Homing of steering units for automated vehicles

A system, comprising:

• a steering system including a steer arm,
• a controller being operatively coupled to The steering system;
• a homing system is configured to determine a home position of the steering system;
• wherein the homing system is configured to determine the home position by rotating the steer arm in a single direction;
• wherein the homing system includes a target;
• wherein the target is coupled to the steer arm;
• wherein the homing system includes one or more sensors;
• wherein the sensors are configured to detect the target;
• wherein the target has a homing edge extending in a radial direction;
• wherein the sensors are configured to detect the homing edge of the target when the controller rotates the steer arm in the single direction;
• wherein the sensors include a first proximity sensor and a second proximity sensor;
• wherein the first proximity sensor and the second proximity sensor are aligned along a sensor alignment line;
• wherein the homing system includes a mounting plate;
• wherein the mounting plate defines one or more sensor holes;
• wherein the sensor holes include a first sensor hole and a second sensor hole;
• wherein the first proximity sensor is mounted in the first sensor hole in the mounting plate;
• wherein the second proximity sensor is mounted in the second sensor hole in the mounting plate;
• wherein the mounting plate defines one or more adjustment slots;
• and
• wherein the adjustment slots in the mounting plate are configured to facilitate positional adjustment of the sensors.

A system, comprising:

• a steering system including a steer arm;
• a controller being operatively coupled to The steering system;
• a homing system is configured to determine a home position the steering system,
• wherein the homing system is configured to determine the home position by rotating the steer arm in a single direction,
• wherein the homing system includes a target;
• wherein the target is coupled to the steer arm;
• wherein the homing system includes one or more sensors;
• wherein the sensors are configured to detect the target;
• wherein the target has a homing edge extending in a radial direction;
• wherein the sensors are configured to detect the homing edge of the target when the controller rotates the steer arm in the single direction;
• wherein the sensors include a first proximity sensor and a second proximity sensor;
• wherein the first proximity sensor and the second proximity sensor are aligned along a sensor alignment line;
• wherein the homing system includes a mounting plate;
• wherein the mounting plate defines one or more sensor holes;
• wherein the sensor holes include a first sensor hole and a second sensor hole;
• wherein the first proximity sensor is mounted in the first sensor hole in the mounting plate;
• wherein the second proximity sensor is mounted in the second sensor hole in the mounting plate;
• an encoder shaft being coupled to the steer arm to rotate in unison with the steer arm;
• wherein the homing system includes one or more encoders;
• wherein the mounting plate defines a shaft opening through which the encoder shaft extends;
• wherein the encoder shaft extends through the encoders;
• wherein the encoders includes a first rotary encoder and a second rotary encoder;
• wherein the first rotary encoder is secured to the mounting plate;
• wherein the homing system includes an encoder plate;
• wherein the encoder plate is secured to the mounting plate;
• and
• wherein the encoder plate is disposed between the first rotary encoder and the second rotary encoder.

A system, comprising:

• a homing system including an adapter plate;
• wherein the adapter plate defines an adapter opening;
• wherein the homing system includes a shaft adapter;
• wherein the homing system includes an encoder shaft;
• wherein the encoder shaft is secured to the shaft adapter;
• wherein the homing system includes a target;
• wherein the target is secured to the shaft adapter;
• wherein the homing system includes a mounting plate;
• wherein the mounting plate is secured to the adapter plate;
• wherein the mounting plate defines a shaft opening through which the encoder shaft extends;
• wherein the mounting plate defines one or more sensor holes;
• wherein the sensor holes include a first sensor hole and a second sensor hole;
• wherein the homing system includes one or more encoders;
• wherein the encoder shaft extends through the encoders;
• wherein the encoders includes a first rotary encoder and a second rotary encoder;
• wherein the first rotary encoder surrounds the shaft opening in the mounting plate;
• wherein the homing system includes one or more sensors;
• wherein the sensors are configured to detect the target;
• wherein the sensors include a first proximity sensor and a second proximity sensor;
• wherein the first proximity sensor is mounted in the first sensor hole in the mounting plate;
• and
• wherein the second proximity sensor is mounted in the second sensor hole in the mounting plate.

A method, comprising:

• turning a steering system in a homing direction;
• detecting a target rotating with the steering system with a sensor;
• monitoring an angular position of the steering system with an encoder;
• setting a home position of the steering system to the angular position from the encoder upon the detecting the target with the sensor;
• sensing the target with the sensor;
• rotating the steering system in a reset direction in response to sensing the target;
• wherein the reset direction is opposite to the homing direction;
• sensing a falling edge of the target moving in the reset direction with the sensor;
• and
• performing the turning the steering system in the homing direction after the sensing the falling edge of the target.

A method comprising:

• turning a steering system of a forklift in a homing direction;
• detecting a target rotating with the steering system with at least two sensors;
• monitoring an angular position of the steering system with at least two encoders;
• setting a home position of the steering system of the forklift to the angular position from the encoders upon the detecting the target with the sensors;
• and
• adjusting the sensors to the home position by rotating a mounting plate to which the sensors are mounted.

A system, comprising:

• a steering system including a steer arm;
• a controller being operatively coupled to the steering system;
• a homing system is configured to determine a home position of the steering system;
• wherein the homing system is configured to determine the home position by rotating the steer arm in a single direction;
• an encoder shaft coupled to the steer arm to rotate in unison with the steer arm;
• wherein the encoder shaft is disposed along a rotational axis of the steer arm;
• wherein the homing system includes an encoder;
• wherein the encoder is mounted around the encoder shaft;
• wherein the encoder is configured to monitor angular rotation of the encoder shaft;
• a target coupled to the steer arm;
• wherein the target has a homing edge extending in a radial direction from an inner radial side to an outer radial side;
• wherein the target extends across at least one rotational quadrant of the steer arm;
• and
• wherein the homing system includes a proximity sensor configured to detect the homing edge of the target.