Materials handling vehicle path validation and dynamic path modification

Patent metadata

Field	Value
Publication number	US-10775805-B2
Application number	US-201715686899-A
Country	US
Kind code	B2
Filing date	Aug 25, 2017
Priority date	Aug 26, 2016
Publication date	Sep 15, 2020
Grant date	Sep 15, 2020

Abstract

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.

First claim

What is claimed is:

1. A materials handling vehicle comprising a vehicle body, materials handling hardware, one or more wheels, a drive unit, a steering unit, a localization module, a navigation module, and a path validation tool, wherein:
the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along a travel path in a warehouse;
the path validation tool comprises environmental layout data of the warehouse, a proposed travel path within the warehouse, kinematics of the materials handling vehicle, and a dynamic vehicle boundary of the materials handling vehicle;
the dynamic vehicle boundary of the materials handling vehicle approximates a physical periphery of the materials handling vehicle and is defined at an offset distance from the physical periphery of the materials handling vehicle;
the path validation tool executes path validation logic to
(i) determine vehicle pose along the proposed travel path,
(ii) update the dynamic vehicle boundary to account for changes in vehicle speed and steering angle to update the offset distance from the physical periphery of the materials handling vehicle,
(iii) determine whether the dynamic vehicle boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the proposed travel path,
(iv) determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary of the materials handling vehicle and obstacle data represented in the environmental layout data, and
(v) modify the proposed travel path to mitigate the degree of potential impingement; and

the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along the modified proposed travel path.

2. The materials handling vehicle of claim 1 , wherein:
the dynamic vehicle boundary of the path validation tool comprises a dynamic exterior boundary of the materials handling vehicle and a dynamic clearance boundary of the materials handling vehicle;
the dynamic clearance boundary is enlarged relative to at least a portion of the dynamic exterior boundary of the materials handling vehicle to define an enlarged boundary about at least a portion of the materials handling vehicle; and
the path validation tool executes path validation logic to
(i) determine whether the dynamic clearance boundary of the materials handling vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the proposed travel path,
(ii) correlate likely points of intersection along the proposed travel path with vehicle pose at the candidate positions along the proposed travel path to build a list of potentially intersecting candidates along the proposed travel path, and
(iii) determine the degree of potential impingement at the candidate positions by referring to the list of potentially intersecting candidates, the dynamic exterior boundary of the materials handling vehicle, and obstacle data represented in the environmental layout data.

3. The materials handling vehicle of claim 1 , wherein the path validation tool executes path logic to determine vehicle pose along one of the proposed travel path and the modified proposed travel path at pre-determined intervals.

4. The materials handling vehicle of claim 3 , wherein the materials handling vehicle comprises a tugger and one or more trailers coupled to the tugger, and the pose data is indicative of pose data respectively of the tugger and the one or more trailers.

5. The materials handling vehicle of claim 1 , wherein the kinematics of the materials handling vehicle comprise at least a kinematic center C of the materials handling vehicle, data on the materials handling vehicle to include exterior dimensions of the materials handling vehicle, a turning radius, and pose data.

6. The materials handling vehicle of claim 1 , wherein the materials handling vehicle comprises a tugger and one or more trailers coupled to the tugger, the dynamic vehicle boundary approximates a physical periphery of the tugger of the materials handling vehicle, and a potentially intersecting obstacle is a trailer of the one or more trailers coupled to the tugger.

7. The materials handling vehicle of claim 1 , wherein the materials handling vehicle comprises a tugger and one or more trailers coupled to the tugger, the dynamic vehicle boundary approximates a physical periphery of a trailer of the one or more trailers of the materials handling vehicle, and a potentially intersecting obstacle is another trailer of the one or more trailers coupled to the trailer.

8. The materials handling vehicle of claim 1 , wherein the materials handling vehicle comprises a tugger and one or more trailers coupled to the tugger, the dynamic vehicle boundary approximates a physical periphery of one of the tugger and the one or more trailers of the materials handling vehicle, and a potentially intersecting obstacle is an obstacle represented in the environmental layout data separate from the materials handling vehicle.

9. The materials handling vehicle of claim 1 , wherein:
the path validation tool executes path validation logic to
(i) determine vehicle pose along the modified proposed travel path as the drive unit, steering unit, localization module, and navigation module cooperate to direct the materials handling vehicle along the modified proposed travel path,
(ii) determine whether the dynamic vehicle boundary of the materials handling vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose at candidate positions along the modified proposed travel path,
(iii) determine a degree of potential impingement at the candidate positions by referring to the dynamic vehicle boundary of the materials handling vehicle and obstacle data represented in the environmental layout data,
(iv) dynamically modify the modified proposed travel path to mitigate the degree of potential impingement and establish a dynamically modified travel path configured to merge from and to the modified proposed travel path; and
(v) navigate the materials handling vehicle along the dynamically modified travel path.

10. The materials handling vehicle of claim 9 , wherein establishment of the dynamically modified travel path configured to merge from and to the modified proposed travel path comprises fitting a joining path to the modified proposed travel path, the joining path comprising a series of three clothoids and merge path lengths, the merge path lengths configured to be varied until a close fit comprising a lowest join error is determined.

11. The materials handling vehicle of claim 10 , wherein optimization towards the lowest join error comprises an initial proposed merge path comprising a 1:1:1 length ratio with respect to the ratios of clothoid lengths, the total length of the initial proposed merge path, and a curvature at an end of a first clothoid.

12. The materials handling vehicle of claim 11 , wherein the total length of the proposed merge path comprises a Euclidean distance between a pair of join points.

13. The materials handling vehicle of claim 11 , wherein curvature options with respect to the curvature comprise an even spread between a maximum allowed positive curvature and a maximum negative path curvature, the even spread based on one or more steer angle limits.

14. The materials handling vehicle of claim 1 , wherein the path validation tool exe

Assignees

• Crown Equip Corp
• Crown Equipment Ltd

Inventors

• Thode Justin F

Classifications

• B60Y2200/221

  Tractors · CPC title

• B60Y2200/15

  Fork lift trucks, Industrial trucks · CPC title

• B60Y2300/095

  Predicting travel path or likelihood of collision · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2300/152

  Tractors · CPC title