SYSTEMS AND METHODS OF ASSISTANCE FOR A MATERIAL HANDLING VEHICLE

Abstract

The systems and methods provide assistance to a material handling vehicle operator. A training reinforcement assistance device has a frame that supports an optical system; the optical system is configured to display virtual content on a screen and to allow the viewing of at least a portion of a surrounding environment; an imager operatively coupled with the frame; an accelerometer operatively coupled with the frame and configured to detect a frame orientation; an eye-tracking unit operatively coupled with the frame and configured to detect an operator's viewing direction; and a controller operatively coupled with the imager and the screen.The controller receives environmental information from at least one of the image generator, accelerometer, or eye-tracking unit and overlays the environmental image to help the operator maneuver a material handling vehicle based on the kinematics of the material handling vehicle.

Description

SYSTEMS AND METHODS OF ASSISTANCE FOR A MATERIAL HANDLING VEHICLE CROSS REFERENCES TO RELATED APPLICATIONS This application is based on, claims priority to, and incorporates herein by reference in its entirety, United States Provisional Patent Application No. 63 / 156,505, filed on March 4, 2021, and entitled “Assistance Systems and Methods for a Material Handling Vehicle. STATEMENT REGARDING FEDERALLY SPONSORED INVESTIGATION Not applicable. BACKGROUND Material handling vehicles have been developed to transport goods loaded onto generally standardized transport platforms. For example, forklifts are often used to lift goods loaded onto a pallet. The pallet often has uprights connected to a top, thus defining a channel. Certain forklifts are configured to approach pallets and insert a two-pronged fork into the channel between the upright and under the top. The pallet and the goods on it can then be lifted with the forks. The pallet and the goods on it together can be referred to as a load. For certain types of vehicles, there are training requirements mandated by various government agencies, laws, standards, and regulations. For example, the Occupational Safety and Health Administration (OSHA) of the U.S. Department of Labor requires employers to train and supervise operators of various types of material handling vehicles. Recertification is also required every three years. In certain cases, the operator will be provided with refresher training on relevant topics as needed. In all cases, the operator maintains control of the material handling vehicle while performing any operation. Additionally, a warehouse manager maintains control of the fleet of material handling vehicles within the warehouse environment.The training of operators and the supervision that warehouse managers must provide requires, among other things, proper operating practices that include, among other things, an operator maintaining control of the material handling vehicle, paying attention to the operating environment and always looking in the direction of travel. BRIEF COMPENDIUM This description refers in general to feedback ML / t / ZUZZ / UÓOÓDÓ augmented vehicle and, more specifically, augmented reality systems and methods for use in conjunction with a material handling vehicle operated in a warehouse environment. In one aspect, the present disclosure provides a system comprising a training reinforcement assistance device having a frame supporting an optical system, wherein the optical system is configured to display virtual content on a screen, and to enable the viewing of at least a portion of a surrounding environment; an imager operatively coupled with the frame and configured to produce an image of an imager environment; an accelerometer operatively coupled with the frame and configured to detect an orientation of the frame; an eye-tracking unit operatively coupled with the frame and configured to detect a viewing direction of an operator; and a controller operatively coupled with the imager and the screen;wherein the controller is configured to receive environmental information from at least one of the following: the imager, the accelerometer, or the eye-tracking unit, and to overlay the image of the environment to assist the operator in maneuvering a material handling vehicle based on the kinematics of the material handling vehicle within the operator's line of sight through the optical system. In another aspect, the present description provides a system for providing a superimposed image to a material handling vehicle operator via an optical system, the system comprising a training reinforcement assistance device having a frame supporting an image generator and a display, the display being operatively coupled with the optical system; a controller coupled with the frame; a control unit operatively coupled with the material handling vehicle and communicatively coupled with the controller; and a first reference marker placed on the material handling vehicle, the image generator being configured to detect the reference marker to orient the frame relative to the material handling vehicle; wherein the display is configured to generate an image based on the location of the frame and at least one kinematic of the vehicle. In another aspect, the present disclosure provides a system comprising a training reinforcement assistance device having a frame supporting an optical system, wherein the optical system is configured to display virtual content and enable the viewing of at least a portion of a surrounding environment; an eye-tracking unit operatively coupled with the frame and configured to detect an operator's viewing direction; and a controller operatively coupled with the image generator and display; wherein the controller is configured to calculate a position of the image provided by the optical system based on an operator's gaze axis, the image being configured to provide assistance in the operation of a material handling vehicle. In another aspect, the present description provides a system for providing a calculated route for a material handling vehicle operator via an optical system, the system comprising a training reinforcement assistance device having a frame supporting an imager and a display, the display being operatively coupled with the optical system; a controller coupled with the frame; a control unit operatively coupled with the material handling vehicle and with the controller; an imager operatively coupled with the frame and configured to produce an image of an imager environment; and an accelerometer operatively coupled with the frame and configured to detect an orientation of the frame;where the controller is configured to receive environmental information from at least one of the imagers and the accelerometer, and to identify a load position and plan a path and execute steering commands for the material handling vehicle while the operator controls the accelerator commands. In another aspect, the present disclosure provides a system comprising a training reinforcement assistance device having a frame supporting an optical system, wherein the optical system is configured to display virtual content on a screen, and to enable the viewing of at least a portion of a surrounding environment; an imager operatively coupled with the frame and configured to produce an image of an imager environment; an accelerometer operatively coupled with the frame and configured to detect an orientation of the frame; an eye-tracking unit operatively coupled with the frame and configured to detect a viewing direction of an operator; and a controller operatively coupled with the imager and the screen;where the controller is configured to receive environmental information from at least one of the imagers, the accelerometer, or the eye-tracking unit, and overlay the image of the environment to assist the operator in maneuvering a material handling vehicle based on the kinematics of the material handling vehicle within the operator's line of sight through the optical system. The material handling vehicle includes at least one fork, and the image is positioned on the at least one fork as perceived through the optical system. In another aspect, this disclosure provides a system comprising a material handling vehicle, a training reinforcement assistance device having a frame that supports an optical system. The optical system is configured to display virtual content and enable the visualization of at least a portion of a surrounding environment. The system further includes an image generator operatively coupled with the frame and configured to produce an image superimposed on at least the portion of the surrounding environment, and a controller operatively coupled with the image generator and the optical system. The controller is configured to calculate a position for the superimposed image based on the location of the frame within the material handling vehicle. The superimposed image includes a pivot point defined by the material handling vehicle. The foregoing and other aspects and advantages of the disclosure will become apparent from the following description. The description refers to the accompanying drawings, which form part of it and which illustrate a preferred configuration of the description. However, such a configuration does not necessarily represent the full scope of the disclosure, and therefore reference is made to the claims and herein to interpret the scope of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood, and its features, aspects, and advantages, distinct from those previously described, will become apparent when the following detailed description is considered. This detailed description refers to the following drawings. Fig. 1 is a side perspective view of a material handling vehicle (MHV) according to aspects of this disclosure. Fig. 2 is a plan view of the MHV and a training reinforcement assistance device, according to aspects of the present description. Fig. 3 is a side perspective view of the training booster assist device of Fig. 2. Fig. 4 is a block diagram of the training booster assist device and the MHV of Fig. 2. Fig. 5 is a side view of an MHV and a training booster assist device, in accordance with aspects of this disclosure. Fig. 6 is a block diagram illustrating a training reinforcement assistance device, an MHV, and a remote computer communicatively coupled to each other, in accordance with some aspects of this disclosure. Fig. 7 is a side perspective view of an MHV and an example superimposed image generated by the training booster assistance device, in accordance with some aspect of the present description. Fig. 8 is a side perspective view of an MHV and an example superimposed image generated by the training booster assistance device in the form of a plurality of location lines, in accordance with some aspect of the present disclosure. Fig. 9 is a side perspective view of an MHV and an example overlay image generated by the training booster assistance device extending rearward from the MHV, according to some aspect of this disclosure. Fig. 10 is a side perspective view of the MHV and an example superimposed image generated by the training booster assistance device in the form of a plurality of location lines extending backward from the MHV, according to some aspect of the present description. Fig. 11 is a side perspective view of an MHV with an image superimposed in front of the MHV and a storage rack adjacent to the MHV, according to some aspects of this disclosure. Fig. 12 is a top view of the MHV and the superimposed image of Fig. 11, according to some aspects of the present description. Fig. 13 is a top view of an MHV near a storage rack, according to some aspects of this disclosure. Fig. 14 is a top view of the MHV in front of the storage rack of Fig. 13, according to some aspects of this disclosure. Fig. 15 is a top view of an MHV near a storage rack with an overlaid image of a planned unloading location, in accordance with some aspects of this disclosure. Fig. 16 is a top view of the MHV in front of the storage rack of Fig. 15, according to some aspects of this disclosure. Fig. 17 is a top view of the MHV approaching a storage rack, according to some aspects of this disclosure. Fig. 18 is a top view of an MHV adjacent to an opening in a storage rack, according to some aspects of this disclosure. Fig. 19 is a front perspective view of an MHV and a pallet highlighted on a storage rack, according to some aspects of this disclosure. Fig. 20 is an illustrated example of a movement pattern that an MHV may take to approach a pallet on a storage rack, in accordance with some aspects of this disclosure. Figure 21 is an illustrated example of another movement pattern that an MHV may take to approach a pallet on a storage rack, in accordance with some aspects of this disclosure. Fig. 22 is an illustrated example of yet another movement pattern that an MHV may take to approach a pallet on a storage rack, in accordance with some aspects of this disclosure. DETAILED DESCRIPTION Before explaining any aspect of the invention in detail, it should be understood that the invention is not limited in its application to the construction details and arrangement of components set forth in the following description or illustrated in the following drawings. The invention is susceptible to other aspects and may be practiced or carried out in various ways. Furthermore, it should be understood that the phraseology and terminology used herein are for descriptive purposes and should not be considered limiting. The use of "including," "comprising," or "having" and variations thereof herein is intended to encompass the elements listed below and their equivalents, as well as additional elements. Unless otherwise specified or limited, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.Furthermore, connected and coupled are not limited to physical or mechanical connections or couplings. The following discussion is presented to enable a person skilled in the art to make and use embodiments of the invention. Several modifications to the illustrated embodiments will be readily apparent to those skilled in the art, and the generic principles herein may be applied to other embodiments and applications without departing from the embodiments of the invention. Therefore, the embodiments of the invention are not intended to be limited to the embodiments shown, but should be given the widest possible scope in accordance with the principles and features described herein. The following detailed description should be read with reference to the figures, in which similar elements in different figures have similar reference numbers. The figures, which are not necessarily to scale, represent selected embodiments and are not intended to limit the scope of the embodiments of the invention.Those skilled in the art will recognize that the examples provided here have many useful alternatives and fall within the scope of the modalities of the invention. It should also be appreciated that material handling vehicles (MHVs) are designed in a variety of classes and configurations to perform a variety of tasks. It will be evident to those skilled in the art that the present description is not limited to any specific MHV and can also be provided with several other types, classes, and configurations of MHVs, including, for example, forklifts, pallet trucks, reach trucks, SWING REACH® vehicles, turret trucks, side-loading trucks, counterbalance forklifts, pallet stackers, order pickers, transport stackers or transtackers, and man-on trucks, and can be commonly found in warehouses, factories, shipping yards, and, in general, wherever the transport of pallets, large packages, or loads of goods from one place to another may be required.The various systems and methods described here are suitable for any material handling vehicle controlled by an operator, controlled by a pedestrian, remotely controlled, and autonomously controlled. Figure 1 illustrates an MHV 10 (shown here as a reach truck) comprising a body 12 having a plurality of wheels 14 and defining an operator compartment 16 including one or more controls and / or displays. The body 12 may accommodate a battery 18 or other power source and may house one or more motors. The MHV 10 includes a mast 20 attached to the body 12 for raising and lowering a fork assembly 22 (or, in other embodiments, a platform, an operator cab, or other assemblies). That is, the mast 20 may be in the form of a telescopic mast with the fork assembly 22 attached to it so that the fork assembly 22 can be selectively raised and lowered by means of the mast 20. The fork assembly 22 may include one or more forks 24 for engaging a pallet or other load and a support assembly 26. The illustrated fork assembly 22 may include a pair of forks 24.In several examples, the fork assembly 22 can be coupled to the mast 20 by means of a reach actuator 28. As illustrated in fig. 2. The MHV 10 can be operated by an operator 30, who may be secured by a safety harness 32, and may be able to pick up, place, carry, or otherwise handle a load 34, possibly including a pallet 36. In several examples, the operator 30 controls the MHV 10 so that the forks 24 of the fork assembly 22 engage with the pallet 36 carrying a load 34. By doing so, the operator 30 can extend or retract the reach actuator 28 to pick up, place, engage, or otherwise handle the load 34. That is, the reach actuator 28 can be configured to extend the fork assembly 22 away from the mast 20 and retract the fork assembly 22 toward the mast 20. Furthermore, the fork assembly 22, and therefore the load 34, can be raised or lowered by the mast 20.Once load 34 is positioned on the fork assembly 22, the operator 30 can move load 34 to another location as needed. In certain configurations, a human operator 30 can be replaced by an automated controller to comprise a fully automated system (i.e., an autonomously guided material handling vehicle). In general, a training reinforcement assistance device communicates with a material handling vehicle to form a driver training reinforcement assistance system. In some examples, the MHV 10 communicates with a training reinforcement assistance device 38 to form a driver training reinforcement assistance system 41 (see, for example, figs. 2-4) for the MHV 10 operator 30. For example, in several instances, the training reinforcement assistance device 38 can be configured as a head-mounted device, a head-up device, a wearable device that can be worn under or over clothing, and / or integrated into eyeglasses.In examples where the training reinforcement assist device 38 is configured as a wearable device, the wearable device may include an image display 74 positioned sufficiently close to an operator's eye 30 so that a displayed image fills or nearly fills a field of view associated with that eye and appears as a normal-sized image, as it might be displayed on a traditional screen. The relevant technology may be referred to as near-eye displays. The training reinforcement assist device 38 may be configured as, for example, goggles, safety glasses, a helmet, a hat, a visor, a headband, or in some other form that can be worn on or off the operator's head 30. The training reinforcement assist device 38 may also be configured to display images to both of the operator's eyes 30.Alternatively, the 38 training booster assistance device can display images to a single eye, either a left eye or a right eye. In some examples, such as those illustrated in Figs. 3 and 4, the training reinforcement assistance device 38 may include several different components and subsystems that can be supported by a frame 40. For example, the components coupled to or included in the training reinforcement assistance device 38 may include an eye-tracking system 42, a localization system 44, an optical system 46, a power supply 48, a controller 50, an operator interface 51, a wireless transceiver 52, and / or one or more peripherals, such as various additional sensors 54, a speaker, or a microphone. The components of the training reinforcement assistance device 38 may be configured to operate in an interconnected manner with each other and / or with other components coupled to the respective systems.For example, the power supply 48 can provide power to all components of the training booster assist device 38 and can include, for example, a rechargeable lithium-ion battery. Additionally and / or alternatively, the power supply 48 can be remotely controlled from the training booster assist device 38. For example, the training booster assist device 38 can be powered by the vehicle's battery instead of having its own power supply. The controller 50 can receive information from and control the eye-tracking system 42, the localization system 44, the optical system 46, and any of the peripherals. The controller 50 includes a processor 56 that can be configured to execute operating routines 59 stored in a memory 60. The controller 50 includes any combination of software and / or processing circuitry suitable for controlling various components of the training reinforcement assistance device 38 described herein, including, but not limited to, processors, microcontrollers, application-specific integrated circuits, programmable gate assemblies, and any other digital and / or analog components, as well as combinations thereof, along with inputs and outputs for processing control signals, drive signals, power signals, sensor signals, etc.All these computing devices and environments are intended to fall within the meaning of the term controller or processor as used herein, unless a different meaning is explicitly provided or is clear from the context. The eye-tracking system 42 may include hardware such as a camera 62 and at least one light source 64. The camera 62 may be used by the eye-tracking system 42 to capture images of the operator's eye 30. The images may include either video or still images. The images obtained by the camera 62 with respect to the operator's eye 30 may help determine where the operator 30 is looking within the field of view of the training reinforcement assistance device 38, for example, by determining the location of the operator's pupil 30. The camera 62 may include a visible light camera with detection capabilities at infrared wavelengths. The light source 64 may include one or more infrared light-emitting diodes or infrared laser diodes that can illuminate a viewing location, i.e., an eye of the operator 30. Thus, one or both eyes of an operator 30 of the training reinforcement assistance device 38 may be illuminated by the light source 64. The light source 64 may illuminate the viewing location continuously or may be switched on at discrete periods. In addition to the instructions that the processor 56 can execute, memory 60 can store data that may include a set of calibrated positions of the operator's pupil and a collection of past pupil positions. Thus, memory 60 can function as a database of information related to gaze direction. The calibrated positions of the operator's pupil may include, for example, information about the extent or range of pupil movement (right / left and up / down), and the relative position of the operator's eyes 30 with respect to the training reinforcement assist device 38. For example, the relative position of the center and corners of a training reinforcement assist device with respect to a gaze direction or gaze angle of the operator's pupil 30 can be stored.In addition, the locations or coordinates of the start and end points, or waypoints, of the path of a moving object shown on the training reinforcement assistance device 38, or of a static path (e.g., semicircle, Z-shaped, etc.) can be stored in memory 60. The location system 44 may include a gyroscope 66, a global positioning system (GPS) 68, an accelerometer 70, an imager 72, and / or any other practical device for determining a location. The location system 44 may be configured to provide position and orientation information from the training reinforcement assistance device 38 to the processor 56. The gyroscope 66 may include, as examples, a microelectromechanical system (MEMS) gyroscope or a fiber optic gyroscope. The gyroscope 66 may be configured to provide orientation information to the processor 56. The GPS unit 68 may include a receiver that obtains clock and other signals from GPS satellites and may be configured to provide real-time location information to the processor 56.The localization system 44 may also include an accelerometer 70 configured to provide motion input data to the processor 56. In some examples, the image generators 72 and / or cameras 62 described herein may include an area-type image sensor, such as a CCD or CMOS image sensor, and an image capture lens that captures an image of a field of view defined by the image capture lens. In some cases, successive images may be captured to create a video. In several examples, the images produced by the imager 72 can be used to monitor the environment surrounding the operator 30 and / or track any reference markers 78, which can be defined as a visual marker placed at a predefined location. In some examples, the reference markers 78 are placed on various parts of the MHV 10. During operation, one or more of the reference markers 78 may be within the imager's field of view. Based on which reference markers 78 are within the imager's field of view, the controller 50 may be able to determine the location and / or orientation of the training reinforcement assistance device 38 and, consequently, the operator 30 relative to defined locations on the MHV 10.In some examples, in addition to or instead of predefined reference markers 78, the images or videos produced by the image generator 72 can be defined in reference to a visual map of a facility to locate the position of the training booster assistance device 38. The optical system 46 may include components configured to provide images to a viewing location, i.e., one of the operator's eyes 30. The components may include a display 74 and optics 76. These components may be optically and / or electrically coupled to each other and may be configured to provide visible images at a viewing location. One or two optical systems 46 may be provided in the training reinforcement assistance device 38. In other words, the operator 30 may view images in one or both eyes, as provided by one or more optical systems 46. In addition, the optical system(s) 46 may include an opaque and / or transparent display coupled to the display 74, which may allow a view of the real-world environment while providing virtual or superimposed overlay images.In some examples, the transparent screen is formed in the lenses of the training reinforcement assistance device 38. The camera 62 coupled to the eye tracking system 42 can be integrated into the optical system 46. The training reinforcement assistance device 38 may further include the operator interface 51 to provide information to or receive information from the operator 30. The operator interface 51 may be associated, for example, with displayed images, a touch panel, a keyboard, buttons, a microphone, and / or other peripheral input devices. The controller 50 may control the functions of the training reinforcement assistance device 38 based on input received through the operator interface 51. For example, the controller 50 may use operator input from the operator interface 51 to control how the training reinforcement assistance device 38 can display images within a field of view or may determine which images the training reinforcement assistance device 38 can display. With further reference to Fig. 4, in some examples, the training reinforcement assistance device 38 can communicate with the MHV 10 via wired and / or wireless communication through the corresponding transceivers 52 and 80. Communication can occur through one or more of any desired combination of wired (e.g., cable and fiber) and / or wireless communication protocols and any desired network topology (or topologies when multiple communication mechanisms are used). Examples of wireless communication networks include a Bluetooth module, a Zigbee transceiver, a Wi-Fi transceiver, an IrDA transceiver, an RFID transceiver, etc., local area networks (LANs), and / or wide area networks (WANs), including the Internet, cellular, satellite, microwave, and radio frequency, providing data communication services. The MHV transceiver 80 can also communicate with an MHV 10 control unit 82. The control unit 82 is configured with a processor 84 and / or analog and / or digital circuitry to process one or more operating routines 86 stored in a memory 88. Information from the training booster assist device 38 or other MHV 10 components can be supplied to the control unit 82 via an MHV 10 communication network, which may include a controller area network (CAN), a local interconnect network (LIN), or other protocols. It should be noted that the control unit 82 can be a dedicated standalone controller or a shared controller integrated with the training booster assist device 38 or another MHV 10 component, as well as any other conceivable onboard or offboard vehicle control systems. With reference to the MHV 10 mode shown in Fig. 4, additional vehicle-related information can be provided to the control unit 82 by means of a positioning device 90, such as a global positioning system (GPS) located in the MHV 10 and / or the GPS 68 in the training booster assistance device 38. In addition, the control unit 82 can communicate with a commercial system 92 that includes one or more gyroscopes 94 and / or accelerometers 96 to measure the position, orientation, direction and / or speed of the MHV 10. In some cases, the MHV 10 control unit 82 can be further configured to communicate with a variety of vehicle equipment. For example, the MHV 10 control unit 82 can be coupled with an MHV 10 steering system 98 to operate the MHV 10 steering wheels 14. The steering system 98 may include a steering angle sensor 100. In some embodiments, the MHV 10 steering wheel 58 can be mechanically coupled to the MHV 10 steering wheels 14 so that the steering wheel 58 moves together with the steering wheels 14 via an internal torque or linkage. In such cases, the steering system 98 may include a torque sensor 102 that detects torque (e.g., grip and / or rotation) on the steering wheel 58, indicating manual intervention by the operator 30. The MHV 10 control unit 82 can also communicate with the MHV 10 vehicle brake control system 104 to receive vehicle speed information, such as the speeds of the MHV 10's individual wheels. Additionally or alternatively, vehicle speed information can be provided to the control unit 82 by a propulsion drive system 106 and / or a vehicle speed sensor 134, among other conceivable techniques. The propulsion drive system 106 can provide motive force to move the MHV 10 in a designated direction of travel at a controlled speed. The MHV 10 may also include a work element system 108 that manipulates a work element or function, such as the fork assembly 22 typically illustrated in Figure 1. In several examples, the work element system 108 may send command signals to control a hoist motor connected to a hydraulic circuit, forming a hoist assembly for raising, lowering, or otherwise manipulating the work element. In some examples, a position sensor provides a signal to the control unit 82 indicating the height of the work element. Similarly, a weight sensor may be provided on the work element. A load presence sensor, such as a radio-frequency identification (RFID) tag reader or a barcode reader, for example, may also be mounted on the MHV 10 to identify the goods being transported.In some examples, the work element system 108 may manipulate and / or include the reach actuator 28, a hoist motor and / or a mast tilt actuator. Through interaction with the steering system 98, the vehicle brake control system 104, the propulsion drive system 106, and / or the work element system 108, various kinematic and positional data of the MHV 10 and / or the work element can be determined. Using this various kinematic and positional data, the operator 30 of the training reinforcement assistance device 38 simultaneously observes the surrounding environment with a superimposed image produced by the optical system 46. The controller 50 of the training reinforcement assistance device 38 and / or the control unit 82 of the MHV 10 can use data from various components described herein to determine a superimposed, or virtual, image displayed for the operator 30 to view. The superimposed, or virtual, image can be overlaid at a discrete position to assist the operator 30 in manipulating the MHV 10 and / or a work element of the MHV 10.For example, the virtual image may be a cross positioned between two arms of the forks 24 (see, for example, Fig. 11) and / or positioned on at least one fork 24 as perceived through the optical system 46. In such examples, as the operator 30 moves, the localization system 44 of the training reinforcement assistance device 38 can recalibrate a position of the virtual image to dynamically update the image position based on the updated data. Similarly, the eye-tracking system 42 can track an eye or the pupil of the operator 30's eye. As the eye or pupil of the operator 30's eye moves, the eye-tracking system 42 can follow a trajectory associated with the movement of the eye or pupil.Controller 50 can receive information associated with the trajectory of eye movement from the eye-tracking system 42 and update the location of the virtual image based on the direction of the operator's eye. In several instances, the placement of eyeglasses, including the training reinforcement assist device 38, on the operator 30's ears and nose may differ slightly each time the operator 30 uses the training reinforcement assist device 38 after removing it. The relative location of the eye with respect to a camera 62 coupled to the eye-tracking system 42, or the relative location of a gaze axis associated with the eye with respect to a reference axis associated with the training reinforcement assist device 38, for example, may vary. Therefore, to calibrate the eye-tracking system 42, the controller 50 may initiate calibration procedures. Furthermore, while in use, the imager 72 on the training booster assistance device 38 can be used to identify conditions in a warehouse, such as approaching an intersection, driving near pedestrians, and approaching other vehicles 10. Such conditions can be stored by the system, and various data mining techniques, such as machine learning, can analyze them. Sensors, such as the imager 72 and the eye-tracking system 42, can confirm that the operator 30 exhibits specific activities within these conditions, such as making eye contact with pedestrians and looking both ways before entering an intersection. The system 41 can combine data from the MHV 10 and the training booster assistance device 38 to determine instances where the operator 30 is not looking in the direction of travel.For example, if MHV 10 reports that it has driven more than a certain distance and eye-tracking system 42 confirms that operator 30 is not looking in the direction of travel as determined by visual positioning (e.g., by inferring camera 62 movement based on the movement of tracked pixels in the scene, or by referencing information from a vehicle tracking system such as a real-time location system (RTLS)), system 41 can determine that operator 30 is not looking in the direction of travel. Alternatively, this type of determination can be made locally on the training booster assist device 38 simply by comparing vehicle data with visual positioning data provided by the training booster assist device 38.In some examples, system 41 can also check if operator 30 has come to a complete stop at an intersection and sounded the horn when appropriate, verifying that the vehicle's speed comes to zero at the intersection and that the horn button is pressed at least once. In some cases, the use of the training reinforcement assistance device 38 provided here can encourage operator 30 to continue developing the required operating habits of the MHV 10, which can be reinforced even after the formal training period is completed and throughout the warehouse, rather than only in areas where warehouse managers can observe the use of the MHV 10. Furthermore, the training reinforcement assistance device 38 can identify certain activities and bring them to the attention of operator 30 and / or the warehouse manager. Therefore, it is conceivable that operators 30 will mitigate certain activities since they know others are monitoring their actions. For this purpose, warehouse managers can see a representative sample of operator behavior in the warehouse. In this way, the training reinforcement assistance device 38 can serve as an indicator to identify activities before an event occurs. According to some examples, the control unit 82 can communicate with a vehicle indication system 110, which can generate visual, auditory, and tactile indications if certain conditions are met. For example, one or more light sources in the MHV 10 and / or the training reinforcement assistance device 38 can provide a visual indication, and a vehicle horn and / or a loudspeaker can provide an audible indication. Additionally, the MHV 10 and / or the training reinforcement assistance device 38 can provide haptic or tactile feedback for ML / t / ZUZZ / UÓOÓDÓ indicate to operator 30 that certain conditions have been determined. In some examples, such as those illustrated in Figs. 4 and 5, in addition to the display 74 on the training booster assist device 38 and / or instead of the display 74 of the training booster assist device 38, the MHV 10 may include a head-up display 112 (see Fig. 5). The head-up display 112 can be configured as a head-up display, a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, a flat panel display, a solid-state display, a light-emitting diode (LED) display, an incandescent bulb, or any other type of display. The head-up display 112 can be positioned between the operator 30 and the working element (e.g., the fork assembly 22, the reach actuator 28, the mast 20, etc.) and provides superimposed images based on the various conditions provided herein. In some cases, the head-up display 112 may be part of a vehicle human-machine interface (HMI) 114 or a standalone display and may be configured as a head-up display 112 that can be used to project information into view through a vehicle window 116, so that the superimposed image may appear to be located in front of the vehicle window 116. Consequently, with the head-up display 112, virtual images can be generated to assist an MHV operator 30. In several examples, the head-up display 112 may be configured to project an image from a projector 118 onto the window 116, which serves as a reflecting surface and reflects the projected image to a viewer.Alternatively, the head-up display 112 can use a separate combiner screen disposed between the operator 30 and a windscreen or mast guard of the MHV 10, wherein the combiner screen serves as a reflecting surface and reflects the image generated by the projector 118 to the operator 30, who perceives the superimposed image behind the combiner screen, as he sees it, usually also behind the windscreen or mast guard, which is disposed behind the combiner screen, as a superimposed image. In cases where a head-up display 112 is implemented, the training reinforcement assistance device 38 can continue to provide instructions for the head-up display 112. Additionally or alternatively, various features of the training reinforcement assistance device 38 can be incorporated into the MHV 10 to detect various operator conditions 30. For example, the eye-tracking system 42 can be integrated into the MHV 10, and the virtual images provided by the head-up display 112 can be updated based on information received from the eye-tracking system 42. With reference to Fig. 6, in some examples, the MHV 10, the training reinforcement assistance device 38, and / or a remote computer 120 can be communicatively coupled with one or more remote sites, such as a remote server 122, via a network / cloud 124. The network / cloud 124 represents one or more systems through which the MHV 10, the training reinforcement assistance device 38, and / or the remote computer 120 can communicate with the remote server 122. Accordingly, the network / cloud 124 can be one or more of several wired or wireless communication mechanisms, including any desired combination of wired and / or wireless communication mechanisms and any desired network topology (or topologies when multiple communication mechanisms are used). Exemplary communication networks 124 include wireless communication networks (e.g., using Bluetooth, IEEE 802.11, etc.).Local area networks (LANs) and / or wide area networks (WANs), including cellular networks, satellite networks, microwave networks, radio frequency networks, the Internet, and the Web, can provide data communication and / or cloud computing services. The Internet is generally a global data communications system, a hardware and software infrastructure that provides connectivity between computers. In contrast, the Web is generally one of the services delivered via the Internet. The Web is generally a collection of interconnected documents and other resources, linked by hyperlinks and URLs. In many technical illustrations, when depicting the precise location or interrelationship of Internet resources, extended networks like the Internet are often represented as a cloud (e.g., 124 in Fig. 6). This verbal image has been formalized in the new concept of cloud computing.The National Institute of Standards and Technology (NIST) defines cloud computing as “a model for enabling convenient, on-demand network access to a shared pool of configurable computing resources (e.g., networks, servers, storage, applications, and services) that can be rapidly provisioned and released with minimal management effort or service provider interaction.” While the Internet, the Web, and cloud computing are not exactly the same thing, these terms are generally used interchangeably here and may be collectively referred to as network / cloud 124. Server 122 may be one or more computer servers, each of which may include at least one processor and at least one memory, the memory being that stores instructions executable by the processor, including instructions for carrying out various steps and processes. Server 122 may include or be communicatively coupled to a data store 126 for storing collected data, as well as instructions for operating the MHV 10, the control unit 82, the training booster assistance device 38, the controller 50 of the training booster assistance device 38, etc., which may be directed and / or implemented by the MHV 10 and / or the training booster assistance device 38 with or without the intervention of an operator 30 and / or the remote computer 120. In some examples, instructions can be entered via remote computer 120 and transmitted to server 122. These instructions can be stored on server 122 and / or in data store 126. At various predefined periods and / or times, the MHV 10 and / or training booster assistance device 38 can communicate with server 122 via network / cloud 124 to retrieve the stored instructions, if any. Upon receiving the stored instructions, the MHV 10 and / or training booster assistance device 38 can implement them. Server 122 can also store information related to multiple training booster assistance devices 38, MHV 10, routes, etc., and operate and / or provide instructions to the MHV 10 and / or training booster assistance device 38 along with the stored information, with or without intervention from an operator 30 and / or remote computer 120.Accordingly, in some examples, the operational routines 59 of the training booster assistance device 38 are contained within the network / cloud 124 and the training booster assistance device 38 is configured to transmit data to operate the training booster assistance device 38. In some examples, during a shift, the training reinforcement assistance device 38 is able to recognize tasks such as picking up and placing loads by monitoring sensors and equipment on the MHV 10. For example, the system 41 can determine that a load is being lifted from the floor after recording the following pattern: the MHV 10 has no weight on one or more forks 24, the forks 24 are placed near the floor, the forks 24 are raised, and the weight on the forks 24 increases. Similarly, the system 41 can determine that a load is being placed on a shelf after recording the following pattern: the MHV 10 has weight on one or more forks 24, the forks 24 are raised, the forks 24 are lowered, and the weight on one or more forks 24 decreases. By classifying each of these sensor patterns as events such as picking up a load from the floor and placing a load at height, the system 41 can combine combinations of events into tasks.For example, picking up the load from the floor followed by placing the load at height can constitute a single pallet 36 that is stored from a location on the floor. ML / up to the shelf. Alternatively, picking up the load from height followed by placing the load on the floor may constitute lowering a pallet 36 from the shelf. This data can be converted into productivity metrics and communicated to the server. With further reference to Fig. 6, the server 122 may also implement features that allow the MHV 10 and / or the training reinforcement assistance device 38 to communicate with cloud-based applications 128. Communications from the MHV 10 can be routed through the network / cloud 124 to the server 122 and / or cloud-based applications 128 with or without a network device 132, such as a router and / or modem. Furthermore, communications from cloud-based applications 128, although these communications may indicate one of the MHV 10 and / or the remote computer 120 as the intended recipient, may also be directed to the server 122. Cloud-based applications 128 are generally appropriate services or applications 128 that can be accessed through any part of the network / cloud 124 and that can interact with the MHV 10 and / or the remote computer 120. In several examples, the training booster assistance device 38 may have many features regarding communication capabilities, i.e., it may have integrated capabilities to access the network / cloud 124 and any of the cloud-based applications 128, or it may be loaded with, or programmed to have, such capabilities. The training booster assistance device 38 may also access any part of the network / cloud 124 through industry-standard wired or wireless access points, cellular cells, or network nodes. In some examples, operators 30 may register to use the remote server 122 through the training booster assistance device 38, which may provide access to the MHV 10 and / or the remote computer 120 and / or thus allow the server 122 to communicate directly or indirectly with the MHV 10 and / or the remote computer 120.In several cases, the MHV 10 and / or remote computer 120 may also communicate directly or indirectly with remote computer 120 or one of the cloud-based applications 128 in addition to communicating with or through server 122. According to some examples, the MHV 10 and / or remote computer 120 may be pre-configured at the time of manufacture with a communication address (e.g., a URL, an IP address, etc.) to communicate with server 122 and may or may not have the ability to update, change, or add to the pre-configured communication address. With reference to Fig. 6, when a new cloud-based application 128 is developed and introduced, the server 122 can be upgraded to receive communications for the new cloud-based application 128 and translate communications between the new protocol and the protocol used by the MHV 10 and / or the remote computer 120. The flexibility, scalability, and upgradeability of the current server technology make adding new cloud-based application protocols to the server 122 relatively quick and easy. Furthermore, in several instances, during use, various events and maneuvers of the MHV 10 by an operator 30 can be recorded and communicated to the server for data analysis and reporting. The connection to the MHV 10 can function as a communication bridge with these central servers and / or a telematics system. In several instances, the training reinforcement assistance device 38 can identify operators 30 through facial recognition, badge scanning, PIN number, or by communicating with the MHV 10 for login credentials. The use of the training reinforcement assistance device 38 can begin at the start of the shift. In some instances, the intelligence within the training reinforcement assistance device 38 can confirm that the operator 30 is reviewing and / or verifying certain items.For example, image generator 72 can confirm that operator 30 is looking at wheel 14 when answering questions about the wheel's condition. In some examples, the training booster assistance device 38 can also be used for performance monitoring, and it can enable passive performance monitoring without requiring any effort from the operator 30. This can improve accuracy and does not distract the operator 30 from productive activities. Furthermore, the training booster assistance device 38 can store images (or videos) from the image generator 72, and / or the images (or videos) can be sent to the cloud and stored on the server. The videos can provide a live feed or a recording of a previous task, which can offer insights into a task or maneuver of the MHV 10.The training reinforcement assistance device 38 can also assess how much time the operator 30 spends at each step of the load handling process (shifting, lifting, side-shifting forks 24, multiple fork alignment attempts 24, etc.) or any other relevant data. A warehouse manager can use this information to compare the operator 30 to their peers and identify which operators 30 might need additional training and in which areas. Furthermore, in several examples, the compiled data can be used to provide targeted training to operators to improve their skills. Engineering work standards can be created for each pallet movement, given the start and end locations, to normalize the varying level of effort required for each movement. The collected data and its analysis can provide a metric of operator performance while also capturing variable or random events during the operator's shift that affect productivity but are difficult to capture and quantify. For example, waiting at intersections, waiting for pedestrians, and waiting for other vehicles may occur during operation, but these can be considered non-value-added tasks that can be recorded and optimized. Referring to figures 7-10, as stated herein, reference markers 78 can be placed on the MHV 10. In some instances, the MHV 10 can communicate parameters about its geometry to the training booster assistance device 38, including reference markers 78 relative to the vehicle body 12. For example, in some cases, reference markers 78 can be configured as one or more barcodes that encode static geometry information of the vehicle and communicate it to the training booster assistance device 38. Furthermore, the use of one or more barcodes can encode a unique vehicle identification that can be cross-referenced in a database to search for relevant static vehicle information. In response, the MHV 10 can communicate its unique ID, steering angle, and speed to a central server.In some examples, anyone with a Training Booster Assist Device 38 can view the MHV 10, read its unique ID, and see its projected path superimposed on their view as oriented relative to that MHV 10. Furthermore, remote operators 30 can also connect to a specific combination of Training Booster Assist Device 38 and MHV 10 and remotely view the work environment from the Training Booster Assist Device 38 via the imager 72 and / or the superimposed image produced by the Training Booster Assist Device 38 and viewed by the operator 30 from the MHV 10. In some cases, the remote viewer can also alter various functions of the Training Booster Assist Device 38 and / or the MHV 10 via the remote computer 120. In some examples, the control unit 82 and / or the network / cloud 124 can communicate additional information about the MHV 10 to the controller 50 of the training booster assistance device 38, such as wheelbase, overall width, etc. The MHV 10 can also communicate kinematic information about the vehicle, such as steering angle or propulsion drive system conditions 106, to the controller 50. In response, the controller 50 can instruct the display 74 to provide a virtual image at a predefined location. The predefined location ML / can also consider the operator's pupil axis 30 as detected by the eye-tracking system 42. In some examples, the virtual image can be configured as an overlay presented to the operator 30 that includes static and / or dynamic location lines 130 to assist the operator 30 in maneuvering the MHV 10 to a target location. As the operator 30 turns the steering wheel, the steering angle sensor 100 can send steering wheel angle data to the control unit 82 and / or the controller 50. The controller 50 can analyze the data from the steering angle sensor 100, along with other vehicle data, including gear ratio, wheelbase size, wheel radius, and vehicle speed data, and calculate the size and direction of the static and / or dynamic location lines 130 to be displayed as an overlay on the screen 74.In some cases, the overlay image can be configured as one or more dynamic and / or static location lines 130. For example, location lines 130 include a first line 130a that is generally aligned with a central longitudinal axis of the MHV 10 (see, for example, Fig. 7). In these cases, when the MHV 10 includes forks 24 that extend in a direction parallel to the longitudinal axis, the first line 130a can be positioned between the forks 24. In some cases, location lines 130 can include the first line 130a and a pair of outer lines 130b that are generally aligned with an outer width 12 of the MHV 10 body (or a predefined distance from the outside of the body 12) (see, for example, Fig. 8). In general, the pair of outer lines 130b can define the same shape, direction, and length as the first line 130a. The dynamic location lines 130 shown can have a direction that can be determined in response to a change in the steering wheel angle and other vehicle data related to wheelbase, radius, and gear ratio. Each step in calculating the dynamic location lines 130 can depend on the turning radius and the current steering wheel angle of the MHV 10, so the geometric location lines 130 can change as the steering wheel angle changes. As the operator 30 turns the steering wheel, each step and direction the steering wheel moves can be reflected in the direction of the geometric location line as shown. Each time the steering angle changes, a replacement set of dynamic location lines 130 can be displayed.In this respect, the dynamic location lines 130 can display the actual trajectory of the MHV 10 so that the operator 30 can have an idea of ​​where the MHV 10 is heading when turning the steering wheel and approaching its intended destination. As used here, dynamic location lines mean that the geometric location lines 130 can be updated based on the vehicle's position and / or modified kinematics. As the steering wheel angle moves from a center position, not only can the direction of the 130 geometric locating lines be adjusted, but their length can also be adjusted accordingly. For example, when the steering wheel moves away from the center, the length of the locating lines may increase. As the steering wheel is turned toward the center, the length of the 130 geometric locating lines may decrease. The 130 dynamic locating lines have a maximum length at a steering wheel angle farther from the center and a minimum length at a steering wheel angle at the center. For each change in the steering wheel angle, the controller 50 can recalculate and display the dynamic location lines 130 at the adjusted angle and length. At a maximum angle, either to the left or right of center, the geometric location lines 130 can extend to a maximum length dimension. The dynamic location lines 130 can accurately provide the projected vehicle trajectory. The operator 30 can be given a real-time indication of where the MHV 10 is heading based on the steering wheel angle position and the vehicle's wheelbase information.The actual trajectory of the vehicle, as distinct from the trajectory of the vehicle towards a target, can provide the operator 30 with the ability to reach a desired location, knowing the direction in which the MHV 10 is heading by means of the location lines 130 shown on the screen 74, which can be provided as an overlay image 140. In several examples, one or more sensors of the MHV 10 can also detect additional factors, such as wheel slippage, tire wear, tire deformation, load and / or battery weight, tolerances in steering angle measurement, or vehicle maintenance or repair. Additional vehicle data can be manually entered to further update the location lines 130. In some examples, a first location line 130 can be projected onto the center of the vehicle's path via the training reinforcement assistance device 38 for the operator 30 to refer to (see, for example, Fig. 7).Additionally, and / or alternatively, a pair of location lines 130 can be provided on screen 74 as an overlay indicating the vehicle envelope path plus a margin that can be placed in actual space relative to the known geometry of the MHV 10 as communicated to the training booster assistance device 38 by reference markers 78 on the MHV 10. In several examples, the MHV 10 includes reference markers 78 arranged on the vehicle body 12 of the MHV 10. In the illustrated example, the reference markers 78 include four reference markers 78 arranged on the vehicle body 12. In other examples, the MHV 10 may include more or fewer than four reference markers 78. In the illustrated example, the reference markers 78 are arranged on a first surface or structure 79 of the vehicle body 12 facing the operator. That is, the reference markers 78 are arranged on a first operator-facing surface 79 of the vehicle body 12 that are visible to the camera 62 and / or the imager 72 when an operator's field of vision is directed in a first direction of travel or forward (e.g., a direction toward the forks 24). Referring to Figures 9 and 10, in some examples, the MHV 10 can operate in more than one direction. Furthermore, the turning characteristics of the MHV 10 in each operating direction can be known and predicted given the vehicle geometry, steering angle, and other kinematics. With this information, a turning radius for the MHV 10 can be determined and communicated to the operator to better understand the path the MHV 10 can take while operating in a first direction or in a second, opposite direction. Accordingly, the MHV 10 includes a reference marker 78 placed in various locations that allow the training booster assist device 38 to determine a direction relative to the MHV 10 based on the reference markers 78 recognized by the training booster assist device 38 via the imager 72.For example, the MHV 10 includes reference markers 78 arranged on the first operator-facing surface 79 (see, for example, Figs. 7 and 8), and includes additional reference markers 78 arranged on a second operator-facing surface or structure 81 of the vehicle body 12. The reference markers 78 arranged on the second operator-facing surface 81 are visible to the camera 62 and / or the imager 72 when an operator's field of vision is directed in a second or reverse direction of travel (for example, a direction away from the forks 24). Additionally and / or alternatively, the training booster assist device 38 may use any other component therein to determine a direction and position of the training booster assist device 38 relative to the MHV 10. Furthermore, the controller 50, the control unit 82 and / or a remote server may include machine learning algorithms that can be used to identify the position of the MHV 10 relative to the training booster assist device 38 based on inputs from the training booster assist device 38 and / or the MHV 10. Regardless of the direction of travel of the MHV, once the reference markers 78 have been located by the image generator 72 on the training booster assist device 38, the position of the training booster assist device 38 relative to the vehicle body 12 can be calculated so that the vehicle trajectory (i.e., the location lines 130) can be superimposed through the optical system 46 while considering various vehicle driving conditions such as steering angle, vehicle speed and direction, etc.As provided herein, the controller 50 of the training booster assistance device 38, the control unit 82 of the MHV 10, and / or a remote database can perform various calculations to determine the location lines 130 to project and transform the image 140 to provide the correct perspective for the operator 30 so that the operator 30 sees the projected location lines 130 where the MHV 10 is expected to go based on the current vehicle conditions and / or the operator's position. Therefore, operators 30 can see a projected trajectory of the MHV 10 as indicated by one or more location lines 130, which can assist in guiding the MHV 10 as the operator learns the MHV's driving characteristics, for example, during training, whether or not they are familiar with the MHV 10's driving characteristics.In addition, several operators can view the projected trajectory of the MHV 10 and learn how to maneuver the MHV 10 more efficiently to perform a task, such as picking up or placing loads. Referring to Figs. 11-22, in some examples, an image 140 or hologram is superimposed on the working element, such as the forks 24, of the MHV 10 to assist the operator 30 in aligning the MHV 10 with a predefined location, such as the openings of a pallet 36. The superimposed image 140 can serve as a template for the operator 30 to position the MHV 10 in the predefined location for handling loads and minimizing aisle width requirements. In some examples, the driver assistance system 41 provided here can temporarily control the steering during a right-angle stacking event after the operator 30 has positioned the MHV 10 appropriately. In such cases, the operator 30 can control the throttle, and the MHV 10 can automatically manipulate the steering angle to take an ideal path for completing a task, such as picking up or depositing a load.In any case, operator 30 can remain in control of MHV 10 during the performance of any action. In several examples, the MHV 10 can provide the position of the forks 24 to the training booster assist device 38, including height, tilt, lateral displacement, and reach relative to the vehicle body 12. Additionally or alternatively, the MHV 10 can also communicate various dimensions and / or kinematics of the MHV 10, such as the wheelbase, overall width, and steering angle of the vehicle. In some cases, knowing the wheelbase, steering wheel position, and steering angle allows the vehicle's trajectory to be known or calculated. With this known or calculated path, the training booster assist device 38 can display an image 140 representing the path on the floor at a portion of the MHV 10 or any other feasible location.Additionally or alternatively, image 140 can also represent the envelope of the projected vehicle path, which may be offset by a target distance when approaching a pallet 36 for right-angle stacking. In several examples, the overlay image 140 provided by screen 74 may be composed of geometric shapes specific to the MHV's geometry, handling characteristics, and a specific load size. For example, the overlay image 140 may be centered on the point around which the vehicle pivots when at its maximum steering angle. In some cases, two radii may be drawn from this point: one to represent the sweep of the empty forks 24 and the other to represent the sweep of a specified load size. The width of the overlay image 140 may be determined by the manufacturer's recommended approach distance to a pallet 36 for that specific MHV type when stacked at a right angle, or by the MHV's specific control 10 during any other maneuver. As illustrated in Figs. 11 and 12, image 140 may include one or more reference marks 144 specific to the vehicle geometry and may be configured to assist the operator 30 in positioning the MHV 10 in a predefined location. For example, overlay image 140 may include a pivot point 145 illustrated by two perpendicularly intersecting lines. The pivot point 145 is defined as the point around which the MHV 10 pivots when the steering angle is set to a maximum steering angle. In general, pivot point 145 can help the operator position the forks 24 of the MHV 10 in a central region of the intended pallet 36 at the distance measured by reference mark 144. The one or more reference marks 144 further include two laterally extending lines 147 that extend outwards along a line intersecting pivot point 145.Lines 147 begin at a point laterally outside the forks 24 and extend outward beyond an outermost edge or side of the MHV 10 a distance that defines an outer radius 149. Boundary lines 146 intersect each of lines 147 at an outermost point on each line 147 and extend in a direction perpendicular to lines 147 (e.g., parallel to the forks 24 or the sides of the MHV 10). The outer radius 149 generally corresponds to the radius swept by the outermost points of a load or pallet on the forks 24 when the MHV pivots along the maximum steering angle. The outer radius 149 extends between the points of intersection of lines 147 and boundary lines 146. Reference marks 144 further include an inner radius 151 and a forward-facing line 153.The inner radius 151 corresponds to the radius swept by the outermost points of the forks 24 when the MHV pivots along the maximum steering angle. The forward-looking line 153 extends outward in a direction parallel to the forks 24 and extends in a direction that intersects the pivot point 145. Referring back to Figs. 13 and 14, the superimposed image 140 on the screen 74 of the training reinforcement assistance device 38 can help the operator 30 train for and perform a right-angle pick of a load or pallet 36. For example, the operator 30 can instruct the MHV 10 to approach a racking structure 37 that includes the pallet 36. The operator 30 can position the MHV 10 so that the reference marks 144 position the MHV 10 to engage and pick up the pallet 36. For example, when approaching the racking structure 37, the operator 30 can refer to the outer radius 149 to assess the clearance required when turning the MHV 10.Operator 30 can also position the MHV 10 so that at least one of the lines 147 (i.e., the line extending from the side of the MHV 10 that is adjacent to the racking structure 37) is aligned with the center of pallet 36 (e.g., line 147 can be aligned with or parallel to the center stringer on pallet 36). In this way, image 140 can help operator 30 align pivot point 145 with the center of pallet 36. Operator 30 can then turn the steering wheel to the maximum steering angle and rotate the MHV 10 until the forward-facing line 153 aligns with the center stringer of pallet 36. Operator 30 can then straighten the steering and lift pallet 36. After lifting pallet 36, operator 30 can refer to the outside radius 149 to estimate the clearance required when rotating the MHV 10. Referring to the figs. 15 and 16, in several examples, the overlay image 140 can be used in the same way during pallet 36 being stored in racking structure 37. For example, when placing pallet 36 in a predefined location, the operator 30 can align the reference marks 144 provided within the overlay image 140 with the center of the intended drop location 148 instead of a center stringer of pallet 36. Specifically, when approaching racking structure 37, the operator 30 can reference the outer radius 149 to assess the clearance required when rotating MHV 10. The operator 30 can also position MHV 10 so that at least one of the lines 147 (i.e., the line extending from the side of MHV 10 that is adjacent to racking structure 37) aligns with the center of the intended drop location 148.In this way, image 140 can help operator 30 align the pivot point 145 with the center of the intended drop location 148. Operator 30 can then turn the steering wheel to the maximum steering angle and rotate the MHV 10 until the forward-facing line 153 aligns with the center of the intended drop location 148. Operator 30 can then straighten the steering and drop pallet 36 onto the racking structure 37 at the intended drop location 148. After depositing pallet 36, operator 30 can refer to the outer radius 149 to estimate the clearance required when rotating the MHV 10. With reference to Fig. 17, in some examples, the overlay image 140 provided by the display 74 may include path projections that align with a floor to indicate the expected path of the MHV's offset boundary. This helps the operator position the MHV 10 as they approach a target pallet 36 or rack structure 37 from a distance. For example, the projected path may include a first path line 155 and a second path line 157. In some examples, the first path line 155 and the second path line 157 may be included in the overlay image 140 in addition to the location lines 130 described herein. In some examples, the first path line 155 and the second path line 157 may be included in the overlay image 140 instead of the pair of outer lines 130b, or they may take the form of the outer lines 130b.In the illustrated example, the first path line 155 and the second path line 157 are separated from the sides of the MHV 10 by a distance that corresponds to the difference between the inner radius 151 and the outer radius 149 (i.e., the first path line 155 and the second path line 157 generally align with and extend across the lines 147 of the reference marks 144). As described here, the training booster assist device 38 can be provided with, or inherently know, the performance and geometric properties of the MHV 10. In this way, for example, the training booster assist device 38 can adapt the overlay image 140 to adjust the reference marks 144 to account for variations in the geometry of MHV and the type of MHV. For example, and as shown in Fig. 18, in the case of a standing counterbalanced MHV, the pivot point 145 can be close to the center of the drive wheel axle and the superimposed image 140 can be adapted to take into account the kinematics of the vehicle based on the position of the pivot point 145, and the inner radius 151 and outer radius 149 are adapted accordingly. Referring to Fig. 19, the overlay image 140 may include an indicator 150, such as a line parallel to the main direction, showing the displacement of the MHV 10 to align with one or more rack uprights 39 in the racking structure 37. The overlay image 140 may also highlight a predefined or anticipated position of an object to be handled by the MHV 10, which can be represented in actual space. For example, the overlay image 140 may provide an outline 152 showing the position of the pallet 36 ready to be handled. In the illustrated example, contour 152 is defined around a periphery of pallet 36. The MHV 10 can also communicate the vehicle type and geometry to the training booster assistance device 38 so that the overlay image 140 can be accurately located for that specific MHV 10 (e.g., based on pivot point 145 and associated reference marks 144). In some examples, contour 152 can be used to communicate to the operator which pallet the automated, semi-automated, or assisted handling is targeting. Contour 152 can represent a contour positioned at a fixed location relative to the vehicle frame (e.g., offset fork-first and laterally) so that by aligning the intended pallet with this contour 152, onboard or offboard vehicle control systems, such as cameras and / or machine learning computers, can narrow their search area to identify the dimensional position of a pallet to be handled. Onboard or offboard vehicle control systems can continuously search for and identify patterns that match their criteria for what constitutes a load to be handled.Vehicle control systems, whether onboard or offboard, with machine learning capabilities, can communicate the positions of identified loads so they can be displayed via the training reinforcement assistance device 38. A camera, for example, camera 62, can be used to identify loads. It has a known location and orientation on the vehicle, and therefore the outline 152 of the identified load can be represented relative to the MHV 10. This position can be communicated to the training reinforcement assistance device 38, which can then display the outline 152 in that same position relative to the MHV 10 by locating it using reference markers 78. The operator can then select the load to be handled simply by looking at it. Eye tracking from the training booster assist device 38, along with the device's orientation, can be communicated to the machine learning vehicle control systems as a vector or vector pair (e.g., one for each eye). The intersection of this vector or vectors with the three-dimensional position of the identified load contours can be used to select the load to be handled. Once a load has been selected for automated, semi-automated, or assisted handling, the vehicle's onboard or offboard control system can plan a route to interact with the load, which can be executed based on the vehicle's specific geometry. After route planning, a motion control algorithm can manipulate the vehicle's steering angle as the operator drives the vehicle to follow the established route. In general, the overlay image 140 can include any combination of the location lines 130, the reference marks 144, the indicator 150, and / or the outline 152. In some examples, the training reinforcement assistance device 38 can adaptively change the content of the overlay image 140 depending on the task the MHV 10 is performing or the training exercise. Referring to figures 20-22, several example routes that an MHV 10 could take to stack a pallet 36 at a right angle are illustrated. Each route (illustrated with dashed lines) can be selected before the task is assigned, during the task operation, and / or based on efficiency data from previous tasks. Furthermore, the route to be displayed as an overlay image 140 can be determined by the operator 30, a remote operator of the driver assistance system 41, and / or automatically by the system. Additionally, the route can be determined by the geometry and type of MHV 10. In the example illustrated in Fig. 20, a maneuver of the MHV 10 can be performed through two actions, which can be carried out autonomously, semi-autonomously, and / or by the operator 30. In any case, the operator 30 can remain in control of the MHV 10 during any of the action modes. An automated steering algorithm can interact with a drop location or pallet 148 located at a set distance in front of and to the side of the MHV 10, rotated 90 degrees. In this example, the vehicle control system, whether onboard or offboard, can characterize the dimensional position of the load and has the intelligence to perform route planning adapted to the position of that load relative to the vehicle.In some cases, when starting from a known reference point, as designated by overlay 140, the automatic steering algorithm can maneuver the MHV 10 in an arc to position the center of its load wheel axle (pivot point) at a distance equal to the radius defined by the distance from the pivot point to the corner of a defined standard load plus the margin (i.e., the outer radius). From this point, the MHV 10 can turn to its maximum steering angle and pivot about this pivot point until it is 90 degrees from its original orientation. At this point, the automatic steering algorithm can straighten the steering wheel so that the operator 30 is aligned to drive directly toward the rack. Figure 21 shows an alternative path that can be used to approach pallet or delivery location 148 with reduced aisle width requirements. In this example, the path can consist of a single arc whose radius is equal to the distance from the pivot point to the outside of the base leg. This path can have a reduced aisle width requirement compared to the path illustrated in Figure 20. Depending on the MHV 10 being operated in conjunction with the training booster assistance device 38, several routes can be calculated. For example, the geometry of a counterweighted standing vehicle may utilize a slightly different trajectory than that illustrated in Figs. 20 and 21. As illustrated in Fig. 22, the alternative route may consist of a pivoting turn followed by an arcing route, which centers the MHV 10 with respect to the target location. As provided here, through various components of the training booster assistance device 38 and / or the MHV 10, the driver assistance system 41 provided here can update a route, or any other overlay image 140, based on the operating MHV 10 or any other preference to provide additional information to the MHV 10 operator 30. For certain types of vehicles, there are training requirements mandated by various government agencies, laws, standards, and regulations. For example, the Occupational Safety and Health Administration (OSHA) of the U.S. Department of Labor requires employers to train and supervise operators of various types of material handling vehicles. Recertification is also required every three years. In certain cases, the operator will be provided with refresher training on relevant topics as needed. In all cases, the operator maintains control of the material handling vehicle while performing any operation. Additionally, a warehouse manager maintains control of the fleet of material handling vehicles within the warehouse environment.The training of operators and the supervision that warehouse managers must provide requires, among other things, proper operating practices that include, among other things, that an operator maintains control of the material handling vehicle, pays attention to the operating environment and always looks in the direction of travel. While various spatial and directional terms, such as top, background, bottom, middle, side, horizontal, vertical, front, and the like, may be used to describe examples in this description, it is understood that such terms are used simply with respect to the orientations shown in the drawings. Orientations may be reversed, rotated, or otherwise changed, so that a top becomes a bottom and vice versa, a horizontal becomes vertical, and so forth. Within this specification, the embodiments have been described in a manner that allows for a clear and concise specification, but it is intended and will be appreciated that the embodiments can be combined or separated in various ways without departing from the invention. For example, it will be appreciated that all the preferred features described herein are applicable to all aspects of the invention described herein. Therefore, although the invention has been described in relation to particular embodiments and examples, the invention is not necessarily limited thereto, and it is intended that many other embodiments, examples, uses, modifications, and deviations from the embodiments, examples, and uses are covered by the appended claims. The full description of each patent and publication cited herein is incorporated by reference, as if each such patent or publication were individually incorporated by reference herein. Several features and advantages of the invention are set forth in the following claims.

Claims

1. A system characterized in that it comprises: a training reinforcement assistance device having a frame supporting an optical system, wherein the optical system is configured to display virtual content on a screen, and to permit the viewing of at least a portion of a surrounding environment; an image generator operatively coupled with the frame and configured to produce an image of the image generator environment; an accelerometer operatively coupled with the frame and configured to detect an orientation of the frame; an eye-tracking unit operatively coupled with the frame and configured to detect a viewing direction of an operator;and a controller operatively coupled with the image generator and the display, wherein the controller is configured to receive environmental information from at least one of the image generators, the accelerometer, or the eye-tracking unit, and to overlay the image of the environment to assist the operator in maneuvering a material handling vehicle based on the kinematics of the material handling vehicle within the operator's line of sight through the optical system, and wherein the material handling vehicle includes at least one fork and the image is placed on the at least one fork as perceived through the optical system.

2. The system according to claim 1, characterized in that it further comprises: a transceiver device operatively coupled with the controller; wherein the device transceiver is configured to communicate with a material handling vehicle transceiver when paired with each other, the material handling vehicle transceiver further coupled to a material handling vehicle control unit.

3. The system according to claim 1, characterized in that the image includes one or more reference marks specific to the geometry of the material handling vehicle and configured to assist the operator in placing the material handling vehicle in a predefined location.

4. The system according to claim 3, characterized in that one or more reference marks include a pivot point defined by the material handling vehicle.

5. The system according to claim 4, characterized in that the pivot point is defined at a point around which the material handling vehicle pivots when the steering angle is set to a maximum steering angle.

6. The system according to claim 3, characterized in that one or more reference marks include an inner radius that corresponds to a radius swept by the outermost points of at least one fork on the material handling vehicle as the material handling vehicle turns along a maximum steering angle.

7. The system according to claim 3, characterized in that one or more reference marks include an outer radius that corresponds to a radius swept by the outermost points of a load position on at least one fork of the material handling vehicle as the material handling vehicle turns along a maximum steering angle.

8. The system according to claim 1, characterized in that the kinematics of the vehicle include at least a height of at least one fork with respect to the base of the material handling vehicle, a tilt of at least one fork with respect to the base, a lateral displacement position of at least one fork with respect to the base, a reach of at least one fork with respect to the base, a steering angle of the material handling vehicle, a wheelbase of the material handling vehicle, or an overall width of the material handling vehicle.

9. The system according to claim 1, characterized in that the image generator is configured to detect one or more reference markers to orient and locate the frame of the training reinforcement assistance device relative to the material handling vehicle.

10. The system according to claim 9, characterized in that the reference markers are mounted on the body of the material handling vehicle on surfaces visible from the operator's compartment.

11. The system according to claim 1, characterized in that the image includes a projection of the trajectory of the material handling vehicle based on a current steering angle and the speed of the material handling vehicle.

12. A system for providing a superimposed image to a material handling vehicle operator via an optical system, the system being characterized in that it comprises: a training reinforcement assistance device having a frame supporting an image generator and a display, the display being operatively coupled with the optical system; a controller coupled with the frame; a control unit operatively coupled with the material handling vehicle and communicatively coupled with the controller; and a first reference marker positioned on the material handling vehicle, the image generator being configured to detect the first reference marker to orient the frame relative to the material handling vehicle, wherein the display is configured to generate an image based on a location of the frame and at least one kinematic of the vehicle.

13. The system according to claim 12, characterized in that the image includes a trajectory projection of the material handling vehicle based on a current steering angle and the speed of the material handling vehicle.

14. The system according to claim 12, characterized in that it further comprises a second reference marker positioned on the material handling vehicle, wherein the first reference marker is within the field of vision of the image generator when the operator is oriented in a first direction and the second reference marker is within the field of vision when the operator is oriented in a second opposite direction.

15. The system according to claim 12, characterized in that the image includes one or more reference marks specific to the geometry of the material handling vehicle.

16. The system according to claim 15, characterized in that one or more reference marks include a pivot point defined at a point around which the material handling vehicle pivots when a steering angle is set to a maximum steering angle.

17. The system according to claim 15, characterized in that one or more reference marks include an inner radius and an outer radius, the inner radius corresponding to a radius swept by the outermost points of at least one fork on the material handling vehicle as the material handling vehicle pivots along a maximum steering angle, and the outer radius corresponding to a radius swept by the outermost points of a load position on at least one fork of the material handling vehicle as the material handling vehicle pivots along a maximum steering angle.

18. A system characterized in that it comprises: a material handling vehicle; a training reinforcement assistance device having a frame supporting an optical system, wherein the optical system is configured to display virtual content and enable the display of at least a portion of a surrounding environment; an image generator operatively coupled with the frame and configured to produce an image superimposed on at least the portion of the surrounding environment; and a controller operatively coupled with the image generator and the optical system; wherein the controller is configured to calculate a position of the superimposed image based on a location of the frame within the material handling vehicle, and wherein the superimposed image includes a pivot point defined by the material handling vehicle.

19. The system according to claim 18, characterized in that it further comprises a reference marker positioned on the material handling vehicle, the image generator configured to detect the reference marker to orient the frame in relation to the material handling vehicle and to determine the location of the frame.

20. The system according to claim 17, characterized in that one or more reference marks include an inner radius and an outer radius, the inner radius corresponding to a radius swept by the outermost points of at least one fork on the material handling vehicle as the material handling vehicle pivots along a maximum steering angle, and the outer radius corresponding to a radius swept by the outermost points of a load position on at least one fork of the material handling vehicle as the material handling vehicle pivots along a maximum steering angle.

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