# US 2021/0276844 A1 · Systems and Methods for Evaluation of Vehicle Parameters of a Remotely Controllable Material Handling Vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276844 A1 - Document ID: US20210276844A1 - Status: Published application - Kind: A1 - Application number: 17/193,762 - Filed: 2021-03-05 - Published: 2021-09-09 - Earliest claimed: 2020-03-06 - Assignees: The Raymond Corporation - Applicants: The Raymond Corporation - Inventors: Theodore C. Garrison, III - Web page: https://patentgrep.com/patent/US20210276844A1 ## CPC - B66F 9/07581: {Remote controls} - G05D 1/0011: {associated with a remote control arrangement} - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)} - G05D 1/65: Following a desired speed profile - G07C 5/0808: {Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005)} - 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 - 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 - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE ## Abstract A system for a remotely controllable material handling vehicle switchable between a manual mode and a travel request mode is provided. The system can include a controller including a processor and a memory, where vehicle condition data previously evaluated by the controller can be stored in the memory. A remote control device can be in communication with the controller, where a travel control function on the remote control device can be configured to provide a travel request to the controller to cause the material handling vehicle to move forward when the material handling vehicle is in the travel request mode. In some aspects, the controller can be configured to receive the travel request, recall at least one previously evaluated vehicle condition data stored in the memory, and, based on the at least one vehicle condition data stored in the memory, command the material handling vehicle to move forward. ## Claims ### Claim 1 A system for a remotely controllable material handling vehicle switchable between a manual mode and a travel request mode, the system comprising: a controller comprising a processor and a memory, wherein vehicle condition data previously evaluated by the controller is stored in the memory; a remote control device in communication with the controller, wherein a travel control function on the remote control device is configured to provide a travel request to the controller to cause the material handling vehicle to move forward when the material handling vehicle is in the travel request mode; the controller configured to: receive the travel request; recall at least one previously evaluated vehicle condition data stored in the memory; and based on the at least one vehicle condition data stored in the memory, command the material handling vehicle to move forward. ### Claim 2 (depends on 1) The system of claim 1, wherein the controller is further configured to: execute a continuous evaluation loop at predetermined discrete time intervals, wherein the continuous evaluation loop includes: receiving the vehicle condition data; storing the vehicle condition data in the memory; evaluating the vehicle condition data to determine a motion condition of the material handling vehicle; and storing the motion condition in the memory. ### Claim 3 (depends on 2) The system of claim 2, wherein the predetermined discrete time intervals are between about 20 milliseconds and about 1 second. ### Claim 4 (depends on 2) The system of claim 2, wherein the controller overwrites the previous vehicle condition data upon executing each continuous evaluation loop. ### Claim 5 (depends on 2) The system of claim 2, wherein the vehicle condition data includes at least a vehicle speed of the material handling vehicle. ### Claim 6 (depends on 5) The system of claim 5, wherein the determination of the motion condition includes comparing the vehicle speed to a predetermined threshold value. ### Claim 7 (depends on 6) The system of claim 6, wherein the predetermined threshold value is zero mph. ### Claim 8 (depends on 6) The system of claim 6, wherein if the vehicle speed is greater than the predetermined threshold value, the controller determines that the material handling vehicle is moving; and wherein if the vehicle speed is less than the predetermined threshold value, the controller determines that the material handling vehicle is stopped. ### Claim 9 A system for a remotely controllable material handling vehicle operable in a manual mode where an operator can maneuver the material handling vehicle normally and a travel request mode where the operator can remotely request the material handling vehicle to move forward, the system comprising: a controller comprising a processor and a memory; a remote control device in communication with the controller; the controller configured to: continuously receive vehicle condition data to be stored in the memory; receive a travel request from the remote control device; recall the stored vehicle condition data from the memory; and based on the stored vehicle condition data, command the material handling vehicle to move forward. ### Claim 10 (depends on 9) The system of claim 9, wherein the vehicle condition data is received via a process data object. ### Claim 11 (depends on 9) The system of claim 9, wherein the controller is further configured to: execute a continuous evaluation loop at predetermined discrete time intervals, the continuous evaluation loop including: evaluating the received vehicle condition data to determine a motion condition of the material handling vehicle; and storing the motion condition in the memory. ### Claim 12 (depends on 11) The system of claim 11, wherein the predetermined discrete time intervals are between about 20 milliseconds and about 1 second. ### Claim 13 (depends on 11) The system of claim 11, wherein the controller overwrites the previous vehicle condition data upon executing each continuous evaluation loop. ### Claim 14 (depends on 11) The system of claim 11, wherein the vehicle condition data includes at least a vehicle speed of the material handling vehicle. ### Claim 15 (depends on 14) The system of claim 14, wherein the determination of the motion condition includes comparing the vehicle speed to a predetermined threshold value. ### Claim 16 (depends on 15) The system of claim 15, wherein the predetermined threshold value is zero mph. ### Claim 17 (depends on 15) The system of claim 15, wherein if the vehicle speed is greater than the predetermined threshold value, the controller determines that the material handling vehicle is moving; and wherein if the vehicle speed is less than the predetermined threshold value, the controller determines that the material handling vehicle is stopped. ### Claim 18 A method for remotely operating a material handling vehicle in a travel request mode, the method comprising: receiving a travel request from a remote control device in communication with the material handling vehicle; recalling at least one previously evaluated vehicle condition to determine if the at least one vehicle condition is appropriate for moving the material handling vehicle forward; and upon the determination that the at least one vehicle condition is appropriate, commanding the material handling vehicle to move forward. ### Claim 19 (depends on 18) The method of claim 18, further comprising executing a continuous evaluation loop at predetermined discrete time intervals, wherein the continuous evaluation loop includes: receiving vehicle condition data; storing the vehicle condition data in a memory; evaluating the vehicle condition data to determine a vehicle condition of the material handling vehicle; and storing the vehicle condition in the memory. ### Claim 20 (depends on 19) The method of claim 19, further comprising overwriting the previous vehicle condition data upon executing each continuous evaluation loop.