller implementing a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone further comprises the controller selecting a direction of steer angle adjustment based upon a determination of a position of a detected obstacle.

7. The method of claim 5, wherein the at least one steer angle correction zone comprises a plurality different steer angle correction zones, and further comprising the controller implementing a different steer angle correction amount for each steer angle correction zone.

8. The method of claim 1, further comprising remotely controlling the vehicle via a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel.

9. A method for operating a materials handling vehicle utilizing multiple detection zones comprising:

defining a first detection zone by at least one contactless obstacle sensor on the vehicle, the first detection zone comprising a stop zone in an area proximate to the vehicle;

defining a second detection zone by the at least one contactless obstacle sensor in an area proximate to the vehicle;

performing a first action by a controller on the vehicle if the vehicle is traveling and an obstacle is detected in the stop zone, the first action comprising the controller implementing a stop action to stop the vehicle;

performing a second action different from the first action by the controller if the vehicle is traveling and an obstacle is detected in the second detection zone;

preventing operation of the vehicle by the controller if an obstacle is detected within the stop zone before the vehicle begins travel;

detecting whether an operator is positioned on the vehicle with at least one presence sensor; and

allowing the vehicle to travel in response to a travel request signal when the at least one presence sensor designates that no operator is on the vehicle.

10. The method of claim 9, wherein:

the second detection zone comprises a first speed zone; and

the second action comprises the controller implementing a speed reduction action to reduce the speed of the vehicle to a first predetermined speed if the vehicle is traveling at a speed greater than the first predetermined speed and an obstacle is detected in the first speed zone.

11. The method of claim 9, further comprising the controller implementing a steer angle correction in response to detecting an obstacle in at least one steer angle correction zone defined by the at least one contactless obstacle sensor.

12. The method of claim 11, wherein the controller implementing a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone further comprises the controller selecting a direction of steer angle adjustment based upon a determination of a position of a detected obstacle.

13. The method of claim 11, wherein the at least one steer angle correction zone comprises a plurality different steer angle correction zones, and further comprising the controller implementing a different steer angle correction amount for each steer angle correction zone.

14. The method of claim 13, further comprising remotely controlling the vehicle via a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel.

15. A method for operating a materials handling vehicle utilizing multiple detection zones comprising:

defining a first detection zone by at least one contactless obstacle sensor on the vehicle in an area proximate to the vehicle;

defining a second detection zone by the at least one contactless obstacle sensor in an area proximate to the vehicle;

performing a first action by a controller on the vehicle if the vehicle is traveling and an obstacle is detected in the first detection zone, the first action comprising the controller implementing one of a stop action to stop the vehicle, a speed reduction action to reduce the speed of the vehicle, and a steer angle correction;

performing a second action different from the first action by the controller if the vehicle is traveling and an obstacle is detected in the second detection zone, the second action comprising the controller implementing one of a stop action to stop the vehicle, a speed reduction action to reduce the speed of the vehicle, and a steer angle correction;

detecting whether an operator is positioned on the vehicle with at least one presence sensor; and

allowing the vehicle to travel in response to a travel request signal when the at least one presence sensor designates that no operator is on the vehicle.

16. The method of claim 15, wherein:

the first detection zone comprises a stop zone;

the second detection zone comprises a first speed zone;

the first action comprises the controller implementing a stop action to stop the vehicle; and

the second action comprises the controller implementing a speed reduction action to reduce the speed of the vehicle to a first predetermined speed.

17. The method of claim 16, further comprising:

defining a third detection zone by the at least one contactless obstacle sensor in an area proximate to the vehicle, the third detection zone comprising a second speed zone; and

implementing a second speed reduction action by the controller to reduce the speed of the vehicle to a second predetermined speed different than the first predetermined speed if the vehicle is traveling at a speed greater than the second predetermined speed and an obstacle is detected in the second speed zone.

18. The method of claim 15, wherein the first detection zone comprises a steer angle correction zone and the first action comprises the controller implementing a steer angle correction in response to detecting an obstacle in the steer angle correction zone.

19. The method of claim 15, wherein the at least one contactless obstacle sensor defines a plurality different steer angle correction zones including the first and second detection zones, and further comprising:

the controller selecting a direction of steer angle adjustment based upon a determination of a position of a detected obstacle in a select steer angle correction zone; and

the controller implementing a different steer angle correction amount for each steer angle correction zone.

20. The method of claim 15, further comprising remotely controlling the vehicle via a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a travel request signal.