Automating control of an industrial vehicle

Patent metadata

Field	Value
Publication number	US-12259730-B2
Application number	US-202318343814-A
Country	US
Kind code	B2
Filing date	Jun 29, 2023
Priority date	Feb 12, 2020
Publication date	Mar 25, 2025
Grant date	Mar 25, 2025

Abstract

A process for automating control of an industrial vehicle based on location comprises scanning an environment, by using an optical scanner affixed to the industrial vehicle. A marker defined by a series of tags 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.

First claim

What is claimed is:

1. A process for automating control of an industrial vehicle based on location, the process
comprising:
scanning an environment using an optical scanner affixed to the industrial vehicle;
identifying a marker defined by a series of optical tags by recursively:
receiving, by an optical detector on the industrial vehicle, a reflection indicative of a signal emitted by the optical scanner;
measuring a received signal value of the reflection indicative of the signal emitted by the optical scanner;
verifying whether the measured received signal value is indicative of an optical tag based upon the measured received signal value to create a present indication of the optical tag; and
concatenating the present indication of the optical tag to the marker; and

performing, based on the identified marker:
transforming the marker into an environmental condition;
determining a status of the industrial vehicle, wherein the status correlates to the environmental condition; and
applying an automated control on the industrial vehicle based on the environmental condition and the status of the industrial vehicle.

2. The process of claim 1 , wherein concatenating the present indication of the optical tag to the marker comprises:
determining that a first optical tag is indicative of a start bit; and
determining a second optical tag in the series of optical tags by:
assigning a first value to the second optical tag if the signal value indicative of an optical tag is received before a timer expires; and
assigning a second value different than the first value to the second optical tag if no signal value indicative of an optical tag is received before the timer expires.

3. The process of claim 2 further comprising:
resetting the timer when the second optical tag of the series of optical tags is assigned; and
determining a third optical tag in the series of optical tags by:
assigning the first value to the third optical tag if a signal value indicative of an optical tag is received after the second optical tag is assigned but the timer expires; and
assigning the second value to the third optical tag if no signal value indicative of an optical tag is received after the second optical tag is assigned and the timer expires.

4. The process of claim 1 , wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker, based on a sequential order in which the series of optical tags were received.

5. The process of claim 1 , wherein measuring the received signal value of the reflection indicative of the signal emitted by the optical scanner comprises generating:
a first result if the received signal value of the reflection is lower than a first threshold;
a second result if the received signal value of the reflection is between the first threshold and a second threshold; and
a third result if the received signal value of the reflection is greater than the second threshold.

6. The process of claim 1 , wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until a predetermined number of optical tags have been concatenated to the marker.

7. The process of claim 1 , wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until an end indicator optical tag is received.

8. The process of claim 1 , wherein applying the automated control on the industrial vehicle based on the environmental condition and the status of the industrial vehicle comprises at least one of:
generating a visual cue;
activating an alarm on the industrial vehicle; or
overriding a manual travel control system of the industrial vehicle.

9. The process of claim 1 , wherein scanning the environment comprises scanning the environment by using an obstacle detection signal.

10. The process of claim 1 further comprising determining a travel direction of the industrial vehicle based on the marker;
wherein transforming the marker into the environmental condition is further based on the travel direction of the industrial vehicle.

11. The process of claim 10 , wherein determining the travel direction of the industrial vehicle based on the marker comprises:
determining a direction of the marker in relation to the industrial vehicle, wherein the travel direction of the industrial vehicle is further based on the direction of the marker in relation to the industrial vehicle.

12. The process of claim 10 , wherein determining the travel direction of the industrial vehicle based on the marker comprises:
determining a direction of the marker in relation to the industrial vehicle, wherein the marker is a first marker;
determining a direction of a second marker in relation to the industrial vehicle; and
determining the travel direction of the industrial vehicle based on a tag of the first marker, a corresponding tag of the second marker, the direction of the first marker in relation to the industrial vehicle, and the direction of the second marker in relation to the industrial vehicle.

Assignees

• Crown Equip Corp

Inventors

• Theos Sebastian
• Simon Andreas
• Peters Alexander
• Molnar Christian

Classifications

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G05D2107/70

  Industrial sites, e.g. warehouses or factories · CPC title

• G05D1/242

  Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247) · CPC title

• G06K7/10009

  sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves · CPC title

• G05D1/617

  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 G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title