Vehicular navigation control interface

• US 9,002,626 B2
• Filed: 02/04/2014
• Issued: 04/07/2015
• Est. Priority Date: 08/29/2011
• Status: Active Grant

• Current Assignee: Crown Equipment Company
• Original Assignee: Crown Equipment Company
• Inventors: Waltz, Lucas B., Zheng, Bing, Mallak, Thomas L., Mangette, Steve
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US14/172,185
• Publication Number:
  US 20140188324A1
• Time in Patent Office: 427 Days
• Field of Search: 701/25, 701/110, 323/222, 323/282, 360/48
• US Class Current: 701/110
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

Systems and methods for providing a vehicular navigation control interface are included in the present disclosure. Some embodiments include a navigation system and a vehicle with a vehicle control module (VCM), a navigation control module (NCM), and a navigation control interface, where the VCM receives a manual command from an operator to implement a manual control function. In some embodiments the NCM receives an automatic command from the navigation system to implement an automatic control function via the VCM and the navigation control interface directly connects the VCM and the NCM to facilitate communication between the VCM and NCM for implementing automatic mode and for reporting implementation of a manual mode.

Claims

1. A system comprising a navigation system and a vehicle, wherein:

the vehicle comprises a traction system, a vehicle control module (VCM), a navigation control module (NCM), and a navigation control interface;

the traction system comprises a traction control module and a traction motor;

the VCM facilitates operator initiated control of the vehicle in a manual mode;

the NCM causes the vehicle to implement an automatic control function by travelling to a predetermined destination and performing a desired task using the traction system upon receipt of an automatic command from the navigation system;

the navigation control interface connects the VCM and the NCM to facilitate communication between the VCM and NCM;

the VCM sends traction data to the NCM via the navigation control interface for implementing the automatic control function; and

the traction data comprises traction speed feedback, traction speed limit, traction acceleration force limit, and traction deceleration force limit, or a combination thereof.

2. A system of claim 1, wherein the automatic command comprises at least one of the following:

a plurality of path segments that directs the NCM to a predetermined destination and a coordinate of the predetermined destination.

3. A system of claim 1, wherein the VCM sends vehicle data to the NCM via the navigation control interface, wherein the vehicle data comprises at least one of the following:

a vehicle identifier, a vehicle state, a vehicle status, a counter, and a load weight.

4. A system of claim 3, wherein the vehicle state is identified as at least one of the following:

initialization, standby, manual, automatic, and an error.

5. A system of claim 3, wherein the vehicle status includes at least one of the following:

a mode select switch state, a brake switch state, an automatic contactor state, a traction mode, a steering mode, a hoist mode, and accessory mode, and an error.

6. A system of claim 1, wherein the VCM sends steering data to the NCM via the navigation control interface and wherein the steering data comprises at least one of wheel angle feedback, a counterclockwise wheel angle limit, limit, and a wheel angle rate limit.

7. A system of claim 1, wherein the VCM sends hoist data to the NCM via the navigation control interface, wherein the hoist data comprises at least one of the following:

a fork height, a hoist speed limit, a hoist acceleration limit, and a hoist height limit.

8. A system of claim 1, wherein the NCM sends the VCM at least one of the following via the navigation control interface:

system data, traction command data, steering command data, hoist command data, and accessory command data.

9. A system of claim 1, wherein the NCM sends system data to the VCM via the navigation control interface, wherein the system data comprises at least one of the following:

a system identifier, a navigation system state, a navigation system status, a counter, and a braking status.

10. A system of claim 1, wherein the NCM sends traction command data to the VCM via the navigation control interface, wherein the traction command data comprises at least one of the following:

a traction command and a traction gain.

11. A system of claim 1, wherein the NCM sends hoist command data to the VCM via the navigation control interface, wherein the hoist command data comprises at least one of the following:

a hoist command and a hoist gain.

12. A system of claim 1, wherein the NCM, the VCM, and the navigation control interface are part of a vehicle computing architecture on a forklift.

13. A system of claim 12, wherein the NCM receives automatic commands from the navigation system for navigating the forklift.

14. A system of claim 1, further comprising:

a display, a traction control module (TCM), and a steering control module (SCM), wherein;

the display provides the operator with information regarding operation of the vehicle;

the TCM is implemented as a first motor controller that receives and implements at least one of the following;

a power signal and a speed command; and

the SCM is implemented as a second motor controller that receives and implements a steering command.

15. A system of claim 14, further comprising a first can bus and a second can bus, wherein:

the first can bus provides a communication medium among the display, the VCM, the TCM, and the SCM; and

the second can bus is part of the navigation control interface that couples the VCM with the NCM and facilitates sending and receiving of data between the VCM and the NCM.

16. A system of claim 1, further comprising a remote computing device, wherein:

the remote computing device processes a work order, the work order identifying a location of a product that will be moved; and

the remote computing device determines whether the vehicle will perform the work order.

17. A system of claim 16, wherein the remote computing device comprises a server.

18. A vehicle comprising a vehicle control module (VCM), a navigation control module (NCM), a hardware interface, and a steering control system wherein:

the steering control system comprises a steering control module (SCM) and a steering motor;

the VCM facilitates operator initiated control of the vehicle in a manual mode;

the NCM causes the vehicle to implement an automatic control function by travelling to a predetermined destination and performing a desired task using the steering system upon receipt of an automatic command from a navigation system;

the NCM sends data related to the automatic command for implementing the automatic command;

the hardware interface connects the VCM and the NCM to facilitate communication of data between the VCM and NCM;

the VCM sends steering data to the NCM via the navigation control interface for implementing the automatic control function; and

the steering data comprises wheel angle feedback, a counterclockwise wheel angle limit, a clockwise wheel angle limit, a wheel angle rate limit, or a combination thereof.

19. A vehicle comprising a vehicle control module (VCM), a navigation control module (NCM), a hoist control system, and a hardware interface, wherein:

the hoist control system comprises a hoist control module and a hoist control motor;

the NCM causes the vehicle to implement an automatic control function by travelling to a predetermined destination and performing a desired task using the hoist control system upon receipt of an automatic command from a navigation system;

the NCM sends data related to an automatic command for implementing an automatic control function;

the hardware interface connects the VCM and the NCM to facilitate communication of data between the VCM and NCM;

the VCM sends hoist data to the NCM via the navigation control interface for implementing the automatic control function; and

the hoist data comprises a fork height, a hoist speed limit, a hoist acceleration limit, a hoist height limit, or a combination thereof.

20. A system comprising a navigation system and a vehicle with a vehicle control module (VCM), a navigation control module (NCM), an accessory control system, and a navigation control interface, wherein:

the vehicle comprises an accessory

the accessory control system comprises an accessory control module and an accessory control motor;

the NCM causes the vehicle to implement an automatic control function by travelling to a predetermined destination and performing a desired task using the accessory upon receipt of an automatic command from the navigation system;

the navigation control interface connects the VCM and the NCM to facilitate communication between the VCM and NCM for implementing the automatic control function and for reporting implementation of a manual mode;

the VCM sends accessory data to the NCM via the navigation control interface for implementing the automatic control function of an accessory of the vehicle; and

the accessory data comprises a first accessory position, a second accessory position, an accessory upper limit, and an accessory lower limit, or a combination thereof.