A materials handling vehicle including a battery receiving space, and a removable battery assembly, wherein: the battery receiving space includes opposing pairs of battery guide pins, each opposing pair arranged on opposite sides of the battery receiving space, and each opposing pair includes a latching pin and a guiding pin; the removable battery assembly includes a battery locking mechanism; the battery locking mechanism includes spring-loaded locking pins that are spring-biased in extended positions and are movable from the extended positions to respective retracted positions; the latching pin of each opposing pair of battery guide pins includes a recess forming a battery latch that is positioned to receive a leading portion of one of the spring-loaded locking pins in the extended position.
A materials handling vehicle comprising a hitch, and a drive mechanism. The hitch comprises a latch and a receiving member. The latch is positionable between open and closed positions. The receiving member comprises a pair of inwardly curved side scoops and a central incline member provided between the pair of inwardly curved side scoops, each inwardly curved side scoop having an upper surface, a lower surface opposite the upper surface, an inner surface, an outer surface opposite the inner surface, a rear surface, and a front surface opposite the rear surface. The rear and upper surfaces of the pair of inwardly curved side scoops define an open rear end of the receiving member, the upper surface being sloped at the open rear end. The central incline member and the upper surface of the pair of inwardly curved side scoops cooperate to lead a cart hook to engage the latch.
A materials handling vehicle comprising a hitch system, and a drive mechanism. The hitch system comprises a hitch and a hitch controller. The hitch comprises a latch, one or more sensors, an actuator, and a receiving member. The latch is positionable between open and closed positions. The actuator is positionable between retracted, intermediate, and extended positions. The receiving member is configured to lead a cart hook to engage the latch when in the closed position. The one or more sensors are configured to detect a position of the latch and a presence of the cart hook received within the receiving member. The hitch controller is configured to position the actuator in one of the retracted position, the intermediate position, and the extended position, and to position the latch in one of the open position and the closed position in response to signals received from the one or more sensors.
A materials handling vehicle comprises a distributed processor system including a vehicle network that facilitates an exchange of information with vehicle electronic components, and a distributed multi-processor vehicle control architecture. The distributed multi-processor vehicle control architecture includes an embedded information core having a core processor communicably coupled to the vehicle network, and a tablet having a tablet processor, where the tablet is communicably couplable to, and detachable from the distributed multi-processor vehicle control architecture. When the tablet is detached from the distributed multi-processor vehicle control architecture, the core processor functions as a primary processor that communicates with vehicle electronic components by communicating therewith across the vehicle network. When the tablet is communicably attached to the distributed multi-processor vehicle control architecture, the tablet processor functions as the primary processor, and the core processor functions as a subordinate processor.
H04L 67/00 - Network arrangements or protocols for supporting network services or applications
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
H04L 67/125 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
H04L 69/08 - Protocols for interworking; Protocol conversion
A tiller head for an industrial truck is provided which comprises a central portion, a left handle portion that is attached to a left side of the central portion and a right handle portion that is attached to a right side of the central portion, which is opposite to its left side, and an actuating element. The handle portions and the central portion define a front side of the tiller head and a back side of the tiller head, which is opposite to its front side. The front side of the tiller head and the back side of the tiller head extend transverse to the left side of the central portion and the right side of the central portion. The actuating element has an operable front surface and an operable back surface, and the actuating element is mounted to a front side of the central portion.
B66F 9/065 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
B62D 1/14 - Tillers, i.e. hand levers operating on steering columns
A layover bracket system (104, 106) is provided for supporting an industrial vehicle (10) in a horizontal position on a floor surface (19). The layover bracket system includes a base section (104) removably attached to a first portion of the vehicle at a first location, and an extension section (106) removably attached to a second portion of the vehicle at a second location spaced apart in a first direction from the first location. The first direction is parallel to a vertical axis of the vehicle when positioned in an upright position. The extension section is pivotably coupled to the base section. Also provided is a layover bracket system for an industrial vehicle (10) comprising a bracket structure (102) that supports the vehicle on a floor surface (19) when the vehicle is supported in a horizontal position, the bracket structure including a plurality of wheels (108); and at least one first anchor structure (150) comprising a first body portion (152); and at least one insertion element (154); wherein the at least one first anchor structure temporarily secures the bracket structure and the vehicle in place on the floor surface when the vehicle is supported on the bracket structure in the horizontal position, and wherein the at least one first anchor structure and the plurality of wheels remain in contact with the floor surface while the at least one first anchor structure is securing the bracket structure and the vehicle in place on the floor surface.
A method is provided for wireless communication between a wireless remote control device comprising a peripheral device and a controller on a materials handling vehicle comprising a central device. The method may comprise: polling via a plurality of connection event requests, by the central device, communicated with the peripheral device with which the central device is paired, the peripheral device comprising one or more activatable switches. Based on the status of one or more activatable switches, the peripheral device sending reply messages to at least a portion of the plurality of connection requests in accordance with at least one communication operating mode of the peripheral device, wherein each reply message is indicative of the status of the one or more activatable switches. Calculating, by the central device, a number of missed messages.
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
A method is provided for Bluetooth Low Energy (BLE) communication between a remote control device comprising a peripheral BLE device and a controller on a materials handling vehicle comprising a central BLE device. The method comprises: polling via a plurality of connection requests, by the central BLE device, communicated with the peripheral BLE device with which the central BLE device is paired. The peripheral BLE device comprising one or more activatable switches. Based on the status of the one or more activatable switches, the peripheral BLE device sending reply messages to at least a portion of the plurality of connection requests in accordance with at least one of a first or a second communication operating mode. When operating in the first communication operating mode, the peripheral BLE device replies to only a portion of the plurality of connection requests, wherein each reply message is indicative of the status of the one or more activatable switches.
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
A work assist system is provided for an industrial vehicle (10). The work assist system includes a support structure (80, 82, 84) having a portion (210) including a predefined cross-sectional shape. The work assist system further includes a clamp member (250) having coupling structure (262, 264) for removably coupling the clamp member to the support structure portion, and mounting structure that removably supports a work assist item (130) that is usable by an operator located in an operator compartment (16) of the vehicle.
According to the subject matter of the present disclosure, an automated warehouse environment is provided where designated materials handling vehicles are programmed to initiate permission inquiries at primary and secondary nodes of a travel route in the warehouse environment. Alternatively, or additionally, the present disclosure also presents an automated warehouse environment where an asset manager comprises an occupancy grid generator, and a designated materials handling vehicle is programmed to avoid otherwise unpermitted travel along path segments that overlap the locked cells of the occupancy grid.
A method is provided for operating a materials handling vehicle (10) comprising: monitoring, by a processor (103), vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when the vehicle is traveling in a first vehicle orientation; collecting and storing, by the processor, data related to the monitored vehicle acceleration; receiving, by the processor, a request to implement a semi-automated driving operation; calculating, by the processor, a maximum vehicle acceleration based on acceleration data comprising the stored data, wherein the data related to the monitored vehicle acceleration used in calculating the maximum vehicle acceleration comprises only the vehicle acceleration data in the direction of travel of the vehicle collected when the vehicle is traveling in the first vehicle orientation. Based at least in part on the maximum vehicle acceleration, controlling, by the processor, implementation of the semi-automated driving operation.
Systems and methods for site commissioning to generate accurate representations and models of warehouse infrastructure. In one embodiment, a method of site commissioning includes receiving point cloud data for warehouse infrastructure and using point cloud data by a site commissioning tool to overlay infrastructure models, and generate an infrastructure model. The site commissioning tool may combine bay models with three-dimensional location information of the point cloud data to generate accurate representations of the warehouse infrastructure including the location of infrastructure elements and characteristics of the warehouse infrastructure, such as bay opening dimensions. Generating an accurate representation of bay models provides a parametric definition of as-built infrastructure. A method is also provided for condition point cloud data for use in a site commissioning tool. Some embodiments are directed to a site commissioning user interface for a site commissioning tool.
G06F 30/13 - Architectural design, e.g. computer-aided architectural design [CAAD] related to design of buildings, bridges, landscapes, production plants or roads
13.
SYSTEMS AND METHODS FOR RELATIVE POSE DETERMINATION AND FIELD ENFORCEMENT OF MATERIALS HANDLING VEHICLES USING ULTRA-WIDEBAND RADIO TECHNOLOGY
According to the embodiments described herein, system and methods for determining relative pose of materials handling vehicles in an industrial environment may include utilizing UWB antenna array systems respective mounted on the materials handling vehicles to send mutually received information to determine the relative pose between the vehicles, determining one or more fields of each materials handling vehicle, and determining one or more overlapping fields between the materials handling vehicles based on the determined one or more fields and the relative pose. A vehicle control may be implemented based on the determined relative pose and the overlapping fields as a field enforcement, such as a control action to avoid collision between the vehicles.
A remote control device that is to be worn on the appendage of an operator includes a base portion, a wireless communication system, a control, and an insert member. The wireless communication system includes a wireless transmitter for transmitting wireless commands from the remote control device. The control is communicably coupled to the wireless communication system, wherein actuation of the control causes the wireless transmitter to transmit a wireless command. The insert member is removably attached to the base portion.
Testing operational characteristics of a remote control device (32) associated with a materials handling vehicle can include waiting for receipt of a first input indicative that a first button of the remote control device (32) has been pressed, wherein the first button comprises a travel button (197A) of the remote control device (32). The testing may further comprise waiting for receipt, subsequent to receiving the first input, of a second input indicative that at least a second button (197B-C) of the remote control device (32) has been pressed, wherein the second button (197B-C) relates to a first auxiliary vehicle function. The testing still further comprises determining whether or not a predetermined button pressing sequence is successful based at least in part on receiving or not receiving the first and second inputs; and optionally driving a display on the vehicle to provide a visual indication that the button pressing sequence is successful or not successful based on the determination.
A materials handling vehicle receives a wirelessly communicated performance tuning profile, and responsive thereto, adjusts at least one operating capability. The performance tuning profile can be updated dynamically as the materials handling vehicle is operated in a work environment based upon a number of different factors including operational, operator, environmental, other, or combinations thereof. Additional aspects provide a graphical user interface that allows an individual such as a supervisor to create a library of performance tuning profiles, and create and/or program a rules engine to automatically convey an appropriate performance tuning profile to a corresponding materials handling vehicle responsive to detecting a corresponding event associated with a programmed rule.
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
G06Q 10/06 - Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
17.
ON-BOARD CHARGING STATION FOR A REMOTE CONTROL DEVICE
A system is provided comprising: a materials handling vehicle; a wearable remote control device (1032) comprising: a wireless communication system including a wireless transmitter; and a rechargeable power source; a receiver at the vehicle for receiving transmissions from the wireless transmitter; a controller at the vehicle that is communicably coupled to the receiver, the controller being responsive to receipt of the transmissions from the remote control device (1032); and a charging station (1050) at the vehicle. The charging station (1050) may charge the rechargeable power source of the wearable remote control device (1032). The charging station may comprise a visual indicator (1060, 1070).
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
18.
INDUSTRIAL VEHICLE DISTANCE AND RANGE MEASUREMENT DEVICE CALIBRATION
Processes and systems for calibrating a distance and range measurement device coupled to an industrial vehicle are disclosed. The calibration requires no physical movement of the distance and range measurement device. Instead, actual measurements from the device are used with nominal detection zones and nominal measurements to create modified detection zones to detect objects within the modified detection zones.
A materials handling vehicle including a vehicle-side charging contact assembly coupled to a battery, a steerable drive wheel defining a drive wheel track width W, and a pair of load wheels defining a load wheel gap G between the pair of load wheels that is larger than the drive wheel track width W. A charging station includes a pair of floor-side charging contacts configured to transfer charging current to the vehicle-side charging contact assembly. The pair of floor-side charging contacts define an inner contact spacing S1 that is larger than the drive wheel track width W, and an outer contact spacing S2 that is larger than the inner contact spacing S1 and smaller than the load wheel gap G to permit passage of the steerable drive wheel between the floor-side charging contacts, followed by passage of the pair of load wheels outside of the floor-side charging contacts.
A materials handling vehicle technology monitor receives wirelessly, from a fleet of materials handling vehicles, electronic vehicle records. Each electronic vehicle record includes technology feature data recorded by a controller on an associated materials handling vehicle. Typically, the electronic vehicle record is generated in response to a corresponding technology feature on the materials handling vehicle being operated in a work environment. Moreover, each electronic vehicle record includes an operator identification of an operator of the materials handling vehicle at the time the technology feature data is recorded. The monitor also generates for each operator, an electronic measurement based upon a comparison of expected technology feature usage, e.g., a threshold, compared to the technology feature data in the received electronic vehicle records, which are associated with the corresponding operator. The process further comprises outputting to a dashboard, a graphical representation of the generated measurements.
A materials handling vehicle (10) is provided having: a power unit (12) comprising at least one wheel (22); a mast assembly (26) coupled to the power unit comprising at least one mast weldment (330A, 330B, 330C); and a platform assembly (14). The platform assembly comprising: a floorboard (40) upon which an operator may stand; a support wall connected to the floorboard and positioned adjacent to the mast assembly, the floorboard and the support wall defining an operator compartment of the platform assembly; at least one operator control assembly positioned to allow for operation by an operator located within the operator compartment; and a non¬ horizontal viewing window (406) provided in the support wall.
An operator control system (60) is provided for a materials handling vehicle, the materials handling vehicle including an operator station (42) having a support structure (54). The operator control system includes an operator control assembly (62, 64) having a housing (66, 130) mounted to or integral with the support structure, and at least one control element (142) for controlling a function of the vehicle. The control element is mounted within a recess (140) of the housing. A grip member (150) extends over the recess. Also disclosed is an arrangement with two control assemblies, including a steering control (84), whose orientations can be altered with respect to the housing.
A process for calibrating a distance and range measurement device (440,540) coupled to an industrial vehicle (442,542) comprises taking a first measurement of an emission from the device at a first yaw angle relative to a roll axis of the device. A second measurement of the emission at a second yaw angle relative to the roll axis is taken. The second yaw angle is within an angular tolerance of the first yaw angle but in an opposite direction. The device is calibrated relative to the roll axis when the first and second measurements are within a tolerance of each other. A third measurement of the distance and range measurement device beam emitted from the distance and range measurement device at a pitch angle is taken. If the third measurement and a virtual emission length are within a tolerance, then the device (440,540) is calibrated with respect to the pitch axis.
Operating a materials handling vehicle includes monitoring, by a controller, a first vehicle drive parameter during a first manual operation of the vehicle by an operator; monitoring, by the controller, the first vehicle drive parameter during a second manual operation of the vehicle by the operator; receiving, by the controller after the first manual operation of the vehicle and the second manual operation of the vehicle, a request to implement a semi-automated driving operation; calculating, by the controller, a first weighted average based on the monitored first vehicle drive parameter during the first manual operation of the vehicle and the monitored first vehicle parameter during the second manual operation of the vehicle; and based at least in part on the calculated first weighted average, controlling, by the controller, implementation of the semi-automated driving operation.
G05D 1/227 - Handing over between remote control and on-board control; Handing over between remote control arrangements
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
25.
BASED ON DETECTED START OF PICKING OPERATION, RESETTING STORED DATA RELATED TO MONITORED DRIVE PARAMETER
A method for operating a materials handling vehicle is provided and comprises: monitoring, by a controller, a first vehicle drive parameter during a manual operation of the vehicle by an operator; storing, by the controller, data related to the monitored first vehicle drive parameter. The controller is configured to use the stored data for implementing a semi- automated driving operation of the vehicle subsequent to the manual operation of the vehicle. The method further comprises: detecting, by the controller, operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and based on detecting the start of the pick operation, resetting, by the controller, the stored data related to the monitored first vehicle drive parameter.
SYSTEM COMPRISING A MULTILEVEL WAREHOUSE RACKING SYSTEM COMPRISING TOTE TRANSFER ZONES, MATERIALS HANDLING VEHICLES, AND TRANSPORTERS, AND METHODS OF USE THEREOF
Goods storage and retrieval systems and materials handling vehicles are provided. The goods storage and retrieval system includes a multilevel warehouse racking system; a materials handling vehicle comprising a mast assembly, a picking attachment, and vehicle-based cart engagement hardware; a mobile storage cart; and a transporter comprising transporter-based engagement hardware. The transporter-based engagement hardware enables the transporter to engage, transport, and disengage the mobile storage cart. The vehicle-based cart engagement hardware is coupled to the mast assembly to (i) engage and disengage the mobile storage cart and (ii) transport the mobile storage cart to multiple levels of the multilevel warehouse racking system. The mast assembly and the picking attachment are configured to access multiple levels of the multilevel warehouse racking system. The picking attachment is configured to transfer totes between the multilevel warehouse racking system and the mobile storage cart.
Goods storage and retrieval systems and materials handling vehicles are provided. The goods storage and retrieval system (100) includes a multilevel warehouse racking system (200); a materials handling vehicle (300) comprising a mast assembly (302), a picking attachment (320), and vehicle-based cart engagement hardware (340); a mobile storage cart (400); and a transporter (500) comprising transporter-based engagement hardware (540). The transporter- based engagement hardware enables the transporter to engage, transport, and disengage the mobile storage cart. The vehicle-based cart engagement hardware is coupled to the mast assembly to (i) engage and disengage the mobile storage cart and (ii) transport the mobile storage cart to multiple levels of the multilevel warehouse racking system. The mast assembly and the picking attachment are configured to access multiple levels of the multilevel warehouse racking system. The picking attachment is configured to transfer totes (213, 214) between the multilevel warehouse racking system and the mobile storage cart.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B66F 9/12 - Platforms; Forks; Other load-supporting or load-gripping members
B66F 9/14 - Platforms; Forks; Other load-supporting or load-gripping members laterally movable, e.g. swingable, for slewing or transverse movements
A method is provided for controlling a light source device (200) associated with a materials handling vehicle (10), wherein the materials handling vehicle includes one or more sensing devices (40), comprising: sensing via the one or more sensing devices a first distance (D2) from a left side of the vehicle to a first boundary object and a second distance (Dl) from a right side of the vehicle to a second boundary object; controlling the light source device to designate a first area to the left side of the vehicle as either a limited operation area or a non-limited operation area and to designate a second area to the right side of the vehicle as either a limited operation area or a non-limited operation area.
A materials handling vehicle includes: a power unit including: a steered wheel, and a steering device for generating a steer control signal; a load handling assembly coupled to the power unit; a controller located on the power unit for receiving the steer control signal; and a sensing device on the power unit and coupled to the controller. The sensing device monitoring areas in front of and next to the vehicle. Based on sensing device data, the controller may modify at least one of the following vehicle parameters: a maximum allowable turning angle or a steered- wheel-to-steering-device ratio.
30.
POSITION ASSISTANCE SYSTEM FOR A MATERIALS HANDLING VEHICLE
A materials handling vehicle includes a power unit, a load handling assembly and a positioning assistance system that provides assistance to an operator that is driving the vehicle. The assistance provided by the positioning assistance system includes at least one of an audible, tactile, or visual cue to indicate at least one of: a distance from the vehicle to a boundary object; or a heading of the vehicle with respect to the boundary object.
A materials handling vehicle includes: a power unit including: a steered wheel, and a steering device for generating a steer control signal; a load handling assembly coupled to the power unit; a controller located on the power unit for receiving the steer control signal; and a sensing device on the power unit and coupled to the controller. The sensing device monitoring areas in front of and next to the vehicle. Based on sensing device data, the controller may modify at least one of the following vehicle parameters: a maximum allowable turning angle or a steered-wheel-to-steering-device ratio.
A process for automating control of an industrial vehicle (802) based on location comprises scanning an environment in a travel direction of the industrial vehicle, by using an optical scanner (808) affixed to the industrial vehicle. A marker defined by a series of tags (810a - 810d) is identified by recursively receiving a reflection of the optical scanner; determining if the reflection is indicative of an optical tag; and concatenating the indication of an optical tag to the marker. Once the marker is identified, the marker is transformed into an environmental condition and a status of the vehicle is determined, where the status correlates to the environmental condition. Further, an automated control is applied on the industrial vehicle based on the environmental condition and the status of the industrial vehicle. There may be a start tag (810a) and an end tag (810d). Where a rack (812) reflects light at a signal value that is different than a signal value from a floor surface, the rack (812) itself can act as a pseudo start tag. An environmental condition may be certain traffic rules for different sections of an industrial environment. Where the optical scanner (808) and laser beam are fixed in an orientation, the process can estimate when and where optical tags will be scanned based on speed of the industrial vehicle as well as the height and distance of the optical tags in relation to the optical scanner (808) and laser beam.
The invention relates to an electrically operated steering system for a vehicle with a rack for attaching the steering system to a vehicle frame of the vehicle, two steerable wheels that are pivotably attached to the rack, a rod element arranged on the rack, which is slidable in its longitudinal direction in relation to the rack, a kinematic unit which is coupled to the rod element and which transforms a movement of the rod element into a steering rotation of the wheels, an electric machine, which is mechanically connected to the rod element for effecting the movement of the rod element, and a lateral force absorbing mechanism which is configured for absorbing a lateral force produced by the kinematic unit in relation to the rod element. The invention further relates to a vehicle comprising such a steering system.
A method for operating a materials handling vehicle (10) is provided comprising: monitoring, by a controller (103), a first vehicle drive parameter corresponding to a first direction of travel of the vehicle during a first manual operation of the vehicle by an operator and concurrently monitoring, by the controller, a second vehicle drive parameter corresponding to a second direction different from the first direction of travel during the first manual operation of the vehicle by an operator. The controller receives, after the first manual operation of the vehicle, a request to implement a first semi-automated driving operation. Based on the first and second monitored vehicle drive parameters during the first manual operation, the controller controls implementation of the first semi-automated driving operation.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
35.
MATERIALS HANDLING VEHICLE HAVING TILTING FORK CARRIAGE ASSEMBLY WITH TELESCOPIC FORKS
A materials handling vehicle (10) including a load handling assembly (40) having a mast assembly (28), and a fork carriage assembly (60) including a fork support (64) and at least one fork assembly (160, 162), the at least one fork assembly including a first fork member (160A, 162A), which is fixed to the fork support, and a second fork member (160B, 162B). The vehicle includes a tilt assembly (90) that tilts the fork support relative to the mast assembly such that a central axis of the at least one fork assembly is positionable in a plurality of different positions relative to a horizontal direction. The vehicle includes a fork extension/retraction assembly (106a, 106b) that moves the second fork member relative to the first fork member in a first direction that is parallel to the central axis such that the fork extension/retraction assembly selectively moves the second fork member toward or away from the fork support in the first direction.
An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights, isolated ceiling lights, and/or active optical targets. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, valid active target identification, or combinations thereof.
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D 1/244;using signals from positioning sensors located off-board the vehicle G05D 1/249)
A vehicle-initiated cadenced operator interaction system introduces an operational concept to a vehicle operator via a machine-initiated interaction. Thereafter, interaction is initiated by the industrial vehicle according to a cadence that provides a gap between interactions so that the operator can demonstrate the behavior associated with the introduced concept. The vehicle controller actively analyzes industrial vehicle data associated with the content of the interaction(s), and evaluates the data against pre-defined operational criteria to determine whether the operator is demonstrating the appropriate skill/behavior associated with the interaction(s). Responsive to the operator's demonstrated ability, the system can modify operation of the vehicle to tune the industrial vehicle to the operator. The system can also extend to the operating environment, by interacting with electronic devices, vehicles, machines, etc., in the operating environment to tune the environment to the operator.
G07C 5/08 - Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle, or waiting time
A materials handling vehicle includes a mast, a load handling structure supported on the mast, one or more operator controls, and a lifting structure having a chain structure for performing a lifting and lowering of the load handling structure. The materials handling vehicle further includes a height sensor for generating a height signal corresponding to vertical movement of the load handling structure relative to the mast, and a vehicle control module for processing the height signal received from the height sensor and an operator control signal received from the one or more operator controls. The vehicle control module evaluates the height signal and the operator control signal and disables one or more vehicle functions if the height signal does not correspond to the operator control signal.
Methods and systems for a materials handling vehicle comprising a processor and a sensor to record warehouse features. The processor is configured to generate and extract features from sensor data, create a factor graph (FG) including a sensor extrinsics node (e0), and generate an initial vehicle node (v0), initial sensor frame node (c0), and initial sensor feature node (f0) that comprises a selected extracted feature associated with c0 and v0 in an initial data association. A subsequent vehicle node (v1) is generated based on an accumulated odometry amount, and a subsequent sensor frame node (c1) is generated and associated with e0, v1, and one of f0 or a subsequent sensor feature node (f1) in a subsequent data association. The FG is optimized to provide a sensor calibration output based on the data associations, and the vehicle is navigated based on the sensor calibration output.
A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion in the aisle. The processor uses the identifier to generate information indicative of an initial rack leg position and rack leg spacing in the aisle, generate an initial vehicle position using the initial rack leg position, generate a vehicle odometry-based position using odometry data and the initial vehicle position, detect a subsequent rack leg using a captured image, correlate the detected subsequent rack leg with an expected vehicle position using rack leg spacing, generate an odometry error signal based on a difference between the positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
41.
SYSTEMS AND METHODS FOR END OF AISLE PROTECTION AND VEHICLE POSITION CALIBRATION USING RACK LEG IDENTIFICATION
A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion in the aisle. The processor uses the identifier to generate information indicative of an initial rack leg position and rack leg spacing in the aisle, generate an initial vehicle position using the initial rack leg position, generate a vehicle odometry-based position using odometry data and the initial vehicle position, detect a subsequent rack leg using a captured image, correlate the detected subsequent rack leg with an expected vehicle position using rack leg spacing, generate an odometry error signal based on a difference between the positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D 1/244;using signals from positioning sensors located off-board the vehicle G05D 1/249)
G05D 1/244 - using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion in the aisle. The processor uses the identifier to generate information indicative of an initial rack leg position and rack leg spacing in the aisle, generate an initial vehicle position using the initial rack leg position, generate a vehicle odometry-based position using odometry data and the initial vehicle position, detect a subsequent rack leg using a captured image, correlate the detected subsequent rack leg with an expected vehicle position using rack leg spacing, generate an odometry error signal based on a difference between the positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.
A system includes a remote control device that is useable by an operator interacting with a materials handling vehicle. The remote control device includes a wireless communication system including a wireless transmitter and a rechargeable power source. The system further comprises: a receiver at the vehicle for receiving transmissions from the wireless transmitter; a controller at the vehicle that is communicably coupled to the receiver, the controller being responsive to receipt of transmissions from the remote control device; and a charging station at the vehicle, the charging station for charging the rechargeable power source of the remote control device.
A system includes a remote control device that is useable by an operator interacting with a materials handling vehicle. The remote control device includes a wireless communication system including a wireless transmitter and a rechargeable power source. The system further comprises: a receiver at the vehicle for receiving transmissions from the wireless transmitter; a controller at the vehicle that is communicably coupled to the receiver, the controller being responsive to receipt of transmissions from the remote control device; and a charging station at the vehicle, the charging station for charging the rechargeable power source of the remote control device.
A remote control device that is paired with a first vehicle, such that the remote control device wirelessly communicates with the first vehicle, is paired with a second vehicle via a pairing process. The pairing process is initiated by physically contacting a component of the remote control device with an element of the second vehicle. The pairing process also unpairs the remote control device from the first vehicle, such that the remote control device no longer wirelessly communicates with the first vehicle, and the remote control device wirelessly communicates with the second vehicle.
A load wheel assembly (40, 60) is provided with: a frame member (46, 66); a side plate (42, 62) coupled to the frame member (46, 66); an axle (50, 70) extending between the frame member and the side plate; and a keeper (52, 72) coupled by a fastener (54, 74) to the frame member (46, 66) or the side plate (42, 62). The keeper is coupled to one end of the axle to prevent rotational and axial movement of the axle relative to the frame member and the side plate.
Controlling a maximum vehicle speed for an industrial vehicle (10) includes determining, by a processor (216) of the industrial vehicle, a torque applied to the traction wheel (20) of the industrial vehicle; converting the torque to an equivalent force value; and determining an acceleration of the industrial vehicle while the torque is applied to the traction wheel. Additional steps include calculating a load being moved by the industrial vehicle, based at least in part on the acceleration and the equivalent force value; and controlling the maximum speed of the industrial vehicle based on the calculated load being moved by the industrial vehicle.
B60L 3/08 - Means for preventing excessive speed of the vehicle
B60P 1/02 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with parallel up-and-down movement of load supporting or containing element
B66F 17/00 - Safety devices, e.g. for limiting or indicating lifting force
G01G 19/08 - Weighing apparatus or methods adapted for special purposes not provided for in groups for incorporation in vehicles
48.
SYSTEMS AND METHODS FOR WAREHOUSE ENVIRONMENT SPEED ZONE MANAGEMENT
Systems and methods for a materials handling vehicle (100) configured to navigate along a warehouse environment (150) inventory transit surface, the vehicle including control architecture in communication with a drive mechanism (128), a materials handling mechanism (20), a speed zone sensing subsystem (106) configured to provide an indication of whether the vehicle is in a speed zone, and a speed control processor (104) configured to prompt the operator to reduce a vehicle speed of the vehicle to under a speed zone limit when the vehicle speed is approaching or in the speed zone, determine whether the vehicle speed is under the speed zone limit in the speed zone, and apply a speed cap to limit a maximum vehicle speed of the vehicle to a magnitude that is at or below the speed zone limit when the speed control processor has determined that the vehicle speed is under the speed zone limit in the speed zone. Other embodiments relate to application of other operation caps such as vehicle acceleration limit, lift height limit, lift speed limit and lift acceleration limit.
B60K 31/18 - Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operat including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A materials handling vehicle includes a camera, an odometry module to generate odometry data, a processor, and a drive mechanism. The camera captures images of an identifier for a racking system aisle and at least a rack leg portion positioned in the aisle. The processor uses the identifier to generate information indicative of an initial rack leg position and rack leg spacing in the aisle, generate an initial vehicle position using the initial rack leg position, generate a vehicle odometry-based position in the aisle using odometry data and the initial vehicle position, detect a subsequent rack leg using a captured image, correlate the detected subsequent rack leg with an expected vehicle position using rack leg spacing, generate an odometry error signal based on a difference between the expected vehicle position and the vehicle odometry-based position, and update the vehicle odometry-based position using the odometry error signal.
A wheel assembly including a sensor for measuring wheel movement is provided comprising: a frame member; an axle fixed to the frame member; a wheel rotatably mounted to the axle and comprising a wheel recess; a code ring located within the wheel recess for rotation with the wheel; and a sensor device coupled to the frame member and located adjacent to the code ring. The sensor device senses movement of the code ring and generates an output signal indicative of the wheel movement. A materials handling vehicle comprising the wheel assembly is also provided.
G01P 3/487 - Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
A materials handling vehicle is provided comprising a pair of forks to be inserted in a longitudinal direction of the forks into a pallet having one or more stringers. A pallet clamp device is provided including first and second operating devices, one mounted in each fork for actuating respective punch members into engagement with an adjacent surface on the pallet. Each operating device comprises a module located within a cavity in one of the forks, the module including an actuator, one of the respective punch members, and a linkage structure connecting the actuator and the respective punch member.
Vehicles, systems, and methods for navigating or tracking the navigation of a materials handling vehicle along a surface that may include a camera and vehicle functions to match two-dimensional image information from camera data associated with the input image of overhead features with a plurality of global target locations of a warehouse map to generate a plurality of candidate optical targets, an optical target associated with each global target location and a code; filter the targets to determine a candidate optical target; decode the target to identify the associated code; identify an optical target associated with the identified code; determine a camera metric relative to the identified optical target and the position and orientation of the identified optical target in the warehouse map; calculate a vehicle pose based on the camera metric; and navigate the materials handling vehicle utilizing the vehicle pose.
A materials handling vehicle operating system is provided comprising a tag layout where a plurality of entry/exit tag sets are arranged along a travel path at different ones of the entry/exit thresholds of a restricted navigation zone. Each entry/exit tag set comprises a release tag, a restriction tag, and an indicator tag. The indicator tag is positioned between the restriction tag and the restricted navigation zone. The restriction tag is positioned between the release tag and the indicator tag. The tag reader and the reader module cooperate to compare identified tag data with stored tag data and initiate a remediation operation when an indicator tag is identified in place of a restriction tag. Tag layouts for one-way and two-way travel into and out of a restricted navigation zone are also contemplated.
A layover bracket system is disclosed for supporting an industrial vehicle (10) in a horizontal position. The layover bracket system includes a layover bracket (104) removably coupled to a proximal end portion of the industrial vehicle, the layover bracket including at least one wheel (206) for moving the layover bracket system with the industrial vehicle supported thereon while the industrial vehicle is in the horizontal position. The layover bracket supports the proximal end portion of the industrial vehicle when the industrial vehicle is in a horizontal position and allows the layover bracket system and industrial vehicle to roll on the at least one wheel of the layover bracket. The layover bracket system may also include a support bracket (102) with at least one wheel (106) for supporting a distal end of the industrial vehicle while the vehicle is in the horizontal position.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
55.
TRAFFIC MANAGEMENT FOR MATERIALS HANDLING VEHICLES IN A WAREHOUSE ENVIRONMENT
Systems and methods for a materials handling vehicle to navigate a vehicle transit surface in a warehouse environment including a navigation subsystem configured to cooperate with a traction control unit, a braking system, a steering assembly, and an obstacle detection subsystem to: determine whether the materials handling vehicle is approaching, or has arrived at, a potentially contested intersection; associate with the intersection pre-positioned warehouse object data, a set of road rules, and obstacle data; and navigate the materials handling vehicle through the intersection utilizing warehouse navigation maneuvers in combination with the associated set of road rules, obstacle avoidance maneuvers, or both, the warehouse navigation maneuvers accounting for the associated pre- positioned warehouse object data and the obstacle avoidance maneuvers accounting for the obstacle data derived from the obstacle detection subsystem.
Warehouse mapping tools according to the present disclosure comprise a mobile mapping interface and a mobile computing device in communication with the mobile mapping interface. The mobile computing device can be configured to access waypoint data comprising location coordinates of a set of mapping waypoints, present graphical representations of the set of mapping waypoints at discrete locations in a representation of a warehouse environment, access mobile mapping data representing an elapsed travel path, access error metric data, present a graphical representation of the error metric data, and indicate a validation state of the elapsed travel path segment. In other embodiments, a warehouse mapping tool comprises a remote computer that is configured to communicate with a mapping vehicle and that can be used to facilitate navigation, localization, or odometry correction with respect to an industrial vehicle in the warehouse. In still other embodiments, mapping vehicles comprising warehouse mapping tools are provided.
Method and system for controlling a traction motor (264) of a materials handling vehicle (10), that includes receiving steering command signals (278); generating an output value proportional to a rate of change of the steering command signals (320); determining whether the output value is greater than or equal to a predetermined threshold (324); determining a raw target steering angle value for controlling the traction motor of the materials handling vehicle; and calculating the current target steering angle value (330) based on:whether the output value is greater than or equal to a predetermined threshold (324), and whether the raw target position value is less than or equal to a previously calculated target steering angle value (322), calculating a traction setpoint based on the target steering angle value and controlling the traction motor based on the traction setpoint.
B60L 15/20 - Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
B60W 10/08 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
An armrest includes an upper support section having one or more ventilation and drainage apertures (76) that couple an upper surface of the upper support section to a lower portion of the armrest to facilitate airflow and drainage between the upper surface of the upper support section and the lower portion of the armrest. The armrest also includes one or more control implements and an arm pad removably coupled to the upper support section. The arm pad includes one or more pad apertures (75) formed therein that communicate with the ventilation and drainage apertures to allow ventilation and drainage between an upper surface of the arm pad and the lower portion of the armrest.
A method for adjusting the position of a steered wheel of a vehicle includes detecting a steering position value of a steering control device of a vehicle such that the steering position value corresponds to an angular position of the steering control device; calculating a traction speed breakpoint at or above which steering desensitization may occur; and defining a maximum commencement steer angle at or below which steering desensitization may commence. The method also includes determining if the angular position of the steering control device or an angular position of the steered wheel is equal to or less than the maximum commencement steer angle; detecting a traction speed of one of a traction motor or a traction wheel of the vehicle; determining if the traction speed is equal to or above the traction speed breakpoint; and calculating, by the processor, a steering desensitization value when the angular position of one of the steering control device or the steered wheel is equal to or less than the maximum commencement steer angle and the traction speed is equal to or above the traction speed breakpoint.
A processing device comprising a graphical user interface in an industrial vehicle is provided. The processing device comprises a touch screen display that receives touch gesture commands from a vehicle operator, memory storing executable instructions, and a processor in communication with the memory. The processor when executing the executable instructions: defines a plurality of widgets, wherein each widget comprises a visual representation of a current state of an associated function of the vehicle, displays a subset of the plurality of widgets on a portion of the touch screen display defining a plurality of widget spaces, and displays an icon tray on the touch screen display comprising one or more icons, in which at least one of the one or more icons corresponds to a respective one of the plurality of widgets.
A processing device comprising a graphical user interface in an industrial vehicle is provided. The processing device comprises a touch screen display that receives touch gesture commands from a vehicle operator, memory storing executable instructions, and a processor in communication with the memory. The processor when executing the executable instructions: defines a plurality of widgets, wherein each widget comprises a visual representation of a current state of an associated function of the vehicle, displays a subset of the plurality of widgets on a portion of the touch screen display defining a plurality of widget spaces, and displays an icon tray on the touch screen display comprising one or more icons, in which at least one of the one or more icons corresponds to a respective one of the plurality of widgets.
A processing device comprising a graphical user interface in an industrial vehicle is provided. The processing device comprises a touch screen display that receives touch gesture commands from a vehicle operator, memory storing executable instructions, and a processor in communication with the memory. The processor when executing the executable instructions: defines a plurality of widgets, wherein each widget comprises a visual representation of a current state of an associated function of the vehicle, displays a subset of the plurality of widgets on a portion of the touch screen display defining a plurality of widget spaces, and displays an icon tray on the touch screen display comprising one or more icons, in which at least one of the one or more icons corresponds to a respective one of the plurality of widgets.
A display and processing device is provided for an industrial vehicle. The processing device comprises: a screen display; memory storing executable instructions; and a processor in communication with the memory, wherein the processor is configured to: define one or more widgets, each widget comprising a visual representation of a current state of an associated function of the industrial vehicle; and control display of a rack height select (RHS) widget on a portion of the screen display defining one or more widget spaces, wherein the RHS widget comprises a portion that changes state upon a related vehicle function being completed, when executing the executable instructions.
An electronic badge comprises a housing having a form factor of a mobile device, a processor, and memory coupled to the processor and including an observation and feedback application. Further, the electronic badge comprises a first transceiver that communicates on a first personal-area network, a second transceiver that communicates on a second personal-area network, and a third transceiver that communicates on a local area network. An information feedback device is controlled by the processor to activate to provide information to the user that feedback has been either given or received, wherein the information feedback device is operated by the processor in response to the processor executing the observation and feedback application, and in response to the processor interacting with at least one of the first transceiver, the second transceiver, and the third transceiver.
G06K 19/07 - Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards with integrated circuit chips
G06Q 10/063 - Operations research, analysis or management
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
G06K 19/077 - Constructional details, e.g. mounting of circuits in the carrier
H04W 88/06 - Terminal devices adapted for operation in multiple networks, e.g. multi-mode terminals
H04L 67/125 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
65.
MATERIALS HANDLING VEHICLE PATH VALIDATION AND DYNAMIC PATH MODIFICATION
A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.
A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.
A computer-implemented process of tracking events, is carried out by detecting that a first badge is within a personal-area network wireless communication range of a second badge, thus designating an encounter, and performing, by processor executing instructions read out from memory, an event logging transaction responsive to the encounter. The event logging transaction is performed by receiving, from the first badge, an electronic message characterizing an observation made by the user of the first badge relative to a user of the second badge, converting the electronic message received from the first badge into a pinpoint response, and generating an event record comprising an identification of an event type, and the pinpoint response.
H04W 4/30 - Services specially adapted for particular environments, situations or purposes
H04W 4/02 - Services making use of location information
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
G06Q 10/063 - Operations research, analysis or management
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
H04W 4/029 - Location-based management or tracking services
G06K 19/07 - Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards with integrated circuit chips
A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.
G05D 1/242 - Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D 1/244;using signals provided by artificial sources external to the vehicle G05D 1/247)
B60W 30/095 - Predicting travel path or likelihood of collision
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
A materials handling vehicle comprises an operator compartment, a compartment tower, a multi-field scanning tool, and mechanisms that facilitate movement along a travel plane in a warehouse. The tool establishes a scan field, and, within scan field bounds, an occupancy detection field and an obstacle detection field. Tool scanning hardware is configured to generate the scan field from a point of origin that is elevated relative to the operator compartment and to expand the scan field such that it intersects the operator compartment and extends laterally beyond lateral edges of the operator compartment such that the occupancy detection field falls within the operator compartment, the obstacle detection field falls outside of the operator compartment, and the multi-field scanning tool is configured to indicate the presence of an occupant in the occupancy detection field and obstacles in the obstacle detection field.
A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.
G05D 1/228 - Command input arrangements located on-board unmanned vehicles
G05D 1/242 - Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D 1/244;using signals provided by artificial sources external to the vehicle G05D 1/247)
G05D 1/246 - using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/622 - Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W 30/08)
G05D 1/639 - Resolving or avoiding being stuck or obstructed
G05D 1/672 - Positioning of towed, pushed or suspended implements, e.g. ploughs
A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.
G05D 1/242 - Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D 1/244;using signals provided by artificial sources external to the vehicle G05D 1/247)
G05D 1/617 - Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D 1/693;arrangements for reacting to or preventing system or operator failure G05D 1/80)
G05D 1/622 - Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W 30/08)
G05D 1/693 - for avoiding collisions between vehicles
A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.
A materials handling vehicle comprising a path validation tool and a drive unit, steering unit, localization module, and navigation module that cooperate to navigate the vehicle along a warehouse travel path. The tool comprises warehouse layout data, a proposed travel path, vehicle kinematics, and a dynamic vehicle boundary that approximates the vehicle physical periphery. The tool executes path validation logic to determine vehicle pose along the proposed travel path, update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle, determine whether the dynamic vehicle boundary is likely to intersect obstacles represented in the layout data based on the determined vehicle pose at candidate positions along the proposed travel path, determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boi ndary and obstacle data, and modify the proposed travel path to mitigate the degree of potential impingement.
A materials handling vehicle comprises an operator compaitment, a compartment tower, a multi- field scanning tool, and mechanisms that facilitate movement along a travel plane in a warehouse. The tool establishes a scan field, and, within scan field bounds, an occupancy detection field and an obstacle detection field. Tool scanning hardware is configured to generate the scan field from a point of origin that is elevated relative to the operator compailment and to expand the scan field such that it intersects the operator compaitment and extends laterally beyond lateral edges of the operator compailment such that the occupancy detection field falls within the operator compaitment, the obstacle detection field falls outside of the operator compaitment, and the multi-field scanning tool is configured to indicate the presence of an occupant in the occupancy detection field and obstacles in the obstacle detection field.
B60Q 11/00 - Arrangement of monitoring devices for devices provided for in groups
B60K 35/00 - Arrangement or adaptations of instruments
B60P 1/00 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
B60W 40/00 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
75.
ELECTRONIC BADGE TO AUTHENTICATE AND TRACK INDUSTRIAL VEHICLE OPERATOR
A system for controlling an industrial vehicle (102) comprises an information linking device (202), a badge communicator (224), an operator badge (126), and a controller (206). The controller controls the vehicle operating state by identifying that an operator possessing the operator badge has approached the vehicle, communicating with a server (112) via the information linking device to authenticate the operator as authorized to operate the industrial vehicle, and pairing the operator badge with the industrial vehicle upon determining that the operator is authorized to operate the industrial vehicle. Moreover, the controllerturns on the industrial vehicle when the badge communicator detects the badge on the vehicle, placing the industrial vehicle in a standby mode when the badge communicator detects the badge in proximity to, but not on, the vehicle; and placing the vehicle in a stop mode when the badge communicator no longer detects the badge in proximity to the vehicle.
A process uses electronic badges to convey a condition associated with an environment to an industrial vehicle. The process comprises identifying a condition in a limited, defined environment and associating the identified condition with a badge ID. The process also comprises programming an electronic badge based upon the identified condition and positioning the electronic badge within a work area of industrial vehicles. Still further, the process comprises receiving, by a processor on an industrial vehicle, information from the electronic badge including at least one of the associated badge ID and the identified condition. The information is received via a badge communicator that communicates with electronic badges that are within a predetermined range of the industrial vehicle via a first wireless communication link. The process also determines the condition from the information from the electronic badge, and controls the industrial vehicle to take a predetermined action based upon the determined condition.
H04W 4/44 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
H04W 4/02 - Services making use of location information
G06Q 10/06 - Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
H04W 4/029 - Location-based management or tracking services
H04W 4/30 - Services specially adapted for particular environments, situations or purposes
H04W 4/38 - Services specially adapted for particular environments, situations or purposes for collecting sensor information
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
G07C 9/38 - Individual registration on entry or exit not involving the use of a pass with central registration
G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
G06Q 10/0631 - Resource planning, allocation, distributing or scheduling for enterprises or organisations
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B66F 17/00 - Safety devices, e.g. for limiting or indicating lifting force
G01C 21/36 - Input/output arrangements for on-board computers
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
G06K 19/07 - Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards with integrated circuit chips
G06K 19/077 - Constructional details, e.g. mounting of circuits in the carrier
G07C 5/00 - Registering or indicating the working of vehicles
G08B 3/10 - Audible signalling systems; Audible personal calling systems using electromagnetic transmission
G08B 7/06 - Signalling systems according to more than one of groups ; Personal calling systems according to more than one of groups using electric transmission
G08G 1/01 - Detecting movement of traffic to be counted or controlled
Electronic badges are indirectly tracked by detecting, by a badge communicator on a select industrial vehicle of a fleet of industrial vehicles, the presence of an electronic badge and performing a badge logging transaction in response to detecting the electronic badge. The badge logging transaction includes receiving, by the badge communicator, a badge identifier transmitted by the detected electronic badge. The badge logging transaction also includes determining, by the badge communicator, an offset measurement of the electronic badge relative to the select industrial vehicle, electronically determining a vehicle location of the select industrial vehicle, and identifying a badge location based upon the determined vehicle location and the measured offset. The badge logging transaction can also include generating a time stamp, and wirelessly communicating a badge locator message to a remote server, the badge locator message including the badge identifier, the badge location, and the timestamp.
G07C 5/00 - Registering or indicating the working of vehicles
G07C 9/28 - Individual registration on entry or exit involving the use of a pass the pass enabling tracking or indicating presence
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
78.
USE OF ELECTRONIC BADGES IN AISLE PASSING MANEUVERS
An industrial vehicle passing maneuver is authorized by an automated process. The process comprises receiving, by a processor (112), a first message, a second message and a third message. The first message indicates a position of a first industrial vehicle (102) in a work environment. The second message indicates a position of an electronic badge (126) that is detected by the first industrial vehicle. The third message indicates a position of a second industrial vehicle (102) within the work environment. The processor determines that the second industrial vehicle intends to pass the first industrial vehicle, and determines an instruction comprising a select one of an instruction related to a passing maneuver or an instruction not to pass based upon the position of the first industrial vehicle, the position of the electronic badge, and the position of the second industrial vehicle. The instruction is communicated to the second industrial vehicle.
A variety of materials handling vehicle-based and warehouse-based solutions, such as a goods storage and retrieval system, comprising a cart, a cart home position, and a vehicle comprising a fork carriage assembly (FCA), a cart engagement subsystem (CES), and vehicular controller(s) to navigate the vehicle to a localized engagement position where the cart home position is within a cart engagement field of view, and use the CES to engage the cart in the cart home position with the FCA. The vehicle may comprise a hand-held drive unit comprising an operational command generator to send operational commands to the vehicular controller(s). The vehicle may comprise a picking attachment comprising an X-Y-Z-? positioner to move along a Z axis independent of movement of the FCA along a vertical axis. The FCA may comprise an anti-rock cart engagement mechanism configured to engage the cart.
A goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, and a materials handling vehicle. The materials handling vehicle comprises a cart engagement subsystem, a hand-held drive unit for remote control and a picking attachment comprising an X-Y-Z-.PSI. positioner. The vehicle comprises a fork carriage assembly with an anti-rock cart engagement mechanism configured to engage the cart.
A goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, and a materials handling vehicle. The materials handling vehicle comprises a cart engagement subsystem, a hand-held drive unit for remote control and a picking attachment comprising an X-Y-Z-.PSI. positioner. The vehicle comprises a fork carriage assembly with an anti-rock cart engagement mechanism configured to engage the cart.
A goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, and a materials handling vehicle. The materials handling vehicle comprises a cart engagement subsystem, a hand-held drive unit for remote control and a picking attachment comprising an X-Y-Z-L4) positioner. The vehicle comprises a fork carriage assembly with an anti-rock cart engagement mechanism configured to engage the cart.
A cart transportation assembly includes a frame including at least one upright and a top rail supported by the upright(s). The top rail includes a main body portion, an actuation rod, and at least one cart latch coupled to the actuation rod. The actuation rod is movable relative to the main body portion to transition the cart latch(es) between release and restrain positons. A platform provides structural support for the frame and includes a deck for supporting at least one cart. The cart latch(es), when in the release position, is/are adapted to allow movement of the at least one cart on the deck of the platform. The cart latch(es), when in the restrain position, is/are adapted to restrain movement of the at least one cart on the deck of the platform by pulling the at least one cart towards and against or in close proximity to the frame.
B62B 3/06 - Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Load handling equipment for simply clearing the load from the ground, e.g. low-lift trucks
B62B 3/10 - Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by supports specially adapted to objects of definite shape
An image of a physical environment is acquired that comprises a plurality of pixels, each pixel including a two-dimensional pixel location in the image plane and a depth value corresponding to a distance between a region of the physical environment and the image plane. For each pixel, the two dimensional pixel location and the depth value is converted into a corresponding three-dimensional point in the physical environment defined by three coordinate components, each of which has a value in physical units of measurement. A set of edge points is determined within the plurality of three-dimensional points based, at least in part, on the z coordinate component of the plurality of points and a distance map is generated comprising a matrix of cells. For each cell of the distance map, a distance value is assigned representing a distance between the cell and the closest edge point to that cell.
A mounting bar assembly mounted to a materials handling vehicle includes a mounting bar extending from a body portion of the materials handling vehicle, a housing mounted to the mounting bar and supporting at least one electronic device, and cabling that extends to the housing through a hollow interior portion defined within the mounting bar. The mounting bar assembly further includes cabling for providing communication between the at least one electronic device and control structure of the vehicle. The housing is mounted to the mounting bar such that the housing can be situated in a plurality of positions along at least a portion of the length of the mounting bar while the cabling is maintained within the hollow interior portion.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A plurality of control elements (90A-90D) extend from the base portion of a control module (26) in a materials handling vehicle. The control elements are located adjacent to one another, wherein at least one of the control elements includes mounting structure that permits the control element to be selectively mounted to the base portion in at least first and second positions. The first position defines a first distance (D1) between the control element and an immediately adjacent control element and the second position defines a second distance (D2) between the control element and the immediately adjacent control element, the second distance (D2) being greater than the first (D1).
A goods-to-man warehousing system comprises a multilevel racking system, a plurality of mobile storage units, a storage unit transporter, a pick-place vehicle, a mobile storage unit transfer node, and a warehouse management computing hub. The multilevel racking system comprises a vertically and horizontally distributed array of storage bays. One or more of the mobile storage units are positioned in respective ones of the storage bays of the multilevel racking system. The pick-place vehicle comprises pick-place hardware that enables the pick-place vehicle to transfer mobile storage units between a plurality of different, vertically displaced storage bays of the multilevel racking system and the mobile storage unit transfer node of the goods-to-man warehousing system. The storage unit transporter comprises storage unit engagement hardware that enables the storage unit transporter to transport mobile storage units to or from the mobile storage unit transfer node of the goods-to-man warehousing system.
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
88.
ORDER PICKER MATERIALS HANDLING VEHICLE WITH IMPROVED DOWNWARD VISIBILITY WHEN DRIVING ELEVATED
A materials handling vehicle including a mast assembly supported on a power unit. The mast assembly includes plural telescoping sections defined by pairs of laterally spaced rails. An operator compartment is supported on the mast assembly for vertical movement, and a dash is located forward of the operator compartment and includes a substantially horizontal support surface for packages. At least one control device is associated with the dash for operation by an operator standing on the operator compartment. A transparent window defines a portion of the horizontal support surface and provides the operator with a view of a floor surface when the operator compartment is in an elevated position such that the operator does not need to move his head outside the perimeter of the vehicle when looking down. When the mast assembly is in a collapsed position the mast assembly is no higher than the horizontal support surface.
A computer-executed process and system for evaluating and adjusting industrial vehicle performance comprises identifying kinematic functions of an industrial vehicle, receiving constraints of an environment in which the industrial vehicle operates, and computing a cutback curve for a parameter of a select kinematic function of the industrial vehicle. A kinematic model of the industrial vehicle is generated based on the kinematic functions, the constraints of the environment, and the cutback curves. A workflow model is defined by defining tasks of the industrial vehicle within the environment, wherein the tasks are based upon the kinematic model. The kinematic model and workflow model is used to simulate a job specification, and the results of the simulation are used to evaluate an industrial vehicle.
G06Q 10/0639 - Performance analysis of employees; Performance analysis of enterprise or organisation operations
B60L 58/10 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
G07C 5/08 - Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle, or waiting time
90.
DIAGNOSTIC SUPERVISOR TO DETERMINE IF A TRACTION SYSTEM IS IN A FAULT CONDITION
A steering application executing on a vehicle control module receives a steering control input to control a steered wheel of a vehicle. Based on the steering control input, the steering application determines a traction threshold value associated with a traction control attribute related to a traction wheel of the vehicle. A first diagnostic supervisor executing on the vehicle control module receives a measured value of the traction control attribute and the traction threshold value. When the measured value of the traction control attribute exceeds the traction threshold value, the first diagnostic supervisor repeatedly calculates a respective difference between the traction threshold value and the measured value of the traction control attribute to generate a set comprising a plurality of the respective differences. Based on the plurality of respective differences, the first diagnostic supervisor determines a first operating condition of a traction system of the vehicle.
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/02 - Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
A steering application executing on a vehicle control module receives a steering control input to control a steered wheel of a vehicle and, based on the steering control input, determines a setpoint value for the steered wheel. A diagnostic supervisor receives a measured value of the control attribute and the setpoint value; wherein the first diagnostic supervisor comprises a first model of a steering system of the vehicle. Based on the setpoint value and the first model, the diagnostic supervisor calculates a virtual value of the control attribute and, based on the virtual value and the measured value of the control attribute the first diagnostic supervisor determines an operating condition of the steering system of the vehicle.
Based on a steering control input, a measured value of the steering control attribute and a measured value of the traction control attribute received by a steering application, determining: a first setpoint value of the steering control attribute; a target steering angle of the steered wheel of the vehicle. Based on receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application, determining, by the traction application: a second setpoint value of the traction control attribute.
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/02 - Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
A traction application executing on a vehicle control module receives a traction speed control input to control a traction wheel of the vehicle. Based on the traction speed control input, the traction application determines a first setpoint value of a control attribute related to the traction wheel. A first diagnostic supervisor receives a measured value of the control attribute related to the traction wheel, and the first setpoint value from the traction application. The first diagnostic supervisor comprises a first model of a traction system of the vehicle. Based on the first setpoint value and the first model, the first diagnostic supervisor calculates a first virtual value of the control attribute related to the traction wheel. Based on the first virtual value and the measured value of the control attribute, the first diagnostic supervisor determines a first operating condition of the traction system of the vehicle.
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/02 - Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
94.
VEHICLE CONTROL MODULE WITH SIGNAL SWITCHBOARD AND INPUT TABLES
There are a wide variety of material handling vehicles having different hardware sensors, inputs, and outputs. The different types of vehicles may also have different functional systems emulated or simulated by software. Each vehicle type typically has its own control systems designed specifically for hardware devices present on the vehicle and the specific functional systems. A module for operating on one of first and second materials handling vehicles is provided. The module includes an input table having a superset of input elements, with a first subset of input elements related to a first set of hardware devices on the first vehicle and a second subset related to a second set of hardware devices on the second vehicle. A configuration table has configuration elements to transforming a value associated with an input element, vehicle function input elements related to function inputs utilized on the vehicles.
B60R 16/023 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for transmission of signals between vehicle parts or subsystems
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
95.
VEHICLE CONTROL MODULE WITH SIGNAL SWITCHBOARD AND OUTPUT TABLES
A control module capable of operating on one of first and second vehicles can include a) a module output table comprising a superset of module output elements comprising a first subset of module output elements related to a first set of hardware devices provided on the first vehicle and a second subset of module output elements related to a second set of hardware devices provided on the second vehicle; b) vehicle function output elements related to vehicle function outputs utilized on the first and second vehicles; and c) a configuration table comprising configuration elements corresponding to the module output elements. The module can also include computer-based structure for determining a value of a vehicle function output element corresponding to a module output element of the module output table, transforming the value to the transformed value, and storing the transformed value based on the corresponding module output element.
B60R 16/023 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for transmission of signals between vehicle parts or subsystems
B60W 50/00 - CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
Systems and methods for calibrating odometry of a materials handling vehicle. One embodiment of a method includes determining a current location of the materials handling vehicle, determining an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of a wheel and a circumference of the wheel, and determining a positioning system distance from the current location to the destination. Some embodiments include comparing the odometry distance with data from the positioning system distance to calculate a scaling factor, applying the scaling factor to a fast alpha filter to achieve a fast filter result, and applying the scaling factor to a slow alpha filter to achieve a slow filter result. Similarly, some embodiments include applying the fast alpha filter to the scaling factor to smooth noise, calculating an updated odometry distance utilizing the scaling factor, and utilizing the updated odometry distance.
Systems and methods for calibrating an image capture device for a materials handling vehicle. One embodiment of a system includes the image capture device and a vehicle computing device, where the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to determine a current location of the materials handling vehicle in a warehouse and determine a seed value associated with the image capture device, the seed value representing initial calibration parameters of the image capture device. In some embodiments, the logic causes the materials handling vehicle to capture image data in the warehouse, compare the image data with a site map, and determine a calibrated value for the image capture device from the comparison and the seed value.
According to one embodiment of the present disclosure, an industrial facility is provided comprising a tag layout and at least one ingress/egress zone. The tag layout comprises at least one double row of tags. The ingress/egress zone is located outside of an area of the vehicle travel plane occupied by the aisle path and is bounded in its entirety by the double row of tags, by two or more double rows of tags, by a combination of one or more double rows of tags and one more selected facility boundaries, or by combinations thereof. The double row of tags is arranged in an nm matrix that is configured for successive detection of the inner and outer rows of tags that is dependent on the point-of-origin of a sensor transit path across the double row of tags. Additional embodiments are disclosed and claimed.
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
According to one embodiment of the present disclosure, an industrial facility is provided comprising a tag layout and at least one ingress/egress zone. The tag layout comprises at least one double row of tags. The ingress/egress zone is located outside of an area of the vehicle travel plane occupied by the aisle path and is bounded in its entirety by the double row of tags, by two or more double rows of tags, by a combination of one or more double rows of tags and one more selected facility boundaries, or by combinations thereof The double row of tags is arranged in an n x m matrix that is configured for successive detection of the inner and outer rows of tags that is dependent on the point-of-origin of a sensor transit path across the double row of tags. Additional embodiments are disclosed and claimed.
According to one embodiment of the present disclosure, an industrial vehicle is provided comprising industrial vehicle hardware, a user interface, tag reader, reader module, and vehicle controller. The tag reader and the reader module cooperate to identify individual tags of a tag layout comprising a plurality of zone identification tags and a plurality of zone tags. Each zone identification tag occupies a position in the tag layout that corresponds to a unique set of zone tags. Each unique set of zone tags comprises a plurality of zone tags. The reader module discriminates between the plurality of zone identification tags and the plurality of zone tags identified in the tag layout, correlates an identified zone identification tag with a unique set of zone tags, and correlates vehicle functionality with an identified zone tag within the unique set of zone tags, tag-dependent positional data derived from the identified zone tag, or both.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation