Object tracking and steer maneuvers for materials handling vehicles
AssigneeCrown Equipment Corporation
InventorsAnthony T. Castaneda, William W. McCroskey, Mark E. Schumacher, Vernon W. Siefring, Timothy A. Wellman
Life of this patent
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Abstract
A materials handling vehicle automatically implements steer maneuvers when objects enter one or more zones proximate the vehicle, wherein the zones are monitored by a controller associated with the vehicle. The controller tracks objects in the zones via sensor data obtained from at least one obstacle sensor located on the vehicle and via dead reckoning. The objects are tracked by the controller until they are no longer in an environment proximate the vehicle. Different zones result in different steer maneuvers being implemented by the controller.
Claims37
A method for tracking objects detected by at least one sensing device on a materials handling vehicle, the method comprising:
- receiving sensor data from at least one sensing device by a controller on a materials handling vehicle, wherein the sensor data comprises:
- data representative of whether an object is detected in a scanned zone that is scanned by the at least one sensing device, the scanned zone being a part of an environment in which objects are tracked;
- and
- data representative of a lateral distance that any detected objects are from a reference coordinate associated with the vehicle;
- wherein each detected object is tracked until the object is no longer located in the environment by:
- assigning the object to at least one bucket defined within the scanned zone by the at least one sensing device;
- and
- using at least one of subsequent sensor data and dead reckoning to re-assign the object to adjacent buckets and to determine an updated lateral distance that the object is from the reference coordinate as the vehicle moves;
- and
- wherein the controller automatically implements a steer correction maneuver if a tracked object enters a steer away zone defined within the environment.
A materials handling vehicle having detection zone control comprising:
- a power unit for driving the vehicle;
- at least one contactless obstacle sensor on the vehicle that is operable to scan a scanned zone within an environment proximate to the vehicle, the environment comprising the scanned zone and a history zone;
- and
- a controller configured to receive information obtained from the at least one obstacle sensor and to define at least two zones within the environment based on the received information, the at least two zones comprising at least one stop zone and at least one steer away zone, wherein the controller:
- performs a stop action to bring the vehicle to a stop if an object is detected in the at least one stop zone;
- performs a steer maneuver to steer the vehicle away from an object detected in the at least one steer away zone;
- and
- tracks objects determined to be in the history zone until such objects are no longer in the environment.
A multiple detection zone control system for a materials handling vehicle comprising:
- at least one contactless obstacle sensor on the vehicle that is operable to scan a scanned zone within an environment proximate to the vehicle, the environment comprising the scanned zone and a history zone;
- and
- a controller configured to receive information obtained from the at least one obstacle sensor and to define at least two zones within the environment based on the received information, the at least two zones comprising at least one stop zone and at least one steer away zone, wherein the controller:
- performs a stop action to bring the vehicle to a stop if an object is detected in the at least one stop zone;
- performs a steer maneuver to steer the vehicle away from an object detected in the at least one steer away zone;
- and
- tracks objects determined to be in the history zone until such objects are no longer in the environment.
Dependencies are inferred from the claim text.