# US 11,027,953 B2 · Method for monitoring the road path of a truck and a floor conveyor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,953 B2 - Document ID: US11027953B2 - Status: Granted - Kind: B2 - Application number: 16/052,259 - Filed: 2018-08-01 - Published: 2019-03-07 - Granted: 2021-06-08 - Earliest claimed: 2017-08-02 - Assignees: Jungheinrich Aktiengesellschaft - Applicants: Jungheinrich Aktiengesellschaft - Inventors: Oliver Goepner - Web page: https://patentgrep.com/patent/US11027953B2 ## CPC - B66F 9/0755: {Position control; Position detectors} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 40/13: Load or weight - B66F 9/063: {Automatically guided} - B66F 17/003: {for fork-lift trucks} - G01S 7/4972: {Alignment of sensor} - G01S 17/931: of land vehicles - B60W 2040/1315: {Location of the centre of gravity} - B60W 2300/121: Fork lift trucks, Clarks - B60W 2520/10: Longitudinal speed - B60W 2540/18: Steering angle - B60W 2554/00: Input parameters relating to objects - B66F 9/24: Electrical devices or systems - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 2013/932: {using own vehicle data, e.g. ground speed, steering wheel direction} - G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)} - G05B 2219/31005: Detect obstacles on path of vehicle - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - B60W: 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A method for monitoring the travel path of an industrial truck, comprising the steps of: determining a braking distance of the industrial truck on the basis of at least one operating parameter of the industrial truck, adjusting a travel path area monitored by a monitoring device on the basis of the determined braking distance by adjusting the alignment of the monitoring device, decelerating the industrial truck when an obstacle enters the travel path. ## Claims ### Claim 1 A method for monitoring a travel path of an industrial truck, comprising the steps of: determining a braking distance of the industrial truck using at least one operating parameter of the industrial truck; adjusting a travel path area monitored by a monitoring device on the basis of the determined braking distance, by adjusting an alignment of the monitoring device; decelerating the industrial truck when an obstacle enters the travel path area monitored by the monitoring device; measuring an instantaneous swivel angle; and comparing an instantaneous swivel angle to a target swivel angle for enhanced accuracy. ### Claim 2 (depends on 1) The method according to claim 1, wherein the step of adjusting a travel path area further comprises tilting the monitoring device about a horizontal axis for adjusting the monitored travel path area along a travel leg of the industrial truck. ### Claim 3 (depends on 1) The method according to claim 1, wherein the step of adjusting a travel path area further comprises swiveling the monitoring device about a vertical axis for adjusting the monitored travel path ara to either side of the industrial truck. ### Claim 4 (depends on 2) The method according to claim 2, wherein the step of adjusting a travel path area further comprises tiling the monitoring device about a horizontal axis for adjusting the monitored travel path area along a travel leg of the industrial truck. ### Claim 5 (depends on 1) The method according to claim 1, wherein the at least one operating parameter is selected from the group of: a travel speed of the industrial truck, a steering angle of the industrial truck, a lifting height of a load part of the industrial truck, a load weight of a load transported by the industrial truck, and a load center of gravity of a load transported by the industrial truck. ### Claim 6 An industrial truck, comprising: at least one monitoring device for monitoring a travel path area for obstacles present therein, at least one actuator disposed in combination with the monitoring device, and a control unit configured to, determine a braking distance of the industrial truck as a function of at least one operating parameter of the industrial truck, calculate a target tilt angle based on the determined braking distance, and control the at least one actuator to align the monitoring device based on the calculated tile angle such that the industrial truck decelerates when an obstacle enters the monitored travel path area, wherein the at least one monitoring device includes a sensor for measuring an instantaneous tilt angle of the monitoring device and wherein the control unit compares the instantaneous tilt angle to the calculated tilt angle for enhanced accuracy. ### Claim 7 (depends on 6) The industrial truck according to claim 6, wherein the at least one actuator is configured to tilt the monitoring device about a horizontal axis in order to adjust the monitored travel path area along a travel leg of the industrial truck. ### Claim 8 (depends on 6) The industrial truck according to claim 6, wherein the at least one actuator is configured to swivel the monitoring device about a vertical axis in order to adjust the monitored travel path area to either side of the industrial truck. ### Claim 9 (depends on 6) The industrial truck according to claim 6, further comprising first and second actuators, a first actuator configured to tilt the monitoring device about a horizontal axis in order to adjust the monitored travel path area along a travel leg of the industrial truck, and a second actuator configured to swivel the monitoring device about a vertical axis in order to adjust the monitored area to either side of the industrial truck. ### Claim 10 An industrial truck comprising: at least one monitoring device for monitoring a travel path area for obstacles present therein; at least one actuator disposed in combination with the monitoring device; and a control unit configured to determine a braking distance of the industrial truck as a function of at least one operating parameter of the industrial truck, and controlling the at least one actuator to align the monitoring device based on the determined braking distance such that the industrial truck decelerates when an obstacle enters the monitored travel path area, wherein the at least one monitoring device includes a sensor for measuring an instantaneous swivel angle and wherein the control unit compares instantaneous swivel angle to a target swivel angle for enhanced accuracy. ### Claim 11 (depends on 10) The industrial truck according claim 10, wherein the at least one monitoring device includes sensors for measuring an instantaneous tilt, and wherein the control unit evaluates the instantaneous tilt to a calculated tilt angle for enhanced accuracy. ### Claim 12 (depends on 7) The industrial truck according to claim 7 wherein the monitoring device is a laser scanner. ### Claim 13 (depends on 8) The industrial truck according to claim 8 wherein the monitoring device is a laser scanner. ### Claim 14 (depends on 6) The industrial truck according to claim 6, wherein the at least one operating parameter is selected from the group of: a travel speed of the industrial truck, a steering angle of the industrial truck, a lifting height of a load part of the industrial truck, a load weight of a load transported by the industrial truck, and a load center of gravity of a load transported by the industrial truck. ### Claim 15 (depends on 7) The industrial truck according to claim 7, wherein the at least one operating parameter is selected from the group of: a travel speed of the industrial truck, a steering angle of the industrial truck, a lifting height of a load part of the industrial truck, a load weight of a load transported by the industrial truck, and a load center of gravity of a load transported by the industrial truck. ### Claim 16 (depends on 8) The industrial truck according to claim 8, wherein the at least one operating parameter is selected from the group of: a travel speed of the industrial truck, a steering angle of the industrial truck, a lifting height of a load part of the industrial truck, a load weight of a load transported by the industrial truck, and a load center of gravity of a load transported by the industrial truck. ### Claim 17 (depends on 9) The industrial truck according to claim 9, wherein the at least one operating parameter is selected from the group of: a travel speed of the industrial truck, a steering angle of the industrial truck, a lifting height of a load part of the industrial truck, a load weight of a load transported by the industrial truck, and a load center of gravity of a load transported by the industrial truck. ### Claim 18 (depends on 10) The industrial truck of claim 10, wherein the at least one monitoring device is a laser scanner.