Obstacle scanning tool for materials handling vehicle

Abstract

The invention relates to a materials handling vehicle including an obstacle scanning tool and a steering mechanism, materials handling hardware, a vehicle drive mechanism, and a user interface that facilitate movement of the materials handling vehicle and materials being carried along a travel path. The tool establishes a scan field, a filter field, and a performance field and is configured to indicate whether an obstacle is present in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan the filter field and the performance field for obstacles, perform an obstacle avoidance for obstacles detected in the filter field, and perform a performance level reduction query for obstacles detected in the performance field, where a result of the query includes a reduction in the performance level when a performance level reduction is available and performance of the obstacle avoidance when the performance level reduction is not available.

Description

[0001] This application is a divisional of Chinese Patent Application No. 201780061118.7, filed August 25, 2017, entitled "Material Handling Vehicle Obstacle Scanning Tool," which is a national stage of International Application No. PCT / US2017 / 048612, filed August 25, 2017.

[0002] CROSS REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of U.S. Provisional Application No. 62 / 380,038 (CRNZ1615MA), filed August 26, 2016. TECHNICAL FIELD

[0004] The present disclosure relates to obstacle detection and avoidance, and more specifically, the present disclosure relates to a material handling vehicle equipped for detecting and avoiding obstacles in a warehouse. BACKGROUND

[0005] For purposes of defining and describing the concepts and scope of the present disclosure, it should be noted that "warehouse" includes any indoor facility or otherwise covered facility in which a material handling vehicle transports goods, including but not limited to warehouses primarily used for storage of goods, such as warehouses in which multi-level warehouse racks are arranged in aisles, and manufacturing facilities in which goods are transported around the facility by material handling vehicles used in one or more manufacturing processes. SUMMARY

[0006] According to the subject matter of the present disclosure, a material handling vehicle includes a steering mechanism, material handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, material handling hardware, vehicle drive mechanism, and user interface facilitate movement of the material handling vehicle and material handled by the material handling vehicle along a travel path in a warehouse at a vehicle speed S C toward a destination. The obstacle scanning tool includes obstacle scanning hardware that establishes a scan field, a path filter that establishes a filter field, and a performance filter that establishes a performance field P i and is configured to indicate a presence of an obstacle in the filter field and the performance field P i The obstacle scanning tool executes obstacle scanning logic to establish the filter field using the path filter, establish the performance field P i in response to an input performance level L i scan for obstacles in the filter field and the performance field P i perform obstacle avoidance for obstacles detected in the filter field, and perform a performance level reduction query for obstacles detected in the performance field P i wherein a result of the performance level reduction query includes a performance level L ireduction and execution of obstacle avoidance when the performance level reduction is not available.

[0007] In embodiments, the performance level reduction query includes a current vehicle speed inquiry to confirm that a current speed Sc of the materials handling vehicle along the travel path is not greater than a maximum speed S i Max associated with the performance level L i Max; and the obstacle scanning tool adjusts the performance level L i reduction upon determining that the current speed Sc is not greater than the maximum speed S i Max associated with the performance level L i greater than a minimum performance level associated with the materials handling vehicle, and the obstacle scanning tool adjusts the performance level L i greater than the minimum performance level. The performance level reduction query includes a current vehicle speed inquiry to confirm that a current speed Sc of the materials handling vehicle along the travel path is not greater than a maximum speed S i Max associated with the performance level L i Max; the performance level reduction query includes a current performance level inquiry to confirm that the performance level L i is greater than a minimum performance level associated with the materials handling vehicle; and the obstacle scanning tool adjusts the performance level L i reduction upon determining that the current speed Sc is not greater than the maximum speed S i Max and the performance level L i is greater than the minimum performance level. i

[0008] In embodiments, the obstacle avoidance is performed using a steering mechanism, a vehicle drive mechanism, or both. The performance level can be input at a user interface or in response to an external stimulus. A filter field can be disposed within the performance field P i The obstacle scanning tool can include a plurality of performance filters that establish a respective plurality of performance fields. The performance field P (i-1) may include a maximum speed S (i-1) Max associated with the performance level L (i-1) and can be disposed within the performance field P i The performance level reduction query can further include a current vehicle speed inquiry to confirm that a current speed Sc of the materials handling vehicle along the travel path is not greater than a maximum speed S (i-1) Max associated with the performance level L (i-1) The performance level reduction query includes a current performance level inquiry to confirm that the performance level L i is greater than a minimum performance level associated with the materials handling vehicle; the obstacle scanning tool adjusts the performance level L (i-1) ​Max and performance level L i performance level L i is adjusted down to performance level L (i-1) ; and performance level L i is adjusted down to performance level L (i-1) includes reducing performance field P (i-1) .

[0009] In further embodiments, the filter field is a region along the travel path and within the scan field, where the obstacle scanning tool processes scan data from the obstacle scanning hardware to identify obstacles along the travel path and in the filter field. The obstacle scanning tool can include an expected path filter configured to bound the travel path outside the scan field at a distance from the travel path. The distance can be a fixed distance from the travel path. Alternatively, the distance can be configured to vary based on at least one of an expected travel direction along the travel path, an expected travel speed, and an expected turn angle at a destination along the travel path. The filter field can be configured to adjust the field shape based on a determination that the materials handling vehicle is approaching an intersection and based on a current speed Sc of the materials handling vehicle. The obstacle scanning tool can include one or more overlay filters that establish one or more overlay fields configured to overlay one or more regions of the intersection, and the filter field is configured to adjust the field shape to include the one or more overlay filters based on a determination that the materials handling vehicle is approaching the intersection. The obstacle scanning tool can execute obstacle scanning logic to perform a performance level increase query that includes an increase in performance level L i when no obstacles are detected in performance field P i .

[0010] According to one embodiment of the disclosure, a materials handling vehicle includes a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool, where the steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface facilitate movement of the materials handling vehicle and materials handled by the materials handling vehicle along a travel path in a warehouse toward a destination at a vehicle speed S C . The obstacle scanning tool includes obstacle scanning hardware that establishes a scan field and a path filter that establishes a filter field F i , and is configured to indicate a presence of an obstacle in the filter field F i . The obstacle scanning tool executes obstacle scanning logic to establish the filter field F i using the path filter in response to an input performance level L i , scan for obstacles in the filter field F i , and adjust the filter field F ithe detected obstacle performs a performance level reduction query, wherein a result of the performance level reduction query includes a performance level L when a performance level reduction is available and an obstacle avoidance execution when a performance level reduction is not available. i

[0011] According to another embodiment of the disclosure, a materials handling vehicle includes a tractor vehicle and at least one trailer towed by the tractor vehicle. The tractor vehicle includes a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface facilitate movement of the materials handling vehicle and materials handled by the materials handling vehicle along a curved travel path in a warehouse toward a destination. A towing configuration of the materials handling vehicle establishes a trailer turning radius r1 that is less than a tractor vehicle turning radius r2 along a curved portion of the curved travel path. The obstacle scanning tool includes obstacle scanning hardware that establishes a scan field and a path filter that establishes a filtered field, and is configured to indicate a presence of an obstacle in the filtered field. The obstacle scanning tool executes obstacle scanning logic to establish the filtered field using the path filter such that an area of the filtered field is tilted along the curved travel path toward an inside edge of the turn to a degree sufficient to account for the smaller turning radius r1 of the trailer and avoid collision with the obstacle along the inside edge of the turn of the curved travel path.

[0012] In embodiments, the obstacle to the trailer along the inside edge of the turn of the curved travel path includes the tractor vehicle, and the filtered field is tilted along the curved travel path toward the inside edge of the turn to avoid collision between the tractor vehicle and the at least one trailer. The at least one trailer can include a plurality of trailers, and the obstacle to each trailer along the inside edge of the turn of the curved travel path includes one of the other trailers in the plurality of trailers and the tractor vehicle, and the filtered field is tilted along the curved travel path toward the inside edge of the turn to avoid collision between the tractor vehicle and one of the plurality of trailers and between one of the plurality of trailers and the other of the plurality of trailers.

[0013] According to yet another embodiment of the disclosure, a method of executing scanning logic of a materials handling vehicle is provided, the method including moving the materials handling vehicle and materials handled by the materials handling vehicle along a travel path in a warehouse at a vehicle speed S C ​Moving toward a destination, the materials handling vehicle includes a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface facilitate movement of the materials handling vehicle and materials being carried along a travel path. The obstacle scanning tool includes obstacle scanning hardware, a path filter, and a performance filter. The method further includes: establishing a scan field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtered field by using the path filter of the obstacle scanning tool; establishing a performance field P i with the obstacle scanning tool; scanning obstacles in the filtered field and performance field P i with the obstacle scanning tool; performing obstacle avoidance by the obstacle scanning tool on obstacles detected in the filtered field; performing a performance level reduction query on obstacles detected in the performance field P i ; results of the performance level reduction query to reduce the performance level L i when a performance level reduction is available; and results of the performance level reduction query to perform obstacle avoidance when a performance level reduction is not available.

[0014] According to another embodiment of the present disclosure, a method of performing scanning logic of a materials handling vehicle is provided, the method including: moving a materials handling vehicle and materials being carried by the materials handling vehicle along a travel path at a vehicle speed S C Moving toward a destination, the materials handling vehicle includes a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool, wherein the steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface facilitate movement of the materials handling vehicle and materials being carried along a travel path, and the obstacle scanning tool includes obstacle scanning hardware and a path filter. The method further includes: establishing a scan field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtered field F i by using the path filter of the obstacle scanning tool; scanning obstacles in the filtered field F i with the obstacle scanning tool; performing a performance level reduction query on obstacles detected in the filtered field F i ; results of the performance level reduction query to reduce the performance level L i when a performance level reduction is available; and results of the performance level reduction query to perform obstacle avoidance when a performance level reduction is not available.

[0015] According to another embodiment of the present disclosure, a method of performing scan logic for a materials handling vehicle is provided, the materials handling vehicle including a tractor vehicle and at least one trailer towed by the tractor vehicle, the method including moving the materials handling vehicle and materials handled by the materials handling vehicle along a curved travel path in a warehouse toward a destination, the materials handling vehicle including a steering mechanism, materials handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface facilitate movement of the materials handling vehicle and materials handled along the curved travel path. The obstacle scanning tool includes obstacle scanning hardware and a path filter. The method further includes establishing a trailer turning radius r1 by the tractor configuration of the materials handling vehicle, the trailer turning radius being less than a tractor turning radius r2 along a curved portion of the curved travel path; establishing a scan field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtered field by using the path filter of the obstacle scanning tool, wherein an area of the filtered field is tilted along the curved travel path toward an inside edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer and avoid collision with an obstacle along the inside edge of the turn of the curved travel path; and scanning for obstacles in the filtered field using the obstacle scanning tool. BRIEF DESCRIPTION OF DRAWINGS

[0016] The embodiments set forth in the attached drawings are illustrative and not intended to limit the subject matter defined by the claims. The following detailed description in connection with the appended drawings is included to provide a thorough understanding of the illustrative embodiments. The same reference numbers in different drawings represent the same components throughout the attached drawings:

[0017] Figure 1 and 2 depicts a materials handling vehicle according to one or more embodiments shown and described herein;

[0018] Figure 3 depicts a computing environment according to one or more embodiments shown and described herein;

[0019] Figure 4 depicts a scan field according to one or more embodiments shown and described herein;

[0020] Figure 5 depicts a scan field and a filtered field along a travel path of a materials handling vehicle according to one or more embodiments shown and described herein;

[0021] Figure 6 depicts a scan field and a filtered field along a turn of a travel path of a materials handling vehicle according to one or more embodiments shown and described herein;

[0022] Figure 7depicts a scan field, a filter field, and a performance field along a travel path of a materials handling vehicle according to one or more embodiments shown and described herein;

[0023] Figure 8 depicts a flowchart showing a process in which a performance field can be reduced when scanning for an obstacle according to one or more embodiments shown and described herein;

[0024] Figure 9 depicts a flowchart showing a process in which a filter field can be reduced when scanning for an obstacle according to one or more embodiments shown and described herein;

[0025] Figure 10 depicts a scan field and an overlay field at an intersection along a travel path of a materials handling vehicle according to one or more embodiments shown and described herein;

[0026] Figure 11 depicts a scan field and an overlay field at an intersection along a travel path of a materials handling vehicle according to another embodiment shown and described herein; and

[0027] Figure 12 is a flowchart showing a process in which an obstacle scanning tool identifies an obstacle according to one or more embodiments shown and described herein. DETAILED DESCRIPTION

[0028] The following text sets forth a broad description of numerous different embodiments of the present disclosure. This description should not be construed as presenting limitations to the embodiments described herein as such limitations are intended to form a portion of the patent written description. The description should not be construed as presenting the only modes of practicing the disclosure and should not necessarily be construed as presenting preferred, or suitable, embodiments. The description is presented solely for purposes of illustration and not limitation and should not be construed as presenting limitations to the embodiments described herein. It is contemplated that in these respects, there can be numerous combinations and permutations of the various features and components described herein and further that the aspects described herein can include any combination or permutation of one or more of the described features. It is further contemplated that the features described herein can be applied to any suitable devices, methods, or components where it is deemed appropriate in view of the disclosure. It is contemplated that the features described herein can be applied to any suitable devices, methods, or components where it is deemed appropriate in view of the disclosure.

[0029] Figure 1A materials handling vehicle 10 in the form of a fork truck is shown, including conventional materials handling vehicle hardware such as a steering mechanism S, materials handling hardware 20, and vehicle drive mechanisms, the details of which are beyond the scope of this disclosure and can be obtained from conventional and yet to be developed teachings in the materials handling vehicle literature - examples of which include U.S. Patent Nos. 6,135,694, RE37215, 7,017,689, 7,681,963, 8,131,422, and 8,718,860, each of which is assigned to Crown Equipment Corporation. Reference is made to Figures 1-2 , showing a materials handling vehicle 10, including a vehicle body, materials handling hardware 20, one or more wheels 30, a vehicle drive mechanism D, a steering mechanism S, a localization module L, a navigation module N, and an obstacle scanning tool T. At least one wheel 30 can be part of the steering mechanism S. It should be understood that while several embodiments of a materials handling vehicle 10 are shown and described, the present disclosure contemplates any type of materials handling vehicle, including for example, fork trucks, trucks, tractors, trailer trains, etc.; including but not limited to powered industrial trucks as determined by the U.S. Department of Labor, Occupational Safety & Health Administration (OSHA), Class I - electric motor rider trucks, Class II - electric motor narrow aisle trucks, Class III - electric motor reach trucks or hand / rider trucks, Class IV - internal combustion engine trucks (solid / pneumatic tires), Class V - internal combustion engine trucks (pneumatic tires), Class VI - electric and internal combustion engine tractors, and Class VII - rough terrain forklift trucks.

[0030] The obstacle scanning tool T is communicably coupled to a vehicle controller 40 Figure 3 ) that controls the operational functions of the materials handling vehicle 10, such as the functions of the materials handling hardware 20, the vehicle drive mechanism D, and / or the steering mechanism S. In one embodiment, the materials handling vehicle hardware can include a travel distance sensor configured to measure the travel distance of the materials handling vehicle. For example, and without limitation, the travel distance sensor can be an inertial sensor or a ranging hardware such as a load wheel sensor, a rotary encoder, a Hall effect sensor, etc. The vehicle controller 40, the travel distance sensor, and conventional materials handling vehicle hardware are communicably coupled together. In one embodiment, the materials handling vehicle 10 can include a localization device L that transmits the current global position of the materials handling vehicle 10 to the vehicle controller 40.

[0031] Reference is made to Figure 2The materials handling vehicle 10 can include one or more user interfaces that allow an operator to interface with control functions of the materials handling vehicle. For example, and without limitation, suitable user interfaces include, but are not limited to, conventional or yet to be developed operator cab control devices such as a hand control 23 for controlling the materials handling hardware 20, a foot vehicle speed control 24 operatively coupled to a vehicle drive mechanism, a touch screen hardware control interface 26, a steering control 14 operatively coupled to a steering wheel of the materials handling vehicle 10, or combinations thereof. Those skilled in the art will appreciate that the touch screen hardware control interface 26 can be integral with or part of the vehicle display 27, but is not limited to being part of the display 27. The touch screen hardware control interface 26 can be a separate device from the display 27. The materials handling hardware 20 can be any type of conventional or yet to be developed hardware equipped for handling materials, typically configured to facilitate storing and retrieving goods, and can include, but is not limited to, a set of fork tines, a container handler, a forked turret, a pantograph, a telescoping arm handler, and the like.

[0032] In one embodiment, the user interface can include an antenna 22 or other type of automated interface having an external or remote control device that can be used to issue commands to the materials handling vehicle 10, make changes to the vehicle controller 40, or otherwise remotely control the materials handling vehicle 10. The antenna is configured to wirelessly communicatively couple the materials handling vehicle 10 to a remote computer. Alternatively or additionally, other types of automated interfaces can be provided, such as input / output ports, such as RS-232 connectors, USB ports, or the like. These types of interfaces can be provided to facilitate a hardware connection between the materials handling vehicle 10 and a remote computer, such as a laptop computer. In these types of embodiments, user input through the user interface in the operator cab can not be required to control the materials handling vehicle hardware, and the vehicle controller 40 coupled to the materials handling vehicle hardware (e.g., the steering mechanism S, the materials handling hardware 20, the vehicle drive mechanism D, and / or the like) issues control commands to the materials handling vehicle hardware. For example, and without limitation, if the materials handling vehicle 10 is an automated guided vehicle, suitable automated interfaces can facilitate control and functionality of the materials handling vehicle 10 without requiring input commands through the operator cab user interface.

[0033] The obstacle scanning tool T can be implemented in hardware and / or software, including firmware, resident software, microcode, etc. In one embodiment, the obstacle scanning tool T is implemented in software and hardware. For example, with reference to Figure 3The obstacle scanning tool T can include a program embedded in the vehicle controller 40, which includes at least one processor 205 and a non-transitory computer readable medium 210 communicatively coupled by a local interface 215. Alternatively, suitable scanning tool software can be stored in a computer usable or computer readable medium accessible by the vehicle controller 40 (e.g., over a network).

[0034] As Figure 1 and 4 shown in FIG. 5, the obstacle scanning tool T includes obstacle scanning hardware that establishes a scanning field 55, and one or more filters that operate on the scanning field 55 in the following manner. For example, referring to Figure 7 , the one or more filters can include a path filter 64 that establishes a filtering field 65, and a performance filter 71 that establishes a performance field (P i ) 70, 70'. The obstacle scanning tool 40 is configured to indicate the presence of an obstacle in the filtering field 65 and the performance field (P i ) 70, 70'. It is noted that although the path filter 64 and the performance filter 71 are part of the obstacle scanning tool, they are represented in Figure 5 , 7 , 10 and 11 by reference to respective portions of the scanning field 55 that correspond to the functionality of the path filter 64 and the performance filter 71. For example, in Figure 7 , the performance filter 71 is illustrated by reference to the outer boundary of the performance field 70, 70' within the scanning field 55 of the obstacle scanning tool 40. Further, the path filter 64 is illustrated by reference to the outer boundary of the filtering field 65 within the scanning field 55 of the obstacle scanning tool 40.

[0035] Referring back to Figure 3The computer-usable or non-transitory computer-readable medium 210 can be any non-transitory medium that can contain, store, communicate, propagate or transport software for use by or in connection with the vehicle controller 40. The non-transitory computer-readable medium 210 can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. More specific examples (a non-exhaustive list) of the non-transitory computer-readable medium 210 would include the following: an electrical connection having one or more wires, a computer diskette, a random access memory (RAM) (including SRAM, DRAM, and / or other types of RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a secure digital (SD) memory, a register, one or more optical fibers, a compact disc read-only memory (CD-ROM), or a digital video disc read-only memory (DVD-ROM). Note that the non-transitory computer-readable medium 210 can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example via an optical scanner, or in other ways, and then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. In other words, the non-transitory computer-readable medium 210 can include a computer program that exists solely in electronic form. As mentioned above, in one embodiment, the non-transitory computer-readable medium 210 resides within the vehicle controller 40, and in another embodiment, the non-transitory computer-readable medium resides outside of the vehicle controller 40.

[0036] Additionally, the non-transitory computer-readable medium 210 can be configured to store operating logic 230 and executable logic 235. The operating logic 230 can include an operating system, a basic input / output system (BIOS), and / or other hardware, software, and / or firmware used to operate the vehicle controller 40. The executable logic 235 includes obstacle scanning tool logic 240, which can each include a plurality of different pieces of logic, each of which can be embodied as a computer program, firmware, and / or hardware, as non-limiting examples. Computer program code for carrying out the obstacle scanning tool of the present disclosure can be written in any form of programming language, including compiled or interpreted languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. However, it should be understood that software embodiments of the present disclosure do not depend on implementation using a particular programming language.

[0037] The local interface 215 can include a bus or other communication interface to facilitate communication among the components of the vehicle controller 40. The processor 205 can include any processing component operable to receive and execute instructions (e.g., from the data storage 245 and / or the non-transitory computer-readable medium 210). The input / output hardware 220 can include and / or be configured to interface with a monitor, a positioning system, a keyboard, a mouse, a printer, an image capture device, a microphone, a speaker, a sensor, a gyroscope, a compass, and / or other device interface for receiving, transmitting, and / or presenting data. The network interface hardware 225 can include and / or be configured for communication with any wired or wireless network hardware, including an antenna, a modem, a LAN port, a wireless fidelity (Wi-Fi) card, a WiMax card, mobile communication hardware, and / or other hardware for communicating with other networks and / or devices. From this connection, the vehicle controller 40 can communicate with other computing devices through the Internet, an intranet, an extranet, and / or a local area network, for example, as depicted in FIG. 22. Figure 1 The vehicle controller 40 and other computing devices can facilitate communication between each other through an automatic interface such as the antenna 22 shown in FIG. 22. In one embodiment, the processor 205 can include and / or be coupled to a graphics processing unit (GPU). It should also be understood that the functionality of any or all of the program modules can also be implemented using discrete hardware components, one or more application-specific integrated circuits (ASICs), or a programmed digital signal processor or microcontroller.

[0038] The vehicle controller 40 can include a data storage 245. The data storage can be a subset of the non-transitory computer-readable medium 210, or it can be a separate and distinct component within the vehicle controller 40. The data storage 245 can include one or more data sets for use by the operating logic 230 and / or the executable logic 235. The data sets can include configuration data 250, environmental data 255, and vehicle data 260.

[0039] It is noted that, Figure 3And related discussion provides a brief description of a suitable computing environment in which the present disclosure can be implemented. Although not required, aspects of the software are described in the general context of computer-executable instructions, such as programs, being executed by a general purpose computer, such as a client and server computer. Those skilled in the relevant art will appreciate that the software can be practiced with other communications, data processing, or computer system configurations, including: Internet appliances, hand-held devices (including personal digital assistants (PDAs)), wearable computers, various cellular or mobile phones, multi-processor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, mini-computers, mainframe computers, server computers, and the like. Indeed, the terms "computer," and similar, are generally used interchangeably in this document and refer to any of the above devices and systems, as well as any data processor. Aspects of the software can be embedded in a special or general purpose computer or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein. Aspects of the software can also be practiced in distributed computing environments where tasks or modules are performed by remote processing devices, which are linked through a communications network, such as a Local Area Network (LAN), Wide Area Network (WAN), or the Internet. In a distributed computing environment, program modules can be located in both local and remote memory storage devices. Indeed, computer-implemented instructions, data structures, screen displays, and other data under the aspects of the software can be distributed over time and space among a propagating signal on a propagating medium (e.g., electromagnetic waves, sound waves, etc.) over the Internet or through other networks (including wireless networks) for a period of time (e.g., a few seconds, minutes, hours, days, etc.), or they can be provided (packet-switched, circuit-switched, or otherwise) over any analog or digital network.

[0040] Figure 4 A materials handling vehicle 10 is depicted that includes a laser scanner 50 communicatively coupled to an obstacle scanning tool 40 and a vehicle controller 40. It is contemplated that the laser scanner 50 can be a two-dimensional laser scanner, a planar laser scanner, a three-dimensional laser scanner, and the like. A non-limiting example of a laser scanner 50 includes a SICK S3000 laser scanner. The laser scanner 50 includes a scan arc and a scan range 57 that define a scan field 55. The scan field 55 represents the full range of the laser scanner 50 and the full range of scan data sent to the vehicle controller 40. In one embodiment, the scan arc and the scan range 57 are fixed. In one embodiment, the scan arc and the scan range 57 are variable and set by the obstacle scanning tool or by physical adjustment to the laser scanner 50. In all embodiments, the laser scanner 50 is capable of collecting radial distance measurements of objects within the scan field 55 and generating scan data that is sent to the vehicle controller 40.

[0041] Referring now to Figure 5 , the materials handling vehicle 10 can be configured and operated to follow the path 60. In one embodiment, the path 60 is determined based on user input at a user interface of the materials handling vehicle 10. In one embodiment, the path 60 is predetermined based on a predetermined plan (e.g., global positioning along the path 60) and can be stored as environmental data 255 Figure 3 ) in the obstacle scanning tool T. In both embodiments, the obstacle scanning tool T applies the path filter 64 to the scan data to identify whether any obstacles exist within the filter field 65 established by the path filter 64. In other words, the filter field 65 is a region along the path 60 in which the obstacle scanning tool T processes scan data from the laser scanner 50 to identify any obstacles along the path 60 of the materials handling vehicle 10. Thus, the obstacle scanning tool T processes scan data from the obstacle scanning hardware to identify obstacles along the travel path 60 and obstacles in the filter field 65. For example, the filter field 65 is a region along the path 60 within the scan field 55 in which the obstacle scanning tool T processes scan data from the laser scanner 50 to identify any obstacles along the path 60 of the materials handling vehicle 10 in the filter field 65.

[0042] As the materials handling vehicle progresses along the path 60, the filter field 65 changes to accommodate changes in travel direction, travel speed, turning angle, expected travel direction, expected travel speed, expected turning angle, and materials handling vehicle weight. Figure 5 The path 60 in FIG. 6 illustrates a slight curve and an expected path filter 66 that defines the travel path 60 outside of the scan field 55. In one embodiment, the expected path filter 66 is configured to bound the travel path 60 outside of the scan field 55 at a fixed distance d from the path 60. In one embodiment, the distance d can vary based on, for example, the expected travel direction, expected travel speed, and expected turning angle at a destination D along the path 60. For clarity, the destination D is a location along the path 60 at which the materials handling vehicle is expected to be when the materials handling vehicle travels along the path 60.

[0043] Figure 6The obstacle scanning tool T is shown how it uses different portions of the scan data from the scan field 55 to change the filter field 65 to accommodate transitions in the path 60 of the materials handling vehicle 10. It is contemplated that the distance d from the path 60 can vary on both sides of the path 60. For example, but not by way of limitation, the materials handling vehicle 10 can have equipment or loads that extend on one side but not on the other. The obstacle scanning tool T will modify the filter field 65 to account for any obstacles that can approach or contact the equipment or loads that extend from the side of the materials handling vehicle 10. In one embodiment, if the materials handling vehicle 10 is a tractor towing a trailer, the obstacle scanning tool T will change the filter field 65 to account for the varying width (i.e., the maximum width) of the trailer.

[0044] In addition to those embodiments, Figure 6 The materials handling vehicle 10 is shown turning and the related filter field 65. It is contemplated Figure 6 that the materials handling vehicle 10 is towing several trailers such that the materials handling vehicle 10 includes a tractor vehicle and at least one trailer 10' towed by the tractor vehicle. As Figure 6 shown, the steering mechanism S, the materials handling hardware, the vehicle drive mechanism D, and the user interface facilitate movement of the materials handling vehicle 10 and the materials handled by the materials handling vehicle along a travel path 60 in a warehouse toward a destination. The filter field 65 increases the filter field 65 area on the inside of the turn when compared to the area of the filter field 65 outside of the turn along the path 60. The increase in the area on the inside of the turn is to account for the tightened turning radius of the towed trailer 10'. Thus, the towing configuration of the materials handling vehicle 10 establishes a trailer turning radius r1 that is less than a tractor vehicle turning radius r2 along the curved portion of the curved travel path 60.

[0045] The obstacle scanning tool T executes obstacle scanning logic to use the path filter 64 to establish the filter field 65 such that the area of the filter field 65 slopes along the curved travel path 60 toward the inside edge of the turn to a degree sufficient to account for the smaller turning radius r1 of the trailer 10' and avoid collision with obstacles along the inside edge of the turn of the curved travel path 60. In an embodiment, the at least one trailer 10' includes a plurality of trailers 10' and the obstacles along the inside edge of the turn of the curved travel path 60 for each trailer 10' include one of the plurality of trailers 10' and the tractor vehicle, and the filter field 65 slopes along the curved travel path 60 toward the inside edge of the turn to avoid collision between the tractor vehicle and one of the plurality of trailers 10' and between one of the plurality of trailers 10' and another of the plurality of trailers 10'.

[0046] Figure 7 The filter field 65 is shown along with a performance field (P i ) 70, 70' positioned along the path 60.Figure 7 It is also shown that a filter field 65 is disposed within a performance field (P i ) 70, 70'. In this embodiment, scan data from the performance field (P i ) 70, 70' is processed by the obstacle scanning tool T and data associated with the filter field 65. Respective portions of the performance field (P i ) 70, 70' on opposite sides of the travel path 60 can vary from one another in size and shape, and are not limited to following the contours of the travel path 60 or the filter field 65.

[0047] As a non-limiting example, the materials handling vehicle 10 can include a steering mechanism S, materials handling hardware 20, a vehicle drive mechanism D, a user interface, and an obstacle scanning tool T communicatively coupled to the laser scanner 50. The steering mechanism S, materials handling hardware 20, vehicle drive mechanism D, and user interface facilitate movement of the materials handling vehicle 10 and materials handled by the materials handling vehicle 10 along the travel path 60 in the warehouse at a vehicle speed S C toward a destination D. Accordingly, a method of executing scan logic of the materials handling vehicle 10 can include causing movement of the materials handling vehicle 10 and materials handled by the materials handling vehicle 10 along the travel path 60 in the warehouse at a vehicle speed S C toward a destination D, and performing at least obstacle avoidance by the obstacle scanning tool T for obstacles detected in the filter field 65, as described herein.

[0048] Referring to Figure 8 , a process 800 is shown in which a filter field 65 and a performance field 70, 70' can be set and utilized with reduced. The obstacle scanning tool T can include obstacle scanning hardware, such as a laser scanner 50 establishing a scan field 55, a path filter 64 establishing the filter field 65, and a performance filter 71 establishing the performance field P i , and is configured to indicate the presence of obstacles in the filter field and the performance field P i . In block 802 of the process 800, navigation of the materials handling vehicle 10 is initiated. The obstacle scanning tool T receives a plurality of inputs 804-812, such as scan field parameters as input 804 including the scan field 55, an input performance level L i as input 806, a maximum speed S i Max related to the performance level L i as input 808, destination data as input 810, and travel path data as input 812. In embodiments, the performance level L i is input as input 806 at a user interface or input in response to an external stimulus, which can be, for example, a remote command or an environmental trigger, such as a radio frequency identification (RFID) tag.

[0049] In block 814 of process 800, set the filter field 65 and the performance field P. i For example, obstacle scanning tool T executes obstacle scanning logic to establish a filter field 65. Obstacle scanning tool T further executes obstacle scanning logic in response to input performance level L. i Establish performance field P i .

[0050] In block 816 of process 800, process 800 scans obstacles. For example, obstacle scanning tool T executes obstacle scanning logic to scan filter field 65 and performance field P. i Obstacles in the filter field 65. In block 818, process 800 determines whether an obstacle is detected in the filter field 65. Prior to block 818, process 800 includes receiving input 817 of the current speed Sc of the material handling vehicle 10 along the travel path 60. If an obstacle is detected in the filter field 65 in block 818, obstacle avoidance in block 820 is performed. In an embodiment, a steering mechanism S and / or a vehicle drive mechanism D are used to perform obstacle avoidance. Furthermore, obstacle avoidance may include vehicle deceleration or stopping and navigation of the material handling vehicle 10 around the obstacle.

[0051] If no obstacle is detected in filter field 65, process 800 determines the performance field P in box 822. i Whether an obstacle is detected in the performance field P. In an embodiment, the obstacle scanning tool T executes obstacle scanning logic to check whether an obstacle is detected in the performance field P. i The detected obstacle executes a performance level reduction query, where the result of the performance level reduction query includes the performance level L in box 828 described below when performance level reduction is available. i The reduction in performance and the implementation of obstacle avoidance in box 820 when the performance level is reduced and unavailable. For example, if in box 822 in performance field P i If an obstacle is detected, the performance level of process 800 is reduced. A query in box 824 determines whether the current speed Sc of the material handling vehicle 10, received as input 817, is less than or equal to the performance level L. (i-1) The associated maximum speed S (i-1) Max.

[0052] In other words, the performance level reduction query includes a current vehicle speed query to confirm that the current speed Sc of the material handling vehicle 10 along the travel path 60 is not greater than the performance level L. i The associated maximum speed S i Max. The obstacle scanning tool T determines that the current speed Sc is not greater than the maximum speed S. i Adjusting performance level L at Max i The decrease.

[0053] Further, the performance level reduction query includes a current performance level inquiry in block 826 to confirm the performance level L i is greater than a minimum performance level L Min associated with the materials handling vehicle 10 (i-1) . Based on determining in block 824 that the current speed Sc of the materials handling vehicle 10 received as input 817 is less than or equal to the maximum speed S (i-1) Max associated with the performance level L i , and based on determining in block 826 that the performance level L Min is greater than the minimum performance level L i , the performance level reduction query of the process 800 reduces the performance level L i to the next lower level in block 828, setting the performance level L (i-1) to the performance level L i . Accordingly, the performance field P i associated with the performance level L (i-1) is reduced and set to the performance field P (i-1) associated with the performance level L (i-1) .

[0054] The obstacle scanning tool T can include a plurality of performance filters establishing a respective plurality of performance fields. Further, the performance field P (i-1) includes a maximum speed S (i-1) Max associated with the performance level L i and is set within the performance field P (i-1) . Reducing the performance level L i to the performance level L (i-1) includes correspondingly reducing the performance field P i to the performance field P i . Accordingly, the performance field P i associated with the current performance level L (i-1) may be reduced to a next lower performance level L (i-1) that is less than the current performance level L i such that the behavior rules allow for increased driving restrictions (i.e., reduced or lowered speeds, etc.) to match the next performance level L i . The process 800 returns to block 816 to scan for obstacles and repeat the subsequent process block steps as described herein.

[0055] However, based on determining that the current speed Sc of the materials handling vehicle 10 received as input 817 is greater than the maximum speed S (i-1)the associated maximum speed S (i-1) Max, process 800 proceeds to block 820 to perform obstacle avoidance. At block 820, process 800 can repeat the process steps beginning at block 802.

[0056] Further, based on determining the performance level L i is not greater than but is equal to the minimum performance level L Min Max, process 800 proceeds to block 820 to perform obstacle avoidance.

[0057] Additionally, if no obstacles are detected in the performance field P i at block 822, the performance level reduction query of process 800 determines whether the destination D has been reached at block 832. Based on a positive determination that the destination D has been reached, process 800 can repeat the process steps beginning at block 802. Based on a negative determination that the destination D has not been reached, process 800 returns to block 816 to scan for obstacles.

[0058] Referring to Figure 9 , a process 900 is shown in which a filtering field 65 that can be reduced is set and utilized. The obstacle scanning tool T can include obstacle scanning hardware, such as a laser scanner 50 that establishes a scan field 55, a path filter 64 that establishes a filtering field F i , and is configured to indicate the presence of obstacles in the filtering field F i . At block 902 of process 900, navigation of the materials handling vehicle 10 is initiated. The obstacle scanning tool T receives a plurality of inputs 904-912, such as a scan field parameter as input 904 including the scan field 55, an input performance level L i as input 906, a maximum speed S i Max associated with the performance level L i as input 908, destination data as input 910, and travel path data as input 912.

[0059] At block 914 of process 900, the filtering field F i is set. For example, the obstacle scanning tool T executes obstacle scanning logic to establish the filtering field F i .

[0060] At block 916 of process 900, process 900 scans for obstacles. For example, the obstacle scanning tool T executes obstacle scanning logic to scan for obstacles in the filtering field F i . At block 918, process 900 determines whether an obstacle is detected in the filtering field F i .

[0061] If an obstacle is not detected in the filtering field F iIf an obstacle is detected in the filtered field F, the process 900 receives an input 919 of a current speed Sc of the materials handling vehicle 10 along the travel path 60. In embodiments, the obstacle scanning tool T executes obstacle scanning logic to scan for obstacles in the filtered field F i and executes a performance level reduction query, where a result of the performance level reduction query includes a performance level L i reduction when a performance level reduction is available and execution of obstacle avoidance in block 920 when a performance level reduction is not available. For example, if an obstacle is detected in the filtered field F i in block 918, the performance level reduction query of the process 900 determines in block 924 whether the current speed Sc of the materials handling vehicle 10 received as input 919 is less than or equal to a maximum speed S (i-1) Max associated with the performance level L (i-1) .

[0062] In other words, the obstacle scanning tool T determines in block 924 to adjust a reduction of the performance level L i when the current speed Sc is not greater than the maximum speed S (i-1) Max and is not greater than the maximum speed S (i-1) Max associated with the performance level L i . Further, the performance level reduction query includes a current performance level inquiry in block 826 to confirm that the performance level L i is greater than a minimum performance level L Min associated with the materials handling vehicle 10. Based on a determination in block 924 that the current speed Sc of the materials handling vehicle 10 received as input 919 is less than or equal to the maximum speed S (i-1) Max associated with the performance level L (i-1) and based on a determination in block 926 that the performance level L i is greater than the minimum performance level L Min , the performance level reduction query of the process 900 reduces the performance level L i to a next reduced level, setting the performance level L i to the performance level L (i-1) in block 928. Accordingly, the filtered field F i associated with the performance level L i is set to a next reduced filtered field F (i-1) associated with the performance level L (i-1) in block 930. The process 900 returns to block 916 to scan for obstacles and repeats subsequent process block steps as described herein.

[0063] However, based on a determination that the current speed Sc of the materials handling vehicle 10 received as input 919 is greater than the maximum speed S i Max associated with the performance level L (i-1) , the obstacle scanning tool T determines in block 928 to adjust a reduction of the performance level L (i-1) . Further, the performance level reduction query includes a current performance level inquiry in block 826 to confirm that the performance level L i is greater than a minimum performance level L i associated with the materials handling vehicle 10. Based on a determination in block 924 that the current speed Sc of the materials handling vehicle 10 received as input 919 is less than or equal to the maximum speed S Min Max associated with the performance level L (i-1) and based on a determination in block 926 that the performance level L (i-1) is greater than the minimum performance level L i , the performance level reduction query of the process 900 reduces the performance level L Min to a next reduced level, setting the performance level L i to the performance level L i in block 928. Accordingly, the filtered field F (i-1) associated with the performance level L i is set to a next reduced filtered field F i associated with the performance level L (i-1) in block 930. The process 900 returns to block 916 to scan for obstacles and repeats subsequent process block steps as described herein.i The associated maximum speed S i Max, and further determined in box 924, the current speed Sc of the material handling vehicle 10 is greater than the performance level L. (i-1) The associated maximum speed S (i-1) At Max, process 900 proceeds to box 920 to perform obstacle avoidance. At box 920, process 900 can repeat the processing steps starting from box 902. Furthermore, based on the performance level L determined in box 926... i Not greater than, but equal to, the minimum performance level L Min The process moves from 900 to 820 to perform obstacle avoidance.

[0064] Additionally, if the filter field F is not in box 918 i If an obstacle is detected, the performance level of process 900 decreases. A query in box 932 determines whether destination D has been reached. Based on a positive confirmation that destination D has been reached, process 900 can repeat the process steps that began in box 902. Based on a negative confirmation that destination D has not yet been reached, process 900 returns to box 916 to scan for obstacles.

[0065] Figure 10 and 11 This illustrates the use of a filter field 65 and one or more superimposed fields 67 applied to scan data at a cross-section 80 within an industrial environment 81. Figure 10 In this context, the filter field 65 includes the path 60 as described above. As discussed below, it may be desirable to identify obstacles along path 60 and any obstacles within intersection 80, including obstacles approaching along the first passageway path 82 and the second passageway path 83. For example, but not as a limitation, the obstacle scanning tool T( Figure 1 Cross-section rules can be used, such as yielding or stopping rules to check vehicles, objects, pedestrians, etc., approaching the cross-section from the first aisle path 82 (approaching from the right or left) or the second aisle path 83 (approaching from the front or rear). In addition to the path filter 64, the obstacle scanning tool T can also use one or more overlay filters 68 to identify obstacles in the overlay field 67 of the scan data, thereby operating the material handling vehicle 10 according to the cross-section rules. Therefore, one or more overlay filters 68 are configured to create one or more overlay fields 67 to overlay one or more areas of the cross-section. The filter field 65 can be configured to adjust the field shape to include one or more overlay filters based on the determination that the material handling vehicle 10 is approaching the cross-section.

[0066] exist Figure 11In particular embodiments, the intersection site rule can dictate that any obstacles or approaching obstacles be identified along the first aisle path 82 from the right side of the map. As such, only one overlay filter 68 is expected to be used on the appropriate side of the scan data (e.g., the right side of the map). It should be understood that the overlay filter 68 can be of any shape or size, as shown. Thus, if an obstacle is detected along the left side of the scan field 55 but outside of the filter field 65 and present in the scan data, the obstacle scanning tool T will not process the associated scan data and will not identify the obstacle. It should also be understood that the filter field 65 can be changed to collectively include the filter field 65 and the overlay field 67. In other words, the present disclosure is not limited to the use of an overlay filter 68 and the same goal can be achieved by changing the configuration of the path filter 64. Figure 11

[0067] Referring generally to Figures 4-11 , the obstacle scanning tool T implements two categories of rules; namely, field shape rules and behavior rules. These two categories of rules are associated by the conditions (e.g., obstacles, etc.) within the industrial environment in which they occur, such that for various field shapes disclosed herein, a set of behavior rules will be applied. The field shape rules dictate the shape of the filter field 65 as well as the performance fields 70 and 70'. Non-limiting example factors implemented by the field shape rules include path intent, vehicle speed, location within the industrial environment, etc. For example, if the materials handling vehicle 10 is expected to turn (i.e., intent), if the vehicle speed is within a high performance level (e.g., performance level 3 - an arbitrary level not associated with actual truck performance), a particular filter field shape will be selected and then applied by the obstacle scanning tool T to the scan data will expand the filter field 65 to cover a greater area than a filter field 65 for a lower vehicle speed within a medium performance level (e.g., performance level 2) or a low performance level (e.g., performance level 1). Alternatively, if the materials handling vehicle 10 is approaching an intersection site, the filter field 65 will assume a different field shape or one or more overlay filters 68 Figure 10 and 11 ) can be added to the path filter 64. For example, the filter field 65 can be configured to adjust the field shape based on a determination that the materials handling vehicle 10 is approaching an intersection site and based on the current speed Sc of the materials handling vehicle. These two alternative examples provide different field shapes depending on vehicle speed or environmental conditions. It should be understood that the actual scan field shape of the laser scanner 50 is the scan field 55 and the "field shape" of the obstacle scanning tool T is the filter field 65 imposed by the obstacle scanning tool T to the scan data from the scan field 55.

[0068] ​The behavior rules describe how the vehicle should behave when an obstacle is detected or not detected under the current operating conditions. Depending on the result of the obstacle detection, the driving restrictions will be updated according to predefined behavior rules. Driving restrictions are imposed when an obstacle is found and lifted when no obstacle is found. For example, but not by way of limitation, if the vehicle speed is within a high performance level (e.g., performance level 3), the performance field P is implemented on the scan data by the obstacle tool T i , 70, 70', to provide an additional area for obstacle detection within the scan field 55. If an obstacle is detected under these conditions, the behavior rules reduce the performance level of the vehicle speed in the form of a speed limit imposed by the obstacle scan tool T. Alternatively, if the materials handling vehicle 10 is waiting to cross the intersection 80 and an obstacle is detected (e.g., a pedestrian or pallet along the path 60), the materials handling vehicle 10 will remain stationary until the obstacle is removed. It should be understood that the performance level defines the vehicle operating range that the obstacle scan tool T and / or the operator can operate the materials handling vehicle within. For example, but not by way of limitation, if the user is operating the materials handling vehicle at 0.5 meters / second in performance level 3 and an obstacle is detected in the performance field 70, the obstacle scan tool T can reduce to performance level 2, which has a vehicle speed range of 0.5 meters / second to 0.25 meters / second, for example. In this case, the user would not be warned to reduce speed or have the obstacle scan tool T force a change in speed since the user is operating the materials handling vehicle 10 at a speed that satisfies both performance levels and would therefore not notice the change in speed. The opposite is true if the performance field 70 is free of obstacles and the performance level is increased.

[0069] Reference is made to Figure 12 , a flowchart illustrating the process by which the obstacle scan tool T identifies obstacles. The laser scanner 50 Figure 4 ) scans 100 the industrial environment and records scan data (e.g., recorded in the environment data 255 Figure 3 ). The scan data can be an array of measured distances for each angular step on a two-dimensional plane of the laser scanner 50. The scan data is sent 105 to the obstacle scan tool T Figure 1), wherein a total filter 110 is applied by the obstacle scanning tool T to the scan data to reduce the scan data to scan data most likely to be located within the total filter. In other words, scan data located outside the area defined by the total filter is removed from the scan data for further processing to identify obstacles. The total filter is derived from the vehicle intent 120 (e.g., the intended operation of the materials handling vehicle 10) and the vehicle feedback 125 (e.g., the current speed, steering angle, weight, etc. of the materials handling vehicle). The vehicle intent 120 refers to the intended task and movement of the materials handling vehicle prior to execution. This can be the general case of following a predetermined path with a set of predetermined waypoints or a specific case such as entering a narrow aisle and / or traversing a cross-over. The vehicle feedback 125 is vehicle data 260 Figure 3 ) including, but not limited to, global position, orientation or pose, speed, and steering angle in the industrial environment. In particular, the adaptive local field selection 130 can be derived from the vehicle intent 120 and the vehicle feedback 125. The extended global field shape 135 can be derived from the vehicle intent 120, the intended path of the materials handling vehicle at the destination D, and the adaptive local field selection 130. The extended global field shape 135 defines an area of interest 140 (i.e., the total filter) within the scan field 55.

[0070] The obstacle scanning tool T performs feature extraction 145 of obstacle features from the scan data by clustering similar scan data into obstacle features. A cross-over check 150 is performed to identify whether any obstacle features intersect within the area defined by the total filter (i.e., the area of interest 140). If needed, driving restrictions 155 are imposed on the materials handling vehicle 10.

[0071] The configuration data 250 Figure 3 ) includes field shape rules 160 and behavior rules 165. The field shape rules 160 are a set of filter field shapes that are selected (adaptive local field selection 130) according to the performance level of the materials handling vehicle 10. For example, but not by way of limitation, using vehicle speed as a metric, if the speed of the materials handling vehicle 10 is between 0 m / s and 0.1 m / s, the performance level is level 1 and the filter field 65 is 2.8 meters wide by 2 meters long. Continuing with this example, if the speed of the materials handling vehicle 10 is greater than 0.1 m / s and less than 0.5 m / s, the performance level is level 2 and the filter field 65 is 2.8 meters wide by 2.5 meters long, and if the speed of the materials handling vehicle 10 is between 0.5 m / s and 1.0 m / s, the performance level is level 3 and the filter field 65 is 3.0 meters wide by 5 meters long. It will be appreciated that the given dimensions form a square, however, once superimposed with the scan field 55 (i.e., the scan range 57 Figure 4 ) with the scan arc Figure 4 ​(Combined), the square shape can be trimmed. It should also be understood that the given dimensions can form other shapes, and the examples are not limited to squares.

[0072] Rule 165 of the code of conduct specifies that if in an industrial environment 81 ( Figure 10 If obstacles are identified or not identified at certain geographical locations within the filter field 65, how should the material handling vehicle 10 be operated? Behavioral rule 165 includes reducing the performance level if an obstacle is identified in the filter field 65 for the currently selected performance level. If no obstacle is identified in the filter field 65, performance field P is implemented. i 70, 70' and check for identified obstacles. Alternatively, check the performance field P. i Before 70' and 70', you can combine path filter 64 with overlay filter 68. Figure 10 and 11 Additions of ) are allowed. For example, but not as a limitation; see reference [link / reference]. Figure 10 and 11 When a vehicle reaches intersection 80 (given by its position and orientation) and intends to cross it, a filtering field 65 can be formed in different ways (based on field shape rule 160) according to the desired behavior. Figure 10 In the process, obstacle scanning tool T will grant right-of-way to all obstacles identified in the scanning field 55, while... Figure 11 In the process, obstacle scanning tool T will only grant right-of-way to those obstacles identified in front of and to the right of the material handling vehicle 10.

[0073] refer to Figure 8 If the obstacle scanning tool T does not detect any obstacles in the scan field, an optional step can be included between boxes 818 and 822 to enhance the performance of the field P. i (or Figure 9 Filtering field F in i And the performance level L associated between boxes 918 and 932) i For example, regarding Figure 8 Example, expected with current performance level L i Related performance field P i It can be increased to a level greater than the current performance level L. i The next performance level L (i+1) This would allow the obstacle scanning tool T to perform at its current performance level L. i Performance field P was not identified. i If any obstacle is encountered, Rule 165 allows for a reduction in driving restrictions (i.e., an increase in speed, etc.) to match the next performance level L. (i+1) Additionally, if available, the field can be scaled up to the next performance level L. (i+1)The associated next performance field P (i+1) It can be envisioned that performance level L i This is not the actual performance level setting on the material handling vehicle 10, but rather a metric that defines the entire range of vehicle behavior defined by the obstacle scanning tool T. If an obstacle is detected in the filter field 65, the obstacle scanning tool T adjusts the vehicle's performance level L. i Reduced to a lower performance level (i.e., L) (i-1) This continues until the material handling vehicle's speed reaches zero (where the material handling vehicle stops). However, if the filter field 65 does not identify any obstacles, and the performance level L... i Not at maximum performance level L MAX Then the obstacle scanning tool T will be at performance level L i Search performance field P i Obstacles in the field. If the performance field P i No obstacles were identified and maximum performance level has not yet been reached. MAX Then the material handling vehicle 10 will be granted permission to advance to the next performance level L. (i+1) The ability (i.e., the ability not required to reach that performance level). Performance field P i This can be increased accordingly to the performance field P (i+1) If the performance field P i If not properly cleaned, the material handling vehicle 10 will remain at its current performance level L. i And it can move to the next lower performance level L. (i-1) ,like Figure 8 The process is described in blocks 824-830 of 800.

[0074] Similarly, in Figure 9 Between boxes 918 and 932, if the filter field F i No obstacles were identified, and the performance level was L. i Maximum performance level not reached. MAX Then the material handling vehicle 10 will be granted permission to advance to the next performance level L. (i+1) (That is, the ability to not require reaching this performance level). Filter field F i The filter field F can be increased accordingly. (i+1) If the filtering field F i If it is not cleaned properly, then the material handling vehicle 10 will remain at its current performance level L. i And it can move to the next lower performance level L. (i-1) ,like Figure 9 The process is described in blocks 924-930 of 900.

[0075] The obstacle scanning tool T has the advantage of knowing the vehicle intent to implement an adaptable detection field shape while the vehicle is travelling / operating. This allows the generation of a detection field shape on a per situation basis that is more appropriate than a preconfigured non-adaptable field. In addition to obstacle detection in the direction of travel, a higher level context field (i.e. performance field) can be defined to implement operational rules. For example, knowing that the intent of the vehicle is to cross an intersection, the system can adjust the detection field to search for oncoming traffic and apply right-of-way rules.

[0076] It is noted that the term "sensor" or "scanner" as used herein denotes a device that measures a physical quantity and converts it into a signal related to the measured value of the physical quantity. Furthermore, the term "signal" denotes an electrical, magnetic or optical waveform capable of being transmitted from one location to another, such as a current, voltage, flux, DC, AC, sine wave, triangle wave, square wave, etc.

[0077] It is also noted that recitations of "at least one" of a component, element, etc. herein are not to be construed as excluding a use of the alternative "one" of the component, element, etc. in the recitations.

[0078] Certain terminology is used in this disclosure for convenience only and does not by itself limit the scope of the disclosure. The terms "right", "left", "front", "back", "bottom", "top", and the like describe the orientation in the drawings the reference is made to. The terminology includes the words above and derivatives thereof and words of similar import.

[0079] It is noted that while aspects can be presented in the depicted embodiment in a particular order, alternative embodiments can be performed in an alternative order, without departing from the scope of the present disclosure. It is also noted that one or more of the aspects can be omitted, without departing from the scope of the embodiments described herein.

[0080] It is noted that recitations herein of a component of the present disclosure being "configured" or "programmed" to perform a particular task or function indicate that the component is structured (e.g., physically structured or configured) and / or programmed to perform the task or function and therefore, such recitations are structural recitations, as opposed to recitations of intended use.

[0081] It is noted that the terms, such as "preferably," "typically," and "typically," as used herein are not used to limit the scope of the claimed application or to imply that certain features are critical, essential, or even important to the structure or function of the claimed application. Rather, these terms are merely intended to identify particular aspects of the embodiments of the present disclosure or to emphasize that an alternative or additional feature can or can not be used in a particular embodiment of the present disclosure.

[0082] To describe and define the present application, it is noted that the terms "substantially" and "approximately" are used herein to represent the inherent degree of uncertainty that can be attributed to any quantitative comparison, value, measurement, or other representation. The terms "substantially" and "approximately" are used herein to represent the degree by which a quantitative representation can vary from a stated reference, and that such variation does not mean the change in the referred subject matter's basic function.

[0083] While specific embodiments have been illustrated and described herein, it will be appreciated that various other changes and modifications can be made without departing from the spirit and scope of the claimed subject matter. Additionally, although various aspects of the claimed subject matter have been described herein, these aspects need not be used in combination. Accordingly, the appended claims are intended to cover all such changes and modifications that are within the scope of the claimed subject matter.

[0084] It is noted that one or more of the following claims utilize the term "wherein" as a transitional phrase. For the purposes of defining the present invention, it is noted that this term is introduced in the claims as an open transition phrase that is used to introduce a recitation of a series of features of the structure and should be interpreted in the same manner as the much more specific and restrictive transitional phrase "comprising."

Claims

1. A material handling vehicle, comprising: Vehicle drive mechanism, and Obstacle scanning tool, including: The vehicle drive mechanism facilitates the material handling vehicle and the materials carried by the material handling vehicle to travel along the path at a vehicle speed S. C Moving toward the destination; Obstacle scanning tools include obstacle scanning hardware for establishing the scanning field, path filters for establishing the filtering field, and performance fields (P). i The performance filter is configured to indicate the filter field and performance field P. i The presence of obstacles in; and The obstacle scanning tool executes obstacle scanning logic in order to... Use path filters to create a filter field. Use a performance filter in response to the input performance level L. i Establish performance field P i , Scanning filter field and performance field P i Obstacles in the middle, Obstacle avoidance is performed on obstacles detected in the filtering field, and For performance field P i The detected obstacle performs a performance level reduction query, where the results of the performance level reduction query include the performance level L when the performance level reduction is available. i The reduction in performance and obstacle avoidance execution when performance levels are reduced and unavailable. The obstacle scanning tool includes one or more overlay filters that create one or more overlay fields configured to overlay one or more regions of an intersection, and the filter fields are configured to adjust the field shape to include the one or more overlay filters based on the determination that a material handling vehicle is approaching the intersection.

2. The material handling vehicle according to claim 1, wherein: Performance level degradation queries include current vehicle speed queries to confirm the current speed S of the material handling vehicle along the travel path. C Not greater than the performance level L i The associated maximum speed S i Max; and The obstacle scanning tool determines the current speed S C Not greater than the maximum speed S i Adjusting performance level L at Max i The decrease.

3. The material handling vehicle according to claim 1, wherein: The performance level degradation query includes a query for the current performance level to confirm the performance level L. i Greater than the minimum performance level associated with material handling vehicles; and In determining the performance level L i When the obstacle scanning tool's performance level L is greater than the minimum performance level, the performance level L is adjusted. i The decrease.

4. The material handling vehicle according to claim 1, wherein: Performance level degradation queries include current vehicle speed queries to confirm the current speed S of the material handling vehicle along the travel path. C Not greater than the performance level L i The associated maximum speed S i Max; The performance level degradation query includes a query for the current performance level to confirm the performance level L. i Greater than the minimum performance level associated with material handling vehicles; and The obstacle scanning tool determines the current speed S C Not greater than the maximum speed S i Max and performance level L i Adjust performance level L when it is greater than the minimum performance level i The decrease.

5. The material handling vehicle of claim 1, wherein a vehicle drive mechanism is used to perform obstacle avoidance.

6. The material handling vehicle of claim 1, wherein the performance level is input at the user interface or in response to external stimuli.

7. The material handling vehicle according to claim 1, wherein the filtration field is located in performance field P. i Inside.

8. The material handling vehicle according to claim 1, wherein the obstacle scanning tool includes a plurality of performance filters, the plurality of performance filters establishing a plurality of corresponding performance fields.

9. The material handling vehicle according to claim 8, wherein the performance field P （i-1） Including performance level L （i-1） The associated maximum speed S （i-1） Max, and set in performance field P i Inside.

10. The material handling vehicle according to claim 9, wherein: The performance level reduction query also includes a current vehicle speed query to confirm the current speed S of the material handling vehicle along the travel path. C Not greater than the performance level L （i-1） The associated maximum speed S （i-1） Max; The performance level degradation query includes a query for the current performance level to confirm the performance level L. i Greater than the minimum performance level associated with material handling vehicles; The obstacle scanning tool determines the current speed S C Not greater than the maximum speed S （i-1） Max and performance level L i When the performance level is greater than the minimum performance level, the performance level L will be adjusted. i Adjust to reduce to performance level L （i-1） ; and Performance level L i Reduced to performance level L （i-1） Including performance field P i Accordingly, reduce to the performance field P （i-1） .

11. The material handling vehicle of claim 1, wherein the filtration field is an area along the travel path and within the scanning field, wherein the obstacle scanning tool processes scan data from the obstacle scanning hardware to identify obstacles along the travel path and within the filtration field.

12. The material handling vehicle of claim 1, wherein the obstacle scanning tool includes a predicted path filter configured to define a travel path outside the scanning field at a distance from the travel path.

13. The material handling vehicle of claim 12, wherein the distance is a fixed distance from the travel path.

14. The material handling vehicle of claim 12, wherein the distance is configured to vary based on at least one of the expected direction of travel along the travel path, the expected speed of travel, and the expected turning angle at the destination along the travel path.

15. The material handling vehicle of claim 1, wherein the filtration field is configured based on determining that the material handling vehicle is approaching the intersection and based on the current speed S of the material handling vehicle. C To adjust the field shape.

16. The material handling vehicle of claim 1, wherein the obstacle scanning tool executes obstacle scanning logic to perform a performance level improvement query, the performance level improvement query including when in performance field P i Performance level L when no obstacle is detected i The result of the increase.

17. A material handling vehicle, comprising: Vehicle drive mechanism, and Obstacle scanning tool, including: The vehicle drive mechanism facilitates the material handling vehicle and the materials carried by the material handling vehicle to travel along the path at a vehicle speed S. C Moving toward the destination; Obstacle scanning tools include obstacle scanning hardware for establishing the scanning field and F for establishing the filtering field. i The path filter, and is configured to indicate the filter field F i The existence of obstacles in; and The obstacle scanning tool executes obstacle scanning logic in order to... Using path filters to respond to input performance level L i Establish a filtration field F i , Scanning filter field F i Obstacles in the middle, For the filter field F i The detected obstacle performs a performance level reduction query, where the results of the performance level reduction query include the performance level L when the performance level reduction is available. i The reduction in performance and obstacle avoidance execution when performance levels are reduced and unavailable. The obstacle scanning tool includes one or more overlay filters that create one or more overlay fields configured to overlay one or more regions of an intersection, and the filter fields are configured to adjust the field shape to include the one or more overlay filters based on the determination that a material handling vehicle is approaching the intersection.

18. A method for executing scanning logic of a material handling vehicle, the method comprising: The material handling vehicle and the materials it carries travel along the path at a vehicle speed S. C Moving toward its destination, the material handling vehicle includes a vehicle drive mechanism and obstacle scanning tools, among which... The vehicle drive mechanism facilitates the movement of the material handling vehicle and the materials being transported along the travel path, and Obstacle scanning tools include obstacle scanning hardware, path filters, and performance filters; A scanning field is established using obstacle scanning hardware from an obstacle scanning tool; A filtering field is established by using the path filter of the obstacle scanning tool; Establish performance field P using the performance filter of the obstacle scanning tool i ; Use the obstacle scanning tool to scan the filter field and performance field P. i Obstacles in the middle; Obstacle avoidance is performed on obstacles detected in the filter field using an obstacle scanning tool; For performance field P i The detected obstacles reduced the performance level of the query. When a performance level reduction is available, execute the results of a performance level reduction query to reduce performance level L. i ; and When the performance level is degraded and unavailable, the results of queries with degraded performance levels are executed to perform obstacle avoidance. The obstacle scanning tool includes one or more overlay filters that create one or more overlay fields configured to overlay one or more regions of an intersection, and the filter fields are configured to adjust the field shape to include the one or more overlay filters based on the determination that a material handling vehicle is approaching the intersection.

19. A method for executing scanning logic of a material handling vehicle, the method comprising: The material handling vehicle and the materials it carries travel along the path at a vehicle speed S. C Moving toward its destination, the material handling vehicle includes a vehicle drive mechanism and obstacle scanning tools, among which... The vehicle drive mechanism facilitates the movement of the material handling vehicle and the materials being transported along the travel path, and Obstacle scanning tools include obstacle scanning hardware and path filters; A scanning field is established using obstacle scanning hardware from an obstacle scanning tool; A filter field F is established by using the path filter of the obstacle scanning tool. i ; Scan the filter field F using an obstacle scanning tool. i Obstacles in the middle; For the filter field F i The detected obstacles reduced the performance level of the query. When a performance level reduction is available, execute the results of a performance level reduction query to reduce performance level L. i ; and When the performance level is degraded and unavailable, the results of queries with degraded performance levels are executed to perform obstacle avoidance. The obstacle scanning tool includes one or more overlay filters that create one or more overlay fields configured to overlay one or more regions of an intersection, and the filter fields are configured to adjust the field shape to include the one or more overlay filters based on the determination that a material handling vehicle is approaching the intersection.

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