# US 11,897,693 B2 · Systems and methods for home position and cart acquisition with a materials handling vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,693 B2 - Document ID: US11897693B2 - Status: Granted - Kind: B2 - Application number: 17/028,368 - Filed: 2020-09-22 - Published: 2021-01-07 - Granted: 2024-02-13 - Earliest claimed: 2016-05-23 - Assignees: Crown Equipment Corporation - Applicants: Crown Equipment Corporation - Inventors: Matthew J. Otto; Gregory S. Garmann; Mark E. Addison - Web page: https://patentgrep.com/patent/US11897693B2 ## CPC - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/0407: {using stacker cranes (constructional features of stacker cranes B66F9/06)} - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B66F 9/07: Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers" - B66F 9/07504: {Accessories, e.g. for towing, charging, locking} - B66F 9/07581: {Remote controls} - B66F 9/12: Platforms; Forks; Other load supporting or gripping members - B66F 9/141: {with shuttle-type movement} - B66F 9/18: Load gripping or retaining means - G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras} - B65G 2209/06: Use of order trucks - G05D 2105/28: of freight - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/10: Land vehicles - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A variety of vehicle-based and warehouse-based solutions are provided to increase the adaptability, utility, and efficiency of materials handling vehicles in the warehouse environment, such as a goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, a cart home position, and a materials handling vehicle disposed on a vehicle transit surface and comprising a fork carriage assembly, a navigation subsystem, a cart engagement subsystem, and one or more vehicular controllers to use the navigation subsystem to navigate the materials handling vehicle along the vehicle transit surface to a localized engagement position where the cart home position is within a cart engagement field of view, and use the cart engagement subsystem to engage the mobile storage cart in the cart home position with the fork carriage assembly. ## Claims ### Claim 1 A goods storage and retrieval system, comprising a multilevel warehouse racking system, a mobile storage cart, a cart home position, and a materials handling vehicle disposed on a vehicle transit surface of the multilevel warehouse racking system, wherein: the mobile storage cart is disposed in the cart home position; the materials handling vehicle comprises a fork carriage assembly; the materials handling vehicle is characterized by a cart engagement field of view; and the materials handling vehicle executes vehicle functions to (i) navigate along the vehicle transit surface to a localized engagement position where the cart home position is within the cart engagement field of view, and (ii) engage the mobile storage cart in the cart home position with the fork carriage assembly. ### Claim 2 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein: the materials handling vehicle is further characterized by a close approach field of view that is more restricted than the cart engagement field of view; the materials handling vehicle transitions from an initial approach mode in the cart engagement field of view to a close approach mode in the close approach field of view as the cart home position moves into the close approach field of view; the materials handling vehicle comprises a time-of-flight (TOF) system characterized by the close approach field of view; the close approach mode relies primarily on the TOF system as the cart home position moves into the close approach field of view; the materials handling vehicle is configured to generate a target TOF depth map of the mobile storage cart; and the materials handling vehicle executes vehicle functions to (i) generate the target TOF depth map of the mobile storage cart in the cart home position, and (ii) determine a range position of the mobile storage cart with respect to the materials handling vehicle based on the target TOF depth map. ### Claim 3 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein: the materials handling vehicle comprises a vision system and a time-of-flight (TOF) system; the materials handling vehicle is further characterized by a close approach field of view that is more restricted than the cart engagement field of view; the cart engagement field of view is defined by the vision system; the close approach field of view is defined by the TOF system; and the materials handling vehicle transitions from cart engagement operations that rely primarily on the vision system to cart engagement operations that rely primarily on the TOF system as the cart home position moves into the close approach field of view. ### Claim 4 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein the materials handling vehicle comprises a traction control unit, a braking system, a steering assembly, a mast assembly control unit, a carriage control unit, and a picking attachment, the picking attachment secured to the fork carriage assembly movably coupled to a mast assembly, to facilitate cart engagement. ### Claim 5 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein: the materials handling vehicle comprises one or more environmental sensors and an environmental database; the environmental sensors are configured to capture data indicative of a position of the materials handling vehicle relative to the multilevel warehouse racking system, the vehicle transit surface, or both; the environmental database comprises stored data indicative of the multilevel warehouse racking system, the vehicle transit surface, or both; and the materials handling vehicle is configured to enable at least partially automated navigation of the materials handling vehicle along the vehicle transit surface utilizing the captured data and the stored data. ### Claim 6 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein: a warehouse map is stored in a memory communicatively coupled to the materials handling vehicle; and the materials handling vehicle executes vehicle functions to (i) determine a localized position of the materials handling vehicle with respect to the vehicle transit surface of a warehouse based on a position of the materials handling vehicle in the warehouse in comparison with the warehouse map, and (ii) track navigation of the materials handling vehicle along the vehicle transit surface based on the localized position, navigate the materials handling vehicle along the vehicle transit surface in at least a partially automated manner, or both. ### Claim 7 (depends on 1) The goods storage and retrieval system as claimed in claim 1 wherein: the materials handling vehicle further comprises a picking attachment subsystem comprising a picking attachment and a time-of-flight (TOF) system; the picking attachment is secured to the fork carriage assembly that is movably coupled to a mast assembly of the materials handling vehicle; the picking attachment comprises an X-Y-Z-Ψ positioner; the picking attachment subsystem is configured to generate a target TOF depth map of a target tote; and the materials handling vehicle executes vehicle functions to use the X-Y-Z-Ψ positioner of the picking attachment subsystem to engage the target tote with the picking attachment based on the target TOF depth map. ### Claim 8 (depends on 7) The goods storage and retrieval system as claimed in claim 7 wherein the materials handling vehicle is configured to be positioned such that the target tote is within a tote engagement field of view of the TOF system. ### Claim 9 (depends on 7) The goods storage and retrieval system as claimed in claim 7 wherein: the materials handling vehicle comprises a vision system; the multilevel warehouse racking system comprises a target fiducial associated with the target tote; the materials handling vehicle is configured to be positioned such that the target fiducial is within a field of view of the vision system; and the materials handling vehicle is configured to utilize the target fiducial to be positioned such that the target tote is within a tote engagement field of view of the TOF system. ### Claim 10 (depends on 7) The goods storage and retrieval system as claimed in claim 7 wherein the X-Y-Z-Ψ positioner comprises an X-positioner configured to move the picking attachment in a first degree of freedom along a first lateral axis in a lateral plane, a Y-positioner configured to move the picking attachment in a second degree of freedom along a second lateral axis perpendicular to the first lateral axis in the lateral plane, a Z-positioner configured to move the picking attachment in a third degree of freedom along a Z-axis perpendicular to the first lateral axis and the second lateral axis, and a rotational Ψ-positioner configured to rotate the picking attachment in a fourth degree of freedom about the Z-axis. ### Claim 11 A materials handling vehicle configured to navigate a vehicle transit surface, the materials handling vehicle comprising a fork carriage assembly, wherein: the materials handling vehicle is characterized by a cart engagement field of view; and the materials handling vehicle executes vehicle functions to (i) navigate along the vehicle transit surface to a localized engagement position where a cart home position is within the cart engagement field of view, and (ii) engage a mobile storage cart in the cart home position with the fork carriage assembly. ### Claim 12 A method of operating a goods storage and retrieval system, the method comprising: providing the goods storage and retrieval system comprising a multilevel warehouse racking system, a mobile storage cart, a cart home position, and a materials handling vehicle disposed on a vehicle transit surface, wherein the materials handling vehicle comprises a fork carriage assembly, the materials handling vehicle is characterized by a cart engagement field of view; navigating the materials handling vehicle along the vehicle transit surface to a localized engagement position where the cart home position is within the cart engagement field of view; and engaging the mobile storage cart in the cart home position with the fork carriage assembly. ### Claim 13 (depends on 12) The method as claimed in claim 12 further comprising: engaging or disengaging a target tote positioned in the mobile storage cart or the multilevel warehouse racking system with a picking attachment secured to the fork carriage assembly and comprising an X-Y-Z-Ψ positioner through use of the X-Y-Z-Ψ positioner. ### Claim 14 (depends on 12) The method as claimed in claim 12 further comprising: assigning a velocity number to a stock keeping unit (SKU) associated with a target tote in the multilevel warehouse racking system based on an order velocity indicative of a frequency of usage parameter associated with the target tote. ### Claim 15 (depends on 14) The method as claimed in claim 14 further comprising: associating a relatively high velocity number with a low storage position on a low shelf of the multilevel warehouse racking system; associating a relatively low velocity number with a high storage position on a high shelf of the multilevel warehouse racking system; and using a picking attachment secured to the fork carriage assembly and the fork carriage assembly to move the target tote from a portion of the multilevel warehouse racking system associated with one of the relatively low velocity number and the relatively high velocity number to a portion of the multilevel warehouse racking system respectively associated with one of the relatively high velocity number and the relatively low velocity number based on a respective increase or decrease in the order velocity with respect to the target tote. ### Claim 16 (depends on 14) The method as claimed in claim 14 further comprising: engaging a first target tote at a first storage position on a high shelf associated with a relatively low velocity number with the picking attachment; placing with a picking attachment secured to the fork carriage assembly the first target tote in the mobile storage cart engaged by the fork carriage assembly; navigating the materials handling vehicle to a second target tote when the second target tote is assigned a relatively high velocity number and is within a close distance to the first storage position; engaging the second target tote with the picking attachment; lowering the second target tote to a low shelf associated with the relatively high velocity number or placing the second target tote in the mobile storage cart with the picking attachment; navigating the materials handling vehicle to a subsequent pick location when the second target tote is placed in the mobile storage cart; and placing the second target tote on the low shelf associated with the relatively high velocity number while at the subsequent pick location. ### Claim 17 (depends on 14) The method as claimed in claim 14 further comprising: engaging a first target tote at a first storage position on a low shelf associated with a relatively high velocity number with a picking attachment secured to the fork carriage assembly; placing with the picking attachment the first target tote in the mobile storage cart engaged by the fork carriage assembly; navigating the materials handling vehicle to a second target tote when the second target tote is assigned a relatively low velocity number and is within a close distance to the first storage position on the low shelf; engaging the second target tote with the picking attachment; raising the second target tote to a high shelf associated with the relatively low velocity number or placing the second target tote in the mobile storage cart with the picking attachment; navigating the materials handling vehicle to a subsequent pick location when the second target tote is placed in the mobile storage cart; and placing the second target tote on the high shelf associated with the relatively low velocity number while at the subsequent pick location. ### Claim 18 (depends on 12) The method as claimed in claim 12 further comprising: positioning the materials handling vehicle in a first aisle of the multilevel warehouse racking system; placing with a picking attachment secured to the fork carriage assembly one or more target totes in the mobile storage cart engaged by the fork carriage assembly; and using the mobile storage cart as a temporary storage location to level inventory when one or more inventory orders are received such that the one or more target totes are shuffled between the mobile storage cart and a plurality of shelves of the multilevel warehouse racking system based on a respective order velocity indicative of a frequency of usage parameter associated with each target tote to optimize a usage parameter with respect to the first aisle. ### Claim 19 (depends on 18) The method as claimed in claim 18 further comprising: assigning a relatively low velocity number associated with a high shelf of the multilevel warehouse racking system to a SKU associated with a first target tote; storing the first target tote in the mobile storage cart; assigning a relatively high velocity number associated with a low shelf of the multilevel warehouse racking system to a SKU associated with a second target tote; receiving information indicative of the second target tote being stored on a high shelf of the multilevel warehouse racking system; navigating the materials handling vehicle to a location of the multilevel warehouse racking system associated with the high shelf during an off-peak picking time or an off shift time; moving the mobile storage cart engaged by the fork carriage assembly to the high shelf; exchanging with the picking attachment the first target tote stored in the mobile storage cart with the second target tote stored on the high shelf to store the second target tote in the mobile storage cart. ### Claim 20 (depends on 12) The method as claimed in claim 12 further comprising: placing with a picking attachment secured to the fork carriage assembly one or more target totes in the mobile storage cart engaged by the fork carriage assembly such that the mobile storage cart is utilized as a temporary storage location; interleaving picking attachment pick and place operations by picking up and placing away multiple target totes during a single trip of the materials handling vehicle down an aisle of the multilevel warehouse racking system.