Obstacle scanning tool for material handling vehicle

Abstract

A material handling vehicle includes an obstacle scanning tool and steering mechanism, material handling hardware, a vehicle drive mechanism, and a user interface that facilitates movement of the material handling vehicle and material handled along a path of travel. 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 a performance field in response to an input performance level, scan a filter field and obstacles in the performance field, perform obstacle avoidance on obstacles detected in the filter field, and perform a performance level reduction query on obstacles detected in the performance field, wherein a result of the query includes a reduction in the performance level when the performance level reduction is available and performing obstacle avoidance when the performance level reduction is unavailable.

Description

[0001] This application is a divisional application of the Chinese patent application with international application number PCT / US2017 / 048612, parent national application number 201780061118.7, direct parent national application number 202210704305.5, application date August 25, 2017, and name “Material Handling Vehicle Obstacle Scanning Tool”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

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

[0004] The present disclosure relates to obstacle detection and avoidance, and more particularly, to material handling vehicles equipped to detect and avoid obstacles in a warehouse. Background Art

[0005] For purposes of defining and describing the concepts and scope of the present disclosure, it should be noted that a “warehouse” includes any indoor facility or otherwise covered facility through which material handling vehicles transport goods, including but not limited to warehouses used primarily for the storage of goods, such as warehouses with multiple floors of warehouse racks arranged in aisles, and manufacturing facilities where goods are transported around the facility by material handling vehicles used in one or more manufacturing processes. Summary of the invention

[0006] According to the disclosed subject matter, 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 the material being handled by the material handling vehicle along a travel path in a warehouse at a vehicle speed S C The obstacle scanning tool includes obstacle scanning hardware for establishing a scanning field, a path filter for establishing a filtering field, and a performance field P i The performance filter is configured to indicate the filter field and the performance field P i The obstacle scanning tool executes the obstacle scanning logic to establish the filter field using the path filter and respond to the input performance level L using the performance filter. i Establishing Performance Field i , scanning filter field and performance field P i Obstacles in the filter field, obstacle avoidance is performed on obstacles detected in the filter field, and i The obstacle detected in the process performs a performance level reduction query, wherein the result of the performance level reduction query includes the performance level L when the performance level reduction is available.i Reduction and execution of obstacle avoidance when the performance level reduction is not available.

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

[0008] In an embodiment, the obstacle avoidance is performed using a steering mechanism, a vehicle drive mechanism, or both. The performance level may be input at a user interface or in response to an external stimulus. The filter field may be arranged within the performance field P i （i-1） （i-1） （i-1） i （i-1） （i-1） i Max, and may be set within the performance field P i （i-1） The performance level reduction query may further include a current vehicle speed query to confirm that the current speed Sc of the material handling vehicle along the travel path is not greater than the maximum speed S （i-1） 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 is greater than the lowest performance level associated with the material handling vehicle; the obstacle scanning tool determines that the current speed Sc is not greater than the maximum speed S（i-1） Max and performance level L i When greater than the lowest performance level, adjust the performance level L i Reduce it to performance level L （i-1） ; and reduce the performance level L i Reduce it to performance level L （i-1） Include correspondingly reducing the performance field Pi to the performance field P （i-1） .

[0009] In a further embodiment, the filter field is an area 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 within the filter field. The obstacle scanning tool may include an expected path filter configured to define the travel path to the outside of the scan field at a distance from the travel path. The distance may be a fixed distance from the travel path. Alternatively, the distance may be configured to vary based on at least one of the expected travel direction along the travel path, the expected travel speed, and the expected steering angle at the destination along the travel path. The filter field may be configured to adjust the field shape based on determining that the material handling vehicle is approaching an intersection and based on the current speed Sc of the material handling vehicle. The obstacle scanning tool may include one or more superimposed filters that establish one or more superimposed fields configured to superimpose one or more areas of the intersection, and the filter field is configured to adjust the field shape to include the one or more superimposed filters based on determining that the material handling vehicle is approaching an intersection. The obstacle scanning tool may execute obstacle scanning logic to perform a performance level increase query, the performance level increase query including the result of an increase in performance level L i when no obstacle is detected in the performance field P i .

[0010] According to an embodiment 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, where the steering mechanism, the material handling hardware, the vehicle drive mechanism, and the user interface facilitate the material handling vehicle and the material carried by the material handling vehicle to move along the travel path in the warehouse at a vehicle speed S C towards the destination. 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 the presence of obstacles 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 in the filter field Fi perform a performance level degradation query on the obstacles detected in the, where the result of the performance level degradation query includes a degradation of performance level L when performance level degradation is available and the execution of obstacle avoidance when performance level degradation is not available. i

[0011] According to another embodiment of the present disclosure, a material handling vehicle includes a towing vehicle and at least one trailer towed by the towing vehicle. The towing vehicle includes a steering mechanism, material handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, the material handling hardware, the vehicle drive mechanism, and the user interface facilitate the movement of the material handling vehicle and the material carried by the material handling vehicle along a curved travel path in a warehouse towards a destination. The towing configuration of the material handling vehicle establishes a trailer turning radius r1, which is less than the towing vehicle turning radius r2 along the curved portion of the curved travel path. The obstacle scanning tool includes obstacle scanning hardware that establishes a scanning field and a path filter that establishes a filtered field, and is configured to indicate the presence of obstacles in the filtered field. The obstacle scanning tool executes obstacle scanning logic to establish the filtered field using the path filter such that the area of the filtered field is inclined along the curved travel path towards the inner edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer and to avoid collisions with obstacles along the inner edge of the turn of the curved travel path.

[0012] In an embodiment, the obstacles for the trailer along the inner edge of the turn of the curved travel path include the towing vehicle, and the filtered field is inclined along the curved travel path towards the inner edge of the turn to avoid collisions between the towing vehicle and the at least one trailer. The at least one trailer may include a plurality of trailers, and the obstacles for each trailer along the inner edge of the turn of the curved travel path include one of another trailer and the towing vehicle among the plurality of trailers, and the filtered field is inclined along the curved travel path towards the inner edge of the turn to avoid collisions between the towing vehicle and one of the plurality of trailers and between one of the plurality of trailers and another of the plurality of trailers.

[0013] According to yet another embodiment of the present disclosure, a method of executing the scanning logic of a material handling vehicle is provided, the method including: moving the material handling vehicle and the material carried by the material handling vehicle along a travel path in a warehouse at a vehicle speed S CMoving towards a destination, 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 the movement of the material handling vehicle and the material being transported 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 scanning field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtering field by using the path filter of the obstacle scanning tool; establishing a performance field P by using the performance filter of the obstacle scanning tool i ; scanning the filtering field and the performance field P with the obstacle scanning tool i for obstacles; performing obstacle avoidance for the obstacles detected in the filtering field by the obstacle scanning tool; performing a performance level reduction query for the obstacles detected in the performance field P i ; when a performance level reduction is available, performing the result of the performance level reduction query to reduce the performance level L i ; and when a performance level reduction is not available, performing the result of the performance level reduction query to perform obstacle avoidance.

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

[0015] According to another embodiment of the present disclosure, there is provided a method of implementing scanning logic for a material handling vehicle, the material handling vehicle including a towing vehicle and at least one trailer towed by the towing vehicle, the method including: moving the material handling vehicle and the material carried by the material handling vehicle in a warehouse along a curved travel path toward a destination, the material handling vehicle including a steering mechanism, material handling hardware, a vehicle drive mechanism, a user interface, and an obstacle scanning tool. The steering mechanism, the material handling hardware, the vehicle drive mechanism, and the user interface facilitate the movement of the material handling vehicle and the material carried 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 through a towing configuration of the material handling vehicle, the trailer turning radius being less than a towing vehicle turning radius r2 along a curved portion of the curved travel path; establishing a scanning field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtering field by using the path filter of the obstacle scanning tool, wherein an area of the filtering field is inclined along the curved travel path toward an inner edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer and to avoid a collision of an obstacle with the inner edge of the turn along the curved travel path; and scanning for obstacles in the filtering field by using the obstacle scanning tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The embodiments set forth in the drawings are illustrative and are not intended to limit the subject matter defined by the claims. The following detailed description of illustrative embodiments can be understood when read in conjunction with the following drawings, in which like structures are denoted with like reference numerals, and in which:

[0017] Figure 1 and 2 a material handling vehicle is depicted in accordance with one or more embodiments shown and described herein;

[0018] Figure 3 a computing environment is depicted in accordance with one or more embodiments shown and described herein;

[0019] Figure 4 a scanning field is depicted in accordance with one or more embodiments shown and described herein;

[0020] Figure 5 a scanning field and a filtering field along a travel path of a material handling vehicle are depicted in accordance with one or more embodiments shown and described herein;

[0021] Figure 6 a scanning field and a filtering field of a turn along a travel path of a material handling vehicle are depicted in accordance with 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 material handling vehicle according to one or more embodiments shown and described herein;

[0023] Figure 8 depicts a flowchart showing a process that can reduce the performance field when scanning for obstacles according to one or more embodiments shown and described herein;

[0024] Figure 9 depicts a flowchart of a process that can reduce the filter field when scanning for obstacles according to one or more embodiments shown and described herein;

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

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

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

[0028] The following text sets forth a broad description of many different embodiments of the present disclosure. This description should be construed as presenting only examples and not as describing every possible embodiment, since describing every possible embodiment would be impractical if not impossible, and it will be understood that any feature, characteristic, component, composition, ingredient, product, step, or method described herein may be deleted, combined, or substituted in whole or in part with any other feature, characteristic, component, composition, ingredient, product, step, or method described herein. It should be understood that various combinations of the described and illustrated embodiments are contemplated, and a particular focus on one embodiment does not exclude its inclusion in a combination with other described embodiments. Many alternative embodiments can also be implemented using current technology or technology developed after the filing date of this patent application, which still fall within the scope of the claims.

[0029] Figure 1There is shown a material handling vehicle 10 in the form of a forklift truck, which includes conventional material handling vehicle hardware, such as a steering mechanism S, material handling hardware 20, and a vehicle drive mechanism, the details of which are beyond the scope of the present disclosure and can be obtained from conventional and yet-to-be-developed teachings in material handling vehicle literature - examples of the literature 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. Referring to Figure 1-2 , there is shown a material handling vehicle 10, including a vehicle body, material handling hardware 20, one or more wheels 30, a vehicle drive mechanism D, a steering mechanism S, a positioning 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 although several embodiments of the material handling vehicle 10 are shown and described, the present disclosure contemplates any type of material handling vehicle, including, for example, forklift trucks, trucks, tractors, trailer trains, etc.; including but not limited to powered industrial trucks as defined by the U.S. Department of Labor, Occupational Safety and Health Administration (OSHA), Class I - electric motor rider trucks, Class II - electric motor narrow aisle trucks, Class III - electric motor hand trucks or hand / rider trucks, Class IV - internal combustion engine trucks (solid / cushion 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 communicatively coupled to a vehicle controller 40 ( Figure 3 ) that controls the operating functions of the material handling vehicle 10, such as the functions of the material handling hardware 20, the vehicle drive mechanism D, and / or the steering mechanism S. In one embodiment, the material handling vehicle hardware can include a travel distance sensor configured to measure the travel distance of the material handling vehicle. By way of example and not limitation, the travel distance sensor can be an inertial sensor or 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 the conventional material handling vehicle hardware are communicatively coupled together. In one embodiment, the material handling vehicle 10 can include a positioning device L that transmits the current global position of the material handling vehicle 10 to the vehicle controller 40.

[0031] Reference Figure 2, the material handling vehicle 10 may include one or more user interfaces that allow an operator to interface with the control functions of the material handling vehicle. By way of example and not limitation, suitable user interfaces include, but are not limited to, conventional or yet-to-be-developed operator cab control devices such as manual control devices 23 for controlling the material handling hardware 20, foot-operated vehicle speed control devices 24 operatively coupled to the vehicle drive mechanism, touchscreen hardware control interfaces 26, steering control devices 14 operatively coupled to the steering wheel of the material handling vehicle 10, or combinations thereof. Those skilled in the art will appreciate that the touchscreen hardware control interface 26 may be integral with or part of the vehicle display 27, but is not limited to being part of the display 27. The touchscreen hardware control interface 26 may be a separate device from the display 27. The material handling hardware 20 may be any type of conventional or yet-to-be-developed hardware equipped for handling materials, typically configured to facilitate the storage and retrieval of goods, and may include, but is not limited to, a set of fork tips, container handlers, fork-mounted turrets, scales, telescopic handlers, and the like.

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

[0033] The obstacle scanning tool T may 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, refer to Figure 3, the obstacle scanning tool T may 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 via a local interface 215. Alternatively, suitable scanning tool software may be stored in a computer-usable or computer-readable medium accessible by the vehicle controller 40 (e.g., via a network).

[0034] As Figure 1 and 4 -5 shows, 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 , one or more filters may include a path filter 64 that establishes a filtering field 65 and a performance filter 71 that establishes performance fields (P i ) 70, 70'. The obstacle scanning tool 40 is configured to indicate the presence of obstacles in the filtering field 65 and the performance fields (P i ) 70, 70'. It should be 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 referring to the corresponding portions of the scanning field 55 corresponding to the functions of the path filter 64 and the performance filter 71. For example, in Figure 7 , the performance filter 71 is illustrated by referring to the outer boundaries of the performance fields 70, 70' within the scanning field 55 of the obstacle scanning tool 40. In addition, the path filter 64 is illustrated by referring to the outer boundary of the filtering field 65 within the scanning field 55 of the obstacle scanning tool 40.

[0035] Returning to the reference Figure 3, the 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 conjunction with the vehicle controller 40. The non-transitory computer-readable medium 210 can be, by way of example but not limitation, 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 will include the following volatile and non-volatile examples: an electrical connection having one or more wire lines, a computer disk, 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). It should be noted that the non-transitory computer-readable medium 210 can even be paper or other suitable media on which a program is printed, because the program can be electronically captured via, for example, optical scanning of the paper or other media and then, if necessary, compiled, interpreted, or otherwise processed in a suitable manner and then stored in a computer memory. In other words, the non-transitory computer-readable medium 210 can include those computer-readable media that are not signals per se. As described 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 external to the vehicle controller 40.

[0036] Additionally, the non-transitory computer-readable medium 210 can be configured to store operation logic 230 and executable logic 235. The operation logic 230 can include an operating system, a basic input / output system (BIOS), and / or other hardware, software, and / or firmware for operating the vehicle controller 40. The executable logic 235 includes obstacle scanning tool logic 240, which can each include a plurality of different logic segments, and as a non-limiting example, each logic segment can be embodied as a computer program, firmware, and / or hardware. The computer program code for executing the obstacle scanning tool of the present disclosure can be written in any form of programming language available to those skilled in the art, which includes, for example, high-level programming languages (such as C or C++), interpreted languages, assembly languages, or microcode, depending on the specific goals of the computer program code and the computing environment in which the computer program code is executed. However, it should be understood that the software embodiments of the present disclosure do not depend on the implementation using a specific programming language.

[0037] The local interface 215 may include a bus or other communication interface to facilitate communication between components of the vehicle controller 40. The processor 205 may include any processing component operable to receive and execute instructions (e.g., from the data memory 245 and / or the non-transitory computer-readable medium 210). The input / output hardware 220 may include and / or be configured to interface with monitors, positioning systems, keyboards, mice, printers, image capture devices, microphones, speakers, sensors, gyroscopes, compasses, and / or other devices for receiving, sending, and / or presenting data. The network interface hardware 225 may include and / or be configured to communicate with any wired or wireless network hardware, including antennas, modems, LAN ports, wireless fidelity (Wi-Fi) cards, WiMax cards, mobile communication hardware, and / or other hardware for communicating with other networks and / or devices. From this connection, communication can be facilitated between the vehicle controller 40 and other computing devices through an automated interface such as Figure 1 the antenna 22 shown in

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

[0039] It should be noted that Figure 3And the related discussion provides a brief description of a suitable computing environment in which the present disclosure may be implemented. Although not required, aspects of the software are described in the general context of computer-executable instructions, such as programs executed by a general-purpose computer (e.g., fixed and mobile computers). Those skilled in the relevant art will understand that the software may be implemented in conjunction with other communication, data processing, or computer system configurations, including: Internet devices, handheld devices (including personal digital assistants (PDAs)), wearable computers, various cellular or mobile phones, multiprocessor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, minicomputers, mainframe computers, server computers, and the like. In fact, the terms "computer" and the like are generally used interchangeably herein and refer to any of the above devices and systems, as well as any data processor. Aspects of the software may be embedded in a dedicated computer or data processor that is specifically programmed, configured, or constructed to execute one or more computer-executable instructions explained in detail herein. Aspects of the software may also be implemented in a distributed computing environment where tasks or modules are executed by remote processing devices linked by a communication network, such as a local area network (LAN), a wide area network (WAN), or the Internet. In a distributed computing environment, program modules may be located in local and remote memory storage devices. In fact, computer-implemented instructions, data structures, screen displays, and other data under aspects of the software may be distributed over a propagated signal on a propagation medium (e.g., electromagnetic waves, sound waves, etc.) over a period of time via the Internet or via other networks (including wireless networks), or they may be provided over any analog or digital network (packet-switched, circuit-switched, or other schemes).

[0040] Figure 4 Depicted is a material handling vehicle 10 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 may be a two-dimensional laser scanner, a planar laser scanner, a three-dimensional laser scanner, and the like. Non-limiting examples of the laser scanner 50 include the SICK S3000 laser scanner. The laser scanner 50 includes a scan field 55 defined by a scan arc Ø and a scan range 57. The scan field 55 represents the full range of the laser scanner 50 and the complete range of scan data sent to the vehicle controller 40. In one embodiment, the scan arc Ø and the scan range 57 are fixed. In one embodiment, the scan arc Ø and the scan range 57 are variable and are set by the obstacle scanning tool or by physical adjustment of 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] Now refer to Figure 5, the material handling vehicle 10 can be configured and operated to follow a path 60. In one embodiment, the path 60 is determined based on user input at the user interface of the material 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 a path filter 64 to the scan data to identify whether there are any obstacles within a filtering field 65 established by the path filter 64. In other words, the filtering field 65 is an area 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 material 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 within the filtering field 65. For example, the filtering field 65 is an area 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 material handling vehicle 10 within the filtering field 65.

[0042] As the material handling vehicle advances along the path 60, the filtering field 65 changes to accommodate changes in the travel direction, travel speed, steering angle, expected travel direction, expected travel speed, expected steering angle, and material handling vehicle weight. Figure 5 The path 60 in shows a slight curve and an expected path filter 66 that defines the path 60 outside the scan field 55. In one embodiment, the expected path filter 66 is configured to define the travel path 60 outside 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 steering angle at the destination D along the path 60. For clarity, the destination D is a position along the path 60 where the material handling vehicle 10 is expected to be when the material handling vehicle travels along the path 60.

[0043] Figure 6Illustrates how the obstacle scanning tool T uses different portions of the scan data from the scan field 55 to modify the filter field 65 to accommodate transitions in the path 60 of the material handling vehicle 10. The expected distance d from the path 60 can vary on both sides of the path 60. By way of example and not limitation, the material handling vehicle 10 can have equipment or a load that extends on one side and not on the other side. The obstacle scanning tool T will modify the filter field 65 to account for any obstacles that may be close to or contact equipment or a load extending from the side of the material handling vehicle 10. In one embodiment, if the material handling vehicle 10 is a towing trailer, the obstacle scanning tool T will change the filter field 65 to account for the varying width (i.e., maximum width) of the trailer.

[0044] In addition to those embodiments, Figure 6 illustrates the material handling vehicle 10 turning and the associated filter field 65. It is expected that Figure 6 the material handling vehicle 10 tows a number of trailers such that the material handling vehicle 10 includes a towing vehicle and at least one trailer 10' towed by the towing vehicle. As Figure 6 shown, the steering mechanism S, the material handling hardware, the vehicle drive mechanism D, and the user interface facilitate the movement of the material handling vehicle 10 and the material being handled by the material handling vehicle along the travel path 60 in a warehouse toward a destination. The filter field 65 increases the area of the filter field 65 on the inside of the turn compared to the area of the filter field 65 on the outside of the turn along the path 60. The increase in the area on the inside of the turn is to account for the tighter turning radius of the towed trailer 10'. Thus, the towing configuration of the material handling vehicle 10 establishes a trailer turning radius r1 that is less than the towing 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 is inclined along the curved travel path 60 toward the inner edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer 10' and to avoid collisions with obstacles along the inner 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 obstacle for each trailer 10' along the inner edge of the turn of the curved travel path 60 includes one of the other trailers and the towing vehicle among the plurality of trailers 10', and the filter field 65 is inclined along the curved travel path 60 toward the inner edge of the turn to avoid collisions between the towing vehicle and one of the plurality of trailers 10' and between one of the plurality of trailers 10' and another one of the plurality of trailers 10'.

[0046] Figure 7 Illustrates the filter field 65 and the performance fields (P i ) 70, 70' positioned along the path 60.Figure 7 The filtering field 65 is also shown to be disposed within the performance fields (P i ) 70, 70'. In this embodiment, the scan data from the performance fields (P i ) 70, 70' is processed by the obstacle scanning tool T and the data associated with the filtering field 65. The corresponding portions of the performance fields (P i ) 70, 70' on opposite sides of the travel path 60 may vary from each other in size and shape and are not limited to following the profile of the travel path 60 or the filtering field 65.

[0047] As a non-limiting example, the material handling vehicle 10 may include a steering mechanism S, material 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, the material handling hardware 20, the vehicle drive mechanism D, and the user interface facilitate the movement of the material handling vehicle 10 and the material carried by the material handling vehicle 10 along the travel path 60 in the warehouse at a vehicle speed S C towards the destination D. Accordingly, a method of implementing the scan logic of the material handling vehicle 10 may include moving the material handling vehicle 10 and the material carried by the material handling vehicle 10 along the travel path 60 in the warehouse at a vehicle speed S C towards the destination D, and performing at least obstacle avoidance for obstacles detected in the filtering field 65 by the obstacle scanning tool T, as described herein.

[0048] Reference Figure 8 shows a process 800 in which a filtering field 65 and performance fields 70, 70' that can be reduced are set up and utilized. The obstacle scanning tool T may include obstacle scanning hardware, such as a laser scanner 50 that establishes the scan field 55, a path filter 64 that establishes the filtering field 65, and a performance filter 71 that establishes the performance field P i and is configured to indicate the presence of obstacles in the filtering field and the performance field P i . In block 802 of process 800, the navigation of the material handling vehicle 10 is started. The obstacle scanning tool T receives a plurality of inputs 804 - 812, such as scan field parameters as input 804 that include the scan field 55, an input performance level L i as input 806, a maximum speed S i Max associated with the performance level L i as input 808, destination data as input 810, and travel path data as input 812. In an embodiment, the performance level L i is input at the user interface as input 806 or in response to an external stimulus, which may 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, the filter field 65 and the performance field P are set i . For example, the obstacle scanning tool T executes obstacle scanning logic to establish the filter field 65. The obstacle scanning tool T further executes obstacle scanning logic to establish the performance field P in response to the input performance level L i i .

[0050] In block 816 of process 800, process 800 scans for obstacles. For example, the obstacle scanning tool T executes obstacle scanning logic to scan for obstacles in the filter field 65 and the performance field P i . In block 818, process 800 determines whether an obstacle is detected in the filter field 65. Prior to block 818, process 800 includes an input 817 that receives 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 is performed in block 820. In an embodiment, the steering mechanism S and / or the vehicle drive mechanism D are used to perform obstacle avoidance. Additionally, obstacle avoidance can include vehicle deceleration or stopping and navigation of the material handling vehicle 10 around the obstacle

[0051] If no obstacle is detected in the filter field 65, process 800 determines in block 822 whether an obstacle is detected in the performance field P i . In an embodiment, the obstacle scanning tool T executes obstacle scanning logic to perform a performance level reduction query on the obstacle detected in the performance field P i , where the result of the performance level reduction query includes a reduction in the performance level L in block 828 below when performance level reduction is available and the execution of obstacle avoidance in block 820 when performance level reduction is not available. For example, if an obstacle is detected in the performance field P i in block 822, the performance level reduction query of process 800 determines in block 824 whether the current speed Sc of the material handling vehicle 10 received as input 817 is less than or equal to the maximum speed S i associated with the performance level L （i-1） . （i-1） Max

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

[0053] In addition, the performance level reduction query includes a current performance level inquiry in block 826 to confirm the performance level L i greater than the minimum performance level L associated with the material handling vehicle 10 Min . Based on determining that the current speed Sc of the material handling vehicle 10 received as input 817 in block 824 is less than or equal to the maximum speed S （i-1） associated with the performance level L （i-1） Max, and based on determining the performance level L in block 826 i is greater than the minimum performance level L Min , the performance level reduction query of process 800 reduces the performance level L i to the next reduced level, thereby setting the performance level L in block 828 i to the performance level L （i-1） . Thus, in block 830, the performance field P i associated with the performance level L i 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 may include a plurality of performance filters that establish corresponding multiple performance fields. In addition, the performance field P （i-1） includes the maximum speed S （i-1） associated with the performance level L （i-1） Max, and is set within the performance field P i . Reducing the performance level Li to the performance level L （i-1） includes correspondingly reducing the performance field P i to the performance field P （i-1） . Thus, the performance field P i associated with the current performance level L i can be reduced to the next lower performance level L i less than the current performance level L （i-1） , such that the behavior rules allow an increase in driving restrictions (i.e., reducing or lowering the speed, etc.) to match the next performance level L （i-1） . Process 800 returns to block 816 to scan for obstacles and repeats the subsequent process block steps as described herein.

[0055] However, based on determining that the current speed Sc of the material handling vehicle 10 received as input 817 is greater than the maximum speed S i associated with the performance level L i Max and further determining in block 824 that the current speed Sc of the material handling vehicle 10 is greater than the performance level L （i-1）Associated maximum speed S （i-1） Max, the process 800 proceeds to block 820 to perform obstacle avoidance. At block 820, the process 800 can repeat the processing steps starting from block 802.

[0056] In addition, based on determining the performance level L in block 826 i not greater than but equal to the minimum performance level L Min , the process 800 proceeds to block 820 to perform obstacle avoidance.

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

[0058] Reference Figure 9 , shows a process 900 where a filter field 65 that can be reduced is set up and utilized. The obstacle scanning tool T can include obstacle scanning hardware, such as a laser scanner 50 that establishes a scanning field 55), a path filter 64 that establishes a filter field F i and is configured to indicate the presence of obstacles in the filter field F i In block 902 of the process 900, the navigation of the material handling vehicle 10 begins. The obstacle scanning tool T receives a plurality of inputs 904 - 912, such as scanning field parameters as an input 904 that includes the scanning field 55, an input performance level L as input 906 i , a maximum speed S i Max associated with the performance level L as input 908 i , destination data as input 910, and travel path data as input 912.

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

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

[0061] If an obstacle is detected in the filter field F in block 918 iIf an obstacle is detected in the filtering field F, process 900 receives an input 919 of the current speed Sc of the material handling vehicle 10 along the travel path 60. In an embodiment, the obstacle scanning tool T executes obstacle scanning logic to perform a performance level reduction query on the obstacle detected in the filtering field F i where the result of the performance level reduction query includes a reduction in the performance level L in block 928 below when performance level reduction is available and the execution of obstacle avoidance in block 920 when performance level reduction is not available. For example, if an obstacle is detected in the filtering field F i in block 918, the performance level reduction query of process 900 determines in block 924 whether the current speed Sc of the material handling vehicle 10 received as input 919 is less than or equal to the maximum speed S i associated with the performance level L （i-1） Max. （i-1） That is, the obstacle scanning tool T determines in block 924 that the current speed Sc is not greater than the maximum speed S

[0062] Max and not greater than the maximum speed S i associated with the performance level L （i-1） and adjusts the reduction of the performance level L （i-1） when it is not. In addition, 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 the minimum performance level L i associated with the material handling vehicle 10 Min . Based on determining that the current speed Sc of the material handling vehicle 10 received as input 919 in block 924 is less than or equal to the maximum speed S （i-1） associated with the performance level L （i-1） Max, and based on determining in block 926 that the performance level L i is greater than the minimum performance level L Min , the performance level reduction query of process 900 reduces the performance level L i to the next reduced level, thus setting the performance level L i to the performance level L （i-1） in block 928. Therefore, in block 930, the filtering field F i associated with the performance level L i is set to the next reduced filtering field F （i-1） associated with the performance level L （i-1） . Process 900 returns to block 916 to scan for obstacles and repeats the subsequent process block steps as described herein.

[0063] However, based on determining that the current speed Sc of the material handling vehicle 10 received as input 919 is greater than the performance level Li Associated maximum speed S i Max and further determining in block 924 that the current speed Sc of the material handling vehicle 10 is greater than the maximum speed S （i-1） Associated with performance level L （i-1） Max, process 900 proceeds to block 920 to perform obstacle avoidance. At block 920, process 900 may repeat the processing steps starting from block 902. Additionally, based on determining the performance level L in block 926 i Not greater than but equal to the minimum performance level L Min , process 900 proceeds to block 820 to perform obstacle avoidance.

[0064] Additionally, if no obstacle is detected in the filter field F i in block 918, the performance level reduction query of process 900 determines in block 932 whether the destination D has been reached. Based on an affirmative determination that the destination D has been reached, process 900 may repeat the process steps starting from block 902. Based on a negative determination that the destination D has not been reached, process 900 returns to block 916 to scan for obstacles.

[0065] Figure 10 and 11 illustrates the use of applying the filter field 65 and one or more superimposed fields 67 to the scan data at the intersection 80 within the industrial environment 81. In Figure 10 , the filter field 65 includes the path 60 as described above. As discussed below, it may be desirable to identify obstacles along the path 60 as well as any obstacles within the intersection 80, which includes obstacles approaching along the first aisle path 82 and the second aisle path 83. By way of example and not limitation, the obstacle scanning tool T ( Figure 1 ) may use intersection rules, such as yielding or stopping rules for vehicles, objects, pedestrians, etc. approaching the intersection from the first aisle path 82 (right or left approach) or the second aisle path 83 (front or rear (passing) approach). In addition to the path filter 64, the obstacle scanning tool T may also use one or more superimposed filters 68 to identify obstacles in the superimposed field 67 of the scan data, thereby operating the material handling vehicle 10 according to the intersection rules. Thus, one or more superimposed filters 68 are configured to establish one or more superimposed fields 67 to superimpose one or more regions of the intersection. The filter field 65 may be configured to adjust the field shape to include one or more superimposed filters based on determining that the material handling vehicle 10 is approaching the intersection.

[0066] In Figure 11In it, the intersection part rule can only indicate to identify any obstacle or approaching obstacle along the first aisle path 82 from the right side of the figure. In this way, it is expected that only one superimposed filter 68 is used on the appropriate side of the scanned data (for example, the right side in the figure). It should be understood that, as Figure 11 shown, the superimposed filter 68 can be of any shape or size. Therefore, if an obstacle is detected on the left side of the scanning field 55 but outside the filtering field 65 and exists in the scanned data, the obstacle scanning tool T will not process the associated scanned data and will not identify the obstacle. It should also be understood that the filtering field 65 can be changed to jointly include the filtering field 65 and the superimposed field 67. In other words, the present disclosure is not limited to using the superimposed filter 68, and the same goal can be achieved by changing the configuration of the path filter 64.

[0067] Generally referring to Figure 4-11 , the obstacle scanning tool T implements two types of rules; namely, the field shape rule and the behavior rule. These two types of rules are associated by the conditions (such as obstacles, etc.) within the industrial environment where they occur, so that for various field shapes disclosed herein, a set of behavior rules will be applied. The field shape rule determines the shape of the filtering field 65 and the performance fields 70 and 70'. Non-limiting example factors implemented by the field shape rule include path intention, vehicle speed, position within the industrial environment, etc. For example, if the material handling vehicle 10 is expected to turn (i.e., the intention), and if the vehicle speed is within a high-performance level (for example, performance level 3 - any level not associated with the actual truck performance), then a specific filtering field shape will be selected, and then the obstacle scanning tool T applied to the scanned data will expand the filtering field 65 to cover a larger area than the filtering field 65 at a lower vehicle speed within a medium-performance level (for example, performance level 2) or a low-performance level (for example, performance level 1). As an alternative, if the material handling vehicle 10 is approaching an intersection, the filtering field 65 will present a different field shape, or one or more superimposed filters 68 ( Figure 10 and 11 ) can be added to the path filter 64. For example, the filtering field 65 can be configured to adjust the field shape based on determining that the material handling vehicle 10 is approaching an intersection and based on the current speed Sc of the material handling vehicle. These two alternative examples provide different field shapes according to the vehicle speed or environmental conditions. It should be understood that the actual scanning field shape of the laser scanner 50 is the scanning field 55, and the "field shape" of the obstacle scanning tool T is the filtering field 65 applied by the obstacle scanning tool T to the scanned data from the scanning field 55.

[0068] Behavior rules describe how the vehicle should behave when an obstacle is detected or not detected under current operating conditions. Based on the result of obstacle detection, driving restrictions are updated according to predefined behavior rules. Driving restrictions are imposed when an obstacle is detected and lifted when no obstacle is detected. By way of example and not limitation, if the vehicle speed is within a high-performance level (e.g., performance level 3), then 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. As an alternative, if the material 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), then the material handling vehicle 10 will remain stationary until the obstacle is removed. It should be understood that the performance level defines the vehicle operating range within which the obstacle scan tool T and / or the operator can operate the material handling vehicle. By way of example and not limitation, if the user operates the material handling vehicle at 0.5 m / s in performance level 3 and an obstacle is detected in the performance field 70, then the obstacle scan tool T can be reduced to performance level 2, which has a vehicle speed range of, for example, 0.5 m / s to 0.25 m / s. In this case, since the user operates the material handling vehicle 10 at a speed that satisfies both performance levels and thus does not notice a change in speed, the user is not warned to reduce the speed or have the obstacle scan tool T force a speed change. The opposite is true if there is no obstacle in the performance field 70 and the performance level is increased

[0069] Reference Figure 12 , shows a flowchart of the process by which the obstacle scan tool T identifies obstacles. The laser scanner 50 ( Figure 4 ) scans 100 the industrial environment and records the scan data (e.g., recorded in the environmental data 255 ( Figure 3 ). The scan data can be an array of measured distances for each angular step on the two-dimensional plane of the laser scanner 50. The scan data is sent 105 to the obstacle scan tool T ( Figure 1), where the total filter 110 is applied to the scan data by the obstacle scanning tool T to reduce the scan data to the scan data most likely to be 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 material handling vehicle 10) and the vehicle feedback 125 (e.g., the current speed, steering angle, weight, etc. of the material handling vehicle). The vehicle intent 120 refers to the intended tasks and movements of the material handling vehicle before execution. This can be a general case of following a predefined path with a set of predefined waypoints or a specific case such as entering a narrow aisle and / or crossing an intersection. The vehicle feedback 125 is vehicle data 260 regarding the current state of the material handling vehicle 10 ( Figure 3 ), which includes but is not limited to the global position, orientation or pose, speed, and steering angle in an industrial environment. Specifically, 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 expected path of the material handling vehicle at the destination D, and the adaptive local field selection 130. The extended global field shape 135 defines the region 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-section check 150 is performed to identify whether any obstacle features intersect within the area defined by the total filter (i.e., the region of interest 140). If necessary, a driving restriction 155 is imposed on the material handling vehicle 10.

[0071] The configuration data 250 ( Figure 3 ), including field shape rules 160 and behavior rules 165. The field shape rules 160 are a set of filtered field shapes that are selected according to the performance level of the material handling vehicle 10 (adaptive local field selection 130). By way of example and not limitation, using the vehicle speed as a metric, if the speed of the material handling vehicle 10 is between 0 m / s and 0.1 m / s, the performance level is level 1 and the filtered field 65 is 2.8 meters wide and 2 meters long. Continuing with this example, if the speed of the material 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 filtered field 65 is 2.8 meters wide and 2.5 meters long, and if the speed of the material handling vehicle 10 is between 0.5 m / s and 1.0 m / s, the performance level is level 3 and the filtered field 65 is 3.0 meters wide and 5 meters long. It should be understood that the given dimensions form a square. However, once superimposed on the scan field 55 (i.e., the scan range 57 ( Figure 4 ), and the scan arc Ø ( Figure 4), in combination), 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] Behavior rule 165 defines how the material handling vehicle 10 should operate if an obstacle is identified or not identified at certain geographical locations within the industrial environment 81 ( Figure 10 ). Behavior rule 165 includes reducing the performance level if an obstacle is identified in the filtration field 65 for the currently selected performance level. If no obstacle is identified in the filtration field 65, then implement the performance field P i , 70, 70' and check the identified obstacles. As an alternative, before checking the performance field P i , 70, 70', the addition of the overlay filter 68 ( Figure 10 and 11 ) can be used in combination with the path filter 64. For example but not by way of limitation, referring to Figure 10 and 11 , when reaching the intersection 80 (given by the vehicle position and orientation) and intending to cross the intersection, the filtration field 65 (based on the field shape rule 160) can be formed in different ways according to the desired behavior. In Figure 10 , the obstacle scanning tool T will give the right of way to all obstacles identified in the scanning field 55, while in Figure 11 , the obstacle scanning tool T will only give the right of way to those obstacles identified in front of and to the right of the material handling vehicle 10.

[0073] Referring to Figure 8 , if the obstacle scanning tool T does not detect any obstacles in the scanning field, an optional step can be included between boxes 818 and 822 to increase the performance level L i associated with the performance field P Figure 9 (or the filtration field F i in i ) and between boxes 918 and 932). For example, with respect to the example of Figure 8 , it is expected that the performance field P i associated with the current performance level L i can be increased to the next performance level L i greater than the current performance level L （i+1） , such that if the obstacle scanning tool T does not identify any obstacles in the performance field P i at the current performance level L i , behavior rule 165 allows reducing the driving restrictions (i.e., increasing speed, etc.) to match the next performance level L （i+1） . Additionally, if available, the field can be enlarged to match the next performance level L （i+1）Associated next performance field P （i+1） . It is conceivable that the performance level L i is not the actual performance level setting on the material handling vehicle 10, but a measure by which the obstacle scanning tool T defines the entire vehicle behavior range. If an obstacle is detected in the filtering field 65, the obstacle scanning tool T will lower the performance level L i of the vehicle to a lower performance level (i.e., L （i-1） ), until the speed of the material handling vehicle is zero (where the material handling vehicle stops). However, if the filtering field 65 does not identify an obstacle and the performance level L i is not at the maximum performance level L MAX , then the obstacle scanning tool T will search for obstacles in the performance field P i at the performance level L i . If the performance field P i also does not identify an obstacle and the maximum performance level L MAX has not been reached, then the material handling vehicle 10 will be granted the ability to enter the next performance level L （i+1） (i.e., the ability to not need to reach that performance level). The performance field P i can be increased accordingly to the performance field P （i+1） . If the performance field P i is not cleared, then the material handling vehicle 10 will remain at the current performance level L i and can enter the next reduced performance level L （i-1） , as described in boxes 824 - 830 of process 800 of Figure 8 .

[0074] Similarly, between boxes 918 and 932 of Figure 9 , if the filtering field F i does not identify an obstacle and the performance level L i has not reached the maximum performance level L MAX , then the material handling vehicle 10 will be granted the ability to enter the next performance level L （i+1） (i.e., not required to reach that performance level). The filtering field F i can be increased accordingly to the filtering field F （i+1） . If the filtering field F i is not cleared, then the material handling vehicle 10 will remain at the current performance level L i and can enter the next reduced performance level L （i-1） , as described in boxes 924 - 930 of process 900 of Figure 9 .

[0075] The obstacle scanning tool T has the advantage of understanding the vehicle's intention to achieve an adaptable detection field shape during vehicle travel / operation. This allows the generation of a detection field shape based on each situation that is more suitable than a pre-configured non-adaptable field. In addition to obstacle detection in the travel direction, a higher level of situational field (i.e., performance field) can be defined to implement operating rules. For example, knowing that the vehicle's intention 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 should be noted that the term "sensor" or "scanner" as used herein refers to a device that measures a physical quantity and converts it into a signal related to the measured value of the physical quantity. In addition, the term "signal" refers to an electrical, magnetic, or optical waveform that can be transmitted from one location to another, such as current, voltage, flux, DC, AC, sine wave, triangular wave, square wave, etc.

[0077] It should also be noted that the recitation of "at least one" component, element, etc. herein should not be used to generate an inference that the use of the article "a" should be limited to a single component, element, etc.

[0078] Certain terms are used in this disclosure merely for convenience and not for limitation. Words such as "right", "left", "front", "rear", "down", "up", etc. denote directions in the reference drawings. The terms include the above words and their derivatives and words of similar meaning.

[0079] It should be noted that while aspects of this disclosure may be presented as being performed in a particular order in the depicted embodiments, the functions may be performed in an alternative order without departing from the scope of this disclosure. It should also be noted that one or more of these aspects may be omitted without departing from the scope of the embodiments described herein.

[0080] It should be noted that the recitation herein of a component of this disclosure that is "configured" or "programmed" in a particular manner to embody a particular property or to function in a particular manner is a structural recitation as opposed to a recitation of intended use. More specifically, the reference herein to the manner in which a component is "configured" or "programmed" represents the existing physical condition of the component and, accordingly, will be regarded as an explicit recitation of a structural feature of the component.

[0081] It should be noted that when used herein, terms such as "preferably", "generally", and "typically" are not used to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Instead, these terms are merely intended to identify particular aspects of the embodiments of this disclosure or to emphasize alternative or additional features that may or may not be used in particular embodiments of this disclosure.

[0082] For purposes of describing and defining the present invention, it should be noted that the terms "substantially" and "approximately" are used herein to represent the inherent degree of uncertainty that may be attributable to any quantitative comparison, value, measurement, or other representation. The terms "substantially" and "approximately" are also used herein to represent the degree to which a quantitative representation may vary from the reference without resulting in a change in the basic function of the subject matter being discussed.

[0083] While specific embodiments have been illustrated and described herein, it should be understood 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 fall within the scope of the claimed subject matter.

[0084] It should be noted that one or more of the following claims use the term "wherein" as a transitional phrase. For purposes of defining the present invention, it should be noted that this term is introduced in the claims as an open transitional phrase that is used to introduce a recitation of a series of characteristics of a structure and should be interpreted in a similar manner as the more commonly used open introductory term "comprising".

Claims

1. A material handling vehicle, which comprises a towing vehicle, and at least one trailer towed by the towing vehicle, wherein: the towing vehicle includes a vehicle driving mechanism and an obstacle scanning tool; the vehicle driving mechanism facilitates the movement of the material handling vehicle and the material carried by the material handling vehicle along a curved travel path towards a destination; along a curved portion of the curved travel path, a towing structure of the material handling vehicle establishes a trailer turning radius r1, which is smaller than a towing vehicle turning radius r2; the obstacle scanning tool includes obstacle scanning hardware for establishing a scanning field and a path filter for establishing a filtering field, and is configured to indicate the presence of obstacles in the filtering field; and the obstacle scanning tool executes obstacle scanning logic to use the path filter to establish a filtering field such that the area of the filtering field is inclined along the curved travel path towards the inner edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer and to avoid a collision of the inner edge of the turn along the curved travel path with an obstacle.

2. The material handling vehicle according to claim 1, wherein an obstacle for the trailer along the inner edge of the turn of the curved travel path includes the towing vehicle, and the filtering field is inclined along the curved travel path towards the inner edge of the turn to avoid a collision between the towing vehicle and the at least one trailer.

3. The material handling vehicle according to claim 1, wherein the at least one trailer includes a plurality of trailers, and an obstacle for each trailer along the inner edge of the turn of the curved travel path includes one of another trailer among the plurality of trailers and the towing vehicle, and the filtering field is inclined along the curved travel path towards the inner edge of the turn to avoid a collision between the towing vehicle and one of the plurality of trailers and a collision between one of the plurality of trailers and another one of the plurality of trailers.

4. A method of executing scanning logic of a material handling vehicle, the material handling vehicle including a towing vehicle and at least one trailer towed by the towing vehicle, the method comprising: moving the material handling vehicle and the material carried by the material handling vehicle along a curved travel path towards a destination, the material handling vehicle including a vehicle driving mechanism and an obstacle scanning tool, wherein the vehicle driving mechanism facilitates the movement of the material handling vehicle and the carried material along the curved travel path, and the obstacle scanning tool includes obstacle scanning hardware and a path filter; along a curved portion of the curved travel path, a trailer turning radius r1 is established by a towing structure of the material handling vehicle, the trailer turning radius r1 being smaller than a towing vehicle turning radius r2; establishing a scanning field by using the obstacle scanning hardware of the obstacle scanning tool; establishing a filtering field by using the path filter of the obstacle scanning tool, wherein the area of the filtering field is inclined along the curved travel path towards the inner edge of the turn to an extent sufficient to account for the smaller turning radius r1 of the trailer and to avoid a collision of the inner edge of the turn along the curved travel path with an obstacle; and scanning for obstacles in the filtering field by using the obstacle scanning tool.

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