Load handling module for a material handling vehicle
AssigneeThe Raymond Corporation
InventorsRobert J. Paterson, Jr., Erik C. Tracy
Life of this patent
Estimating the term…
Abstract
A load handling module for a material handling vehicle can include a first camera configured to determine the position of an object in a first camera field of view, and a second camera positioned above the first camera and configured to determine the position of an object in a second camera field of view. A fork tip sensor can be secured to at least one fork proximate the tip end thereof, and can be configured to detect the presence of an object within a fork sensor field of view extending in front of the fork. A controller can be in communication with the first sensor, the second sensor, and the fork tip sensor, the controller being configured to autonomously control the material handling vehicle to pick up or drop-off a load.
Claims19
A load handling module for a material handling vehicle, the material handling vehicle including a vehicle body, a mast, a tower, and at least one fork extending from a load backrest to a tip end, the tower extending upwardly from the load backrest, and the at least one fork being selectively movable relative to the vehicle body and configured to support a load, the load handling module comprising:
- a first camera secured to the load backrest and positioned proximate a top surface of the at least one fork, the first camera being configured to determine a position of an object in a first camera field of view;
- a second camera secured to the tower so that it is positioned above the first camera, the second camera being configured to determine the position of an object in a second camera field of view;
- a fork tip sensor secured to the at least one fork proximate a tip end, the fork tip sensor being configured to detect a presence of an object within a fork sensor field of view extending in front of the tip end;
- and
- a controller in communication with the first camera, the second camera, and the fork tip sensor, the controller being configured to autonomously control movement of the at least one fork;
- wherein the tower includes a tower actuator configured to selectively move the second camera with respect to the first camera.
A method for picking up a load with a material handling vehicle that includes at least one fork extending from a load backrest, a mast, a tower extending upwardly from the load backrest, a first camera mounted to the load backrest, a second camera mounted to the tower, and a fork tip sensor disposed proximate a tip of the at least one fork, the method comprising:
- moving the material handling vehicle to a pick up location;
- identifying a pallet the load is resting on;
- aligning the at least one fork with the pallet by moving the at least one fork into alignment with a pallet pocket of the pallet;
- determining if the at least one fork is aligned with the pallet pocket;
- extending the forks, relative to a vehicle body of the material handling vehicle, to engage the pallet;
- and
- lifting and retracting forks to pick up the load with the fork,
- wherein identifying the pallet includes using at least one of the first camera and second camera to identify a center stringer of the pallet, and wherein determining if the at least one fork is aligned with the pallet pocket includes using at least one of the first camera and the second camera to determine if the pallet is positioned within a predefined tolerance from the at least one fork.
A method for dropping off a load supported by a material handling vehicle, the material handling vehicle including at least one fork extending from a load backrest, a mast, a tower extending upwardly from the load backrest, a first camera mounted to the load backrest, a second camera mounted to the tower, and a fork tip sensor disposed proximate a tip of the at least one fork, the method comprising:
- moving the material handling vehicle to a drop-off location provided wirelessly to a controller;
- determining if the drop-off location is vacant using at least one of the second camera and the fork tip sensor to search for a presence of an object in the drop-off location;
- extending the forks, relative to a vehicle body of the material handling vehicle, to move the load into the drop-off location;
- lowering the forks to place the load in the drop-off location;
- retracting the forks to disengage the load;
- and
- verifying that a position of the load is within a predefined tolerance of the drop-off location using at least one of the first camera and second camera to measure a distance between the load and the at least one of the first camera and the second camera.
Dependencies are inferred from the claim text.