Steer maneuvers for materials handling vehicles

• US 9,493,184 B2
• Filed: 03/12/2014
• Issued: 11/15/2016
• Est. Priority Date: 08/18/2009
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Castaneda, Anthony T., McCroskey, William W., Schloemer, James F., Schumacher, Mark E., Siefring, Vernon W., Wellman, Timothy A.
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/205,449
• Publication Number:
  US 20140195121A1
• Time in Patent Office: 979 Days
• US Class Current: 1/1
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/001 the torque NOT being among the input parameters
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• 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
• 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: G08C 17/02 using a radio link
• CPC Class Codes: G08C 2201/20 Binding and programming of remote control devices

Abstract

A materials handling vehicle implements a steer maneuver to hug an object. A controller on the vehicle receives sensor data from at least one sensing device and detects that a selected object is in an environment proximate the vehicle using the received sensor data. The controller performs a steer maneuver by causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading.

Claims

1. A method for a materials handling vehicle to implement a steer maneuver comprising:

receiving sensor data from at least one sensing device by a controller on a materials handling vehicle;

detecting that a selected object is in an environment proximate the vehicle, the environment comprising;

a hug zone displaced laterally from the left or right side of the vehicle;

a stop zone laterally inwardly from the hug zone, wherein if an object is detected in at least a portion of the stop zone the vehicle is caused to initiate a braking operation;

a no steer zone laterally outwardly from the stop zone, wherein if an object is detected in at least a portion of the no steer zone the vehicle is not permitted to turn toward the no steer zone; and

a steer zone located laterally between the no steer zone and the hug zone, wherein if an object is detected in at least a portion of the steer zone the vehicle is permitted to turn toward the steer zone as long as no portion of the object is located in the no steer zone; and

performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object, wherein the desired distance is maintained between the vehicle and the selected object as the vehicle travels on a desired heading.

2. The method of claim 1, wherein performing a steer maneuver comprises the controller automatically steering the vehicle such that the selected object is at least partially maintained in the hug zone.

3. The method of claim 2, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the hug zone.

4. The method of claim 3, wherein:

if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading; and

if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading.

5. The method of claim 2, wherein:

the hug zone extends in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle; and

the desired heading is substantially in the axial direction.

6. The method of claim 1, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle.

7. The method of claim 6, wherein the environment further comprises:

first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation;

first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and

first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected as long as no portion of the object is located in the corresponding no steer zone.

8. The method of claim 7, wherein the selected object is the first object that is detected in at least one of the steer zones and the no steer zones.

9. The method of claim 6, wherein the controller is programmable to only perform a steer maneuver if an object is detected in a select one of the first and second hug zones.

10. The method of claim 1, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device.

11. The method of claim 1, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle.

12. The method of claim 1, wherein the selected object is the first object that is detected in a scanned zone defined in the environment, wherein the scanned zone is scanned by the at least one sensing device.

13. The method of claim 1, wherein the selected object comprises one of a stationary wall, a stationary rack, and a stationary stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the wall, rack, or stacked product face.

14. The method of claim 1, wherein performing a steer maneuver comprises the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading until a predetermined event occurs, the predetermined event comprising at least one of;

the selected object leaving the hug zone;

the selected object leaving the environment; and

a second object entering a predefined portion of the steer zone.

15. The method of claim 1, wherein performing a steer maneuver is implemented by the controller upon authorization to do so by an operator.

16. The method of claim 15, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle.

17. The method of claim 16, wherein the operator authorizes a steer maneuver by activating structure on the vehicle or on a remote control device associated with the vehicle.

18. The method of claim 17, wherein the operator activating structure comprises the operator depressing a button located either on the vehicle or on the remote control device.

19. The method of claim 1, wherein performing a steer maneuver comprises:

if the selected object is located outside of a zone or line defined within the environment, the vehicle is automatically steered such that the selected object is at least partially located in the zone or on the line, at which point the vehicle is automatically steered to the desired heading while maintaining the desired distance from the selected object.

20. A method for a materials handling vehicle to implement a steer maneuver comprising:

receiving sensor data from at least one sensing device by a controller on a materials handling vehicle;

detecting that a selected object is in an environment proximate the vehicle; and

performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle.

21. The method of claim 20, wherein performing a steer maneuver comprises the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object until a predetermined event occurs, wherein the predetermined event comprises at least one of:

the selected object leaving a hug zone defined within the environment;

the selected object leaving the environment; and

a second object entering a predefined portion of a steer zone defined within the environment.

22. The method of claim 20, wherein performing a steer maneuver comprises the controller automatically steering the vehicle such that the selected object is at least partially maintained in a hug zone defined within the environment.

23. The method of claim 22, wherein the hug zone extends in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle.

24. The method of claim 20, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the vehicle.

25. The method of claim 24, wherein:

if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to a desired heading; and

if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading.

26. The method of claim 25, wherein the desired heading is substantially in an axial direction that is parallel to a central axis of the vehicle.

27. The method of claim 20, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle.

28. The method of claim 27, wherein the environment further comprises:

first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation;

first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and

first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected as long as no portion of the object is located in the corresponding no steer zone.

29. The method of claim 27, wherein the controller is programmable to only perform a steer maneuver if an object is detected in a select one of the first and second hug zones.

30. The method of claim 20, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device.

31. The method of claim 20, wherein the selected object comprises one of a stationary wall, a stationary rack, and a stationary stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the wall, rack, or stacked product face.

32. The method of claim 20, wherein performing a steer maneuver is implemented by the controller upon authorization to do so by an operator.

33. The method of claim 32, wherein the operator authorizes a steer maneuver by activating structure on the vehicle or on a remote control device associated with the vehicle.

34. The method of claim 33, wherein the operator activating structure comprises the operator depressing a button located either on the vehicle or on the remote control device.

35. The method of claim 33, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle.

36. The method of claim 20, wherein performing a steer maneuver comprises:

if the selected object is located outside of a zone or line defined within the environment, the vehicle is automatically steered such that the selected object is at least partially located in the zone or on the line, at which point the vehicle is automatically steered to the desired heading while maintaining the desired distance from the selected object.

37. A method for a materials handling vehicle to implement a steer maneuver comprising:

receiving sensor data from at least one sensing device by a controller on a materials handling vehicle;

detecting that a selected object is in an environment proximate the vehicle;

in response to an operator initiated request, performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle.

38. The method of claim 37, wherein performing a steer maneuver comprises the controller steering the vehicle such that the selected object is at least partially maintained in a hug zone defined within the environment, the hug zone extending in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle.

39. The method of claim 38, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the hug zone.

40. The method of claim 39, wherein:

if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to a desired heading; and

if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading.

41. The method of claim 40, wherein the desired heading is substantially in an axial direction that is parallel to a central axis of the vehicle.

42. The method of claim 37, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle.

43. The method of claim 42, wherein the environment further comprises:

first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation;

first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and

first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected as long as no portion of the object is located in the corresponding no steer zone.

44. The method of claim 43, wherein the selected object is the first object that is detected in at least one of the steer zones and the no steer zones.

45. The method of claim 37, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device.

46. The method of claim 37, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle.

47. The method of claim 37, wherein the selected object is the first object that is detected in a scanned zone defined in the environment, wherein the scanned zone is scanned by the at least one sensing device.

48. The method of claim 37, wherein the selected object comprises one of a stationary wall, a stationary rack, and a stationary stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the wall, rack, or stacked product face.

49. The method of claim 37, wherein the operator authorizes a steer maneuver by activating structure on a remote control device associated with the vehicle.

50. The method of claim 49, wherein the operator activating structure comprises the operator depressing a button located on the remote control device.

51. The method of claim 37, wherein performing a steer maneuver comprises the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object until a predetermined event occurs, the predetermined event comprising at least one of:

the selected object leaving a hug zone defined within the environment;

the selected object leaving the environment; and

a second object entering a predefined portion of a steer zone defined within the environment.

52. The method of claim 37, wherein performing a steer maneuver comprises:

if the selected object is located outside of a zone or line defined within the environment, the vehicle is automatically steered such that the selected object is at least partially located in the zone or on the line, at which point the vehicle is automatically steered to the desired heading while maintaining the desired distance from the selected object.

53. A method for a materials handling vehicle to implement a steer maneuver comprising:

receiving sensor data from at least one sensing device by a controller on a materials handling vehicle;

detecting that a selected object is in an environment proximate the vehicle; and

performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object, wherein if the selected object is located outside of a hug zone or hug line defined within the environment, the vehicle is automatically steered such that the selected object is at least partially located in the hug zone or on the hug line, at which point the vehicle is automatically steered to the desired heading while maintaining the desired distance from the selected object.

54. A method for a materials handling vehicle to implement a steer maneuver comprising:

receiving sensor data from at least one sensing device by a controller on a materials handling vehicle;

detecting that a selected object is in an environment proximate the vehicle, the environment including first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced laterally from the right side of the vehicle; and

performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading, wherein the controller is programmable to only perform a steer maneuver if an object is detected in a select one of the first and second hug zones.

55. The method of claim 54, wherein performing a steer maneuver comprises the controller steering the vehicle such that the selected object is at least partially maintained in the select one of the first and second hug zones.

56. The method of claim 55, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the select one of the first and second hug zones.

57. The method of claim 56, wherein:

if a laterally innermost portion of the selected object is located laterally between hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to a desired heading; and

if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading.

58. The method of claim 54, wherein the environment further comprises:

first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation;

first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and

first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected as long as no portion of the object is located in the corresponding no steer zone.

59. The method of claim 54, wherein the operator authorizes a steer maneuver by activating structure on a remote control device associated with the vehicle.

60. The method of claim 59, wherein the operator activating structure comprises the operator depressing a button located on a remote control device associated with the vehicle.