Multiple zone sensing for materials handling vehicles

Patent metadata

Field	Value
Publication number	US-9908527-B2
Application number	US-201715455571-A
Country	US
Kind code	B2
Filing date	Mar 10, 2017
Priority date	Sep 14, 2006
Publication date	Mar 6, 2018
Grant date	Mar 6, 2018

Abstract

A materials handling vehicle includes at least one contactless obstacle sensor that scans at least two speed zones, each speed zone being defined in an area at least partially in front of a forward traveling direction of the vehicle and being associated with a unique predetermined maximum speed greater than zero (0) miles per hour. A controller that receives information obtained from the at least one obstacle sensor and, if the vehicle is traveling under remote control, the controller is configured to limit the vehicle speed to the predetermined maximum speed of a corresponding one of the at least two speed zones based upon the detection of an obstacle in that speed zone.

First claim

What is claimed is:

1. A materials handling vehicle capable of supplemental remote control comprising:
a power unit for driving the vehicle;
a load handling assembly;
a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel;
at least one contactless obstacle sensor on the vehicle operable to scan at least two speed zones, each speed zone being defined in an area at least partially in front of a forward traveling direction of the vehicle and being associated with a unique predetermined maximum speed greater than zero (0) miles per hour; and
a controller that communicates with the receiver and with a traction control system of the vehicle to operate the vehicle under remote control in response to receiving travel requests from the remote control device, wherein the controller receives information obtained from the at least one obstacle sensor and, if the vehicle is traveling under remote control in response to a travel request from the remote control device, the controller is configured to limit the vehicle speed to the predetermined maximum speed of a corresponding one of the at least two speed zones based upon the detection of an obstacle in that speed zone.

2. The materials handling vehicle according to claim 1 , wherein:
the at least one obstacle sensor further scans a stop zone; and
if the vehicle is traveling under remote control in response to a travel request from the remote control device, the controller is configured to implement a stop action to stop the vehicle if an obstacle is detected in the stop zone.

3. The materials handling vehicle according to claim 2 , wherein:
the controller is further configured to refuse to operate the vehicle under remote control in response to receipt of a travel request received from the remote control device if an obstacle is detected within the stop zone before the vehicle begins travel.

4. The materials handling vehicle according to claim 1 , wherein:
the predetermined speed associated with the first one of the at least two speed zones comprises a first predetermined speed; and
the controller is further configured to accelerate the vehicle to a predetermined maximum speed that is greater than the first predetermined speed if the vehicle is traveling under remote control in response to a travel request from the remote control device and no obstacle is detected in the first speed zone.

5. The materials handling vehicle according to claim 1 , wherein:
the controller is further configured to modify at least one vehicle parameter other than speed in response to the detection of an obstacle in at least one detection zone.

6. The materials handling vehicle according to claim 5 , wherein:
the controller further communicates with a steer controller of the vehicle;
the at least one obstacle sensor further scans at least one steer angle correction zone; and
if the vehicle is traveling under remote control in response to a travel request from the remote control device, the controller is further configured to implement a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone.

7. The materials handling vehicle according to claim 6 , wherein the controller is further configured to select a direction of steer angle adjustment based upon a determination of a position of a detected obstacle.

8. The materials handling vehicle according to claim 6 , wherein:
the at least one steer angle correction zone comprises a plurality of different steer angle correction zones; and
the controller is further configured to implement a different steer angle correction amount for each steer angle correction zone.

9. The materials handling vehicle according to claim 6 , wherein a steer correction angle ramp rate is editable.

10. The materials handling vehicle according to claim 1 , further comprising at least one presence sensor for detecting whether an operator is positioned on the vehicle, wherein the controller is further configured to operate the vehicle under remote control only when the at least one presence sensor designates that no operator is on the vehicle.

11. The materials handling vehicle according to claim 1 , wherein:
the predetermined speed associated with the first one of the at least two speed zones comprises a first predetermined speed;
the predetermined speed associated with the second one of the at least two speed zones comprises a second predetermined speed;
the second speed zone is located further from the vehicle than is the first speed zone; and
the second predetermined speed is greater than the first predetermined speed.

12. A multiple detection zone system for a materials handling vehicle comprising:
at least one contactless obstacle sensor for mounting on the vehicle, the at least one obstacle sensor operable to scan at least two speed zones, each speed zone being defined in an area at least partially in front of a forward traveling direction of the vehicle and being associated with a unique predetermined maximum speed greater than zero (0) miles per hour; and
wherein:
if the vehicle is traveling under remote control, a controller on the vehicle is configured to limit the vehicle speed to the predetermined maximum speed of a corresponding one of the at least two speed zones based upon the detection of an obstacle in that speed zone.

13. The multiple detection zone system for a materials handling vehicle according to claim 12 , wherein:
the at least one obstacle sensor further scans a stop zone; and
if the vehicle is traveling under remote control, the controller is further configured to implement a stop action to stop the vehicle if an obstacle is detected in the stop zone.

14. The multiple detection zone system for a materials handling vehicle according to claim 13 , wherein:
the controller is further configured to refuse to operate the vehicle under remote control if an obstacle is detected within the stop zone before the vehicle begins travel.

15. The multiple detection zone system for a materials handling vehicle according to claim 12 , wherein:
the predetermined speed associated with the first one of the at least two speed zones comprises a first predetermined speed; and
the controller is further configured to accelerate the vehicle to a predetermined maximum speed that is greater than the first predetermined speed if the vehicle is traveling under remote control and no obstacle is detected in the first speed zone.

16. The multiple detection zone system for a materials handling vehicle according to claim 12 , wherein:
the controller is further configured to modify at least one vehicle parameter other than speed in response to the detection of an obstacle in at least one detection zone.

17. The multiple detection zone system for a materials handling vehicle according to claim 16 , wherein:
the controller further communicates with a steer controller of the vehicle;
the at least one contactless obstacle sensor further scans at least one steer angle correction zone; and
if the vehicle is traveling under remote control, the controller is further configured to implement a steer angle correction if an obstacle is detected in a corresponding steer angle correction zone.

18. The multiple detection zone system for a materials handling vehicle according to claim 17 , wherein the controller is further configured to select a direction of steer angle adjustment based upon a determin

Assignees

• Crown Equip Corp

Inventors

• Elston Edwin R
• Siefring Vernon W
• Jensen Eric L

Classifications

• B66F9/07581

  Remote controls · CPC title

• G06F17/00

  Digital computing or data processing equipment or methods, specially adapted for specific functions (information retrieval, database structures or file system structures therefor G06F16/00) · CPC title

• B60W2710/20

  Steering systems · CPC title

• G08C2201/20

  Binding and programming of remote control devices · CPC title

• B60W10/04

  including control of propulsion units · CPC title