초록 ▼

A materials handling vehicle automatically implements steer maneuvers when objects enter one or more zones proximate the vehicle, wherein the zones are monitored by a controller associated with the vehicle. The controller tracks objects in the zones via sensor data obtained from at least one obstacl

A materials handling vehicle automatically implements steer maneuvers when objects enter one or more zones proximate the vehicle, wherein the zones are monitored by a controller associated with the vehicle. The controller tracks objects in the zones via sensor data obtained from at least one obstacle sensor located on the vehicle and via dead reckoning. The objects are tracked by the controller until they are no longer in an environment proximate the vehicle. Different zones result in different steer maneuvers being implemented by the controller.

대표청구항 ▼

1. A method for tracking objects detected by at least one sensing device on a materials handling vehicle, the method comprising: receiving sensor data from at least one sensing device by a controller on a materials handling vehicle, wherein the sensor data comprises: data representative of whether a

1. A method for tracking objects detected by at least one sensing device on a materials handling vehicle, the method comprising: receiving sensor data from at least one sensing device by a controller on a materials handling vehicle, wherein the sensor data comprises: data representative of whether an object is detected in a scanned zone that is scanned by the at least one sensing device, the scanned zone being a part of an environment in which objects are tracked; anddata representative of a lateral distance that any detected objects are from a reference coordinate associated with the vehicle;wherein each detected object is tracked until the object is no longer located in the environment by: assigning the object to at least one bucket defined within the scanned zone by the at least one sensing device; andusing at least one of subsequent sensor data and dead reckoning to re-assign the object to adjacent buckets and to determine an updated lateral distance that the object is from the reference coordinate as the vehicle moves; andwherein the controller automatically implements a steer correction maneuver if a tracked object enters a steer away zone defined within the environment. 2. The method of claim 1, wherein the reference coordinate is a central axis of the vehicle. 3. The method of claim 1, wherein the environment is defined by: a front edge that is displaced a predefined distance from a front of the vehicle;a rear edge that is located at a predetermined location associated with the vehicle;a left edge that is displaced a predefined distance from a central axis of the vehicle; anda right edge that is displaced a predefined distance from the central axis of the vehicle. 4. The method of claim 3, wherein the environment comprises: the scanned zone, which extends: in an axial direction rearwardly from the front edge of the environment to a predetermined axial location, wherein the axial direction is parallel to the central axis of the vehicle; andin the lateral direction from a left predetermined location to a right predetermined location, the left predetermined location being between the left side of the truck and the left edge of the environment and the right predetermined location being between the right side of the truck and the right edge of the environment; anda history zone that includes: a first portion that extends laterally from the scanned zone to the left edge of the environment and extends laterally from the scanned zone to the right edge of the environment; anda second portion that extends rearwardly from the scanned zone to the rear edge of the environment. 5. The method of claim 4, wherein the at least one sensing device scans for objects located in the scanning zone and does not scan for objects in the history zone. 6. The method of claim 5, wherein: objects located in the scanning zone are tracked using the sensor data from the at least one sensing device and dead reckoning; andonce objects that have been detected by the at least one sensing device exit the scanned zone and enter the history zone, the objects are tracked using only dead reckoning. 7. The method of claim 6, wherein the scanned zone comprises a plurality of scan zones, each scan zone comprises a plurality of buckets, the buckets located adjacent to one another in the axial direction. 8. The method of claim 7, wherein the history zone comprises a plurality of buckets located adjacent to one another in the axial direction such that objects being tracked in the history zone during movement of the vehicle are re-assigned to adjacent buckets using dead reckoning so as to update the axial distance of the object relative to the vehicle. 9. The method of claim 1, wherein the environment defines a plurality of action zones that result in the controller implementing different steer maneuvers for each action zone, such that, depending on the action zone that a tracked object enters, the controller automatically implements a steer maneuver corresponding to the entered action zone. 10. A materials handling vehicle having detection zone control comprising: a power unit for driving the vehicle;at least one contactless obstacle sensor on the vehicle that is operable to scan a scanned zone within an environment proximate to the vehicle, the environment comprising the scanned zone and a history zone; anda controller configured to receive information obtained from the at least one obstacle sensor and to define at least two zones within the environment based on the received information, the at least two zones comprising at least one stop zone and at least one steer away zone, wherein the controller: performs a stop action to bring the vehicle to a stop if an object is detected in the at least one stop zone;performs a steer maneuver to steer the vehicle away from an object detected in the at least one steer away zone; andtracks objects determined to be in the history zone until such objects are no longer in the environment. 11. The materials handling vehicle according to claim 10, wherein the at least one stop zone and the at least one steer away zone each define an area at least partially in front of a forward traveling direction of the vehicle. 12. The materials handling vehicle according to claim 10, wherein the at least one stop zone comprises a closest one of the zones to a central axis of the vehicle. 13. The materials handling vehicle according to claim 12, wherein the at least one steer away zone comprises left and right steer away zones located laterally outwardly from the at least one stop zone on opposed sides of the at least one stop zone. 14. The materials handling vehicle according to claim 13, wherein the history zone comprises areas located laterally outwardly from the respective left and right steer away zones. 15. The materials handling vehicle according to claim 10, wherein the at least one contactless obstacle sensor comprises at least one laser sensor. 16. The materials handling vehicle according to claim 10, wherein objects that are determined to be in the history zone but are not detected by the at least one contactless obstacle sensor are tracked by the controller via dead reckoning until such objects are no longer in the environment. 17. The materials handling vehicle according to claim 10, wherein the scanned zone: includes the at least one stop zone and the at least one steer away zone; andis actively scanned by the at least one contactless obstacle sensor during operation of the vehicle. 18. The materials handling vehicle according to claim 17, wherein at least a portion of the history zone is located rearwardly from the scanned zone and is not part of the scanned zone. 19. The materials handling vehicle according to claim 18, wherein: the portion of the history zone located rearwardly from the scanned zone comprises a plurality of buckets located adjacent to one another in an axial direction defined by a central axis of the vehicle; andobjects being tracked in the portion of the history zone located rearwardly from the scanned zone during movement of the vehicle are re-assigned to adjacent buckets using dead reckoning so as to update the axial distance of the object relative to the vehicle. 20. The materials handling vehicle according to claim 10, wherein the environment is defined by: a front edge that is displaced a predefined distance from a front of the vehicle;a rear edge that is located rearwardly from the front of the vehicle;a left edge that is displaced a predefined distance from a central axis of the vehicle; anda right edge that is displaced a predefined distance from the central axis of the vehicle. 21. The materials handling vehicle according to claim 10, further comprising a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel. 22. The materials handling vehicle according to claim 21, wherein the controller is further configured to refuse to implement a remote travel request if an object is detected within the at least one stop zone before the vehicle begins travel. 23. The materials handling vehicle according to claim 10, wherein the at least one steer away zone comprises at least one steer zone and at least one no steer zone, wherein: if an object is detected in the at least one no steer zone, the controller does not permit the vehicle to turn toward the object until the object moves out of the corresponding no steer zone; andif an object is detected in the at least one steer zone, the controller permits the vehicle to turn toward the object. 24. A multiple detection zone control system for a materials handling vehicle comprising: at least one contactless obstacle sensor on the vehicle that is operable to scan a scanned zone within an environment proximate to the vehicle, the environment comprising the scanned zone and a history zone; anda controller configured to receive information obtained from the at least one obstacle sensor and to define at least two zones within the environment based on the received information, the at least two zones comprising at least one stop zone and at least one steer away zone, wherein the controller: performs a stop action to bring the vehicle to a stop if an object is detected in the at least one stop zone;performs a steer maneuver to steer the vehicle away from an object detected in the at least one steer away zone; andtracks objects determined to be in the history zone until such objects are no longer in the environment. 25. The multiple detection zone control system according to claim 24, wherein the at least one stop zone and the at least one steer away zone each define an area at least partially in front of a forward traveling direction of the vehicle. 26. The multiple detection zone control system according to claim 25, wherein the at least one stop zone comprises a closest one of the zones to a central axis of the vehicle. 27. The multiple detection zone control system according to claim 26, wherein the at least one steer away zone comprises left and right steer away zones located laterally outwardly from the at least one stop zone on opposed sides of the at least one stop zone. 28. The multiple detection zone control system according to claim 27, wherein the history zone comprises areas located laterally outwardly from the respective left and right steer away zones. 29. The multiple detection zone control system according to claim 27, wherein the scanned zone: includes the at least one stop zone and the at least one steer away zone; andis actively scanned by the at least one contactless obstacle sensor during operation of the vehicle. 30. The multiple detection zone control system according to claim 29, wherein a portion of the history zone is located rearwardly from the scanned zone and is not part of the scanned zone. 31. The multiple detection zone control system according to claim 30, wherein objects that are determined to be in the history zone but are not detected by the at least one contactless obstacle sensor are tracked by the controller via dead reckoning until such objects are no longer in the environment. 32. The multiple detection zone control system according to claim 31, wherein: the history zone comprises a plurality of buckets located adjacent to one another in an axial direction defined by a central axis of the vehicle; andobjects being tracked in the portion of the history zone located rearwardly from the scanned zone during movement of the vehicle are re-assigned to adjacent buckets using dead reckoning so as to update the axial distance of the object relative to the vehicle. 33. The multiple detection zone control system according to claim 24, wherein the at least one contactless obstacle sensor comprises at least one laser sensor. 34. The multiple detection zone control system according to claim 24, wherein the at least one steer away zone comprises at least one steer zone and at least one no steer zone, wherein: if an object is detected in the at least one no steer zone, the controller does not permit the vehicle to turn toward the object until the object moves out of the corresponding no steer zone; andif an object is detected in the at least one steer zone, the controller permits the vehicle to turn toward the object. 35. The multiple detection zone control system according to claim 24, further comprising a receiver at the vehicle for receiving transmissions from a corresponding remote control device, the transmissions comprising at least a first type signal designating a travel request requesting the vehicle to travel. 36. The multiple detection zone control system according to claim 35, wherein the controller is further configured to refuse to implement a remote travel request if an object is detected within the stop zone before the vehicle begins travel. 37. The multiple detection zone control system according to claim 24, wherein the environment is defined by: a front edge that is displaced a predefined distance from a front of the vehicle;a rear edge that is located rearwardly from the front of the vehicle;a left edge that is displaced a predefined distance from a central axis of the vehicle; anda right edge that is displaced a predefined distance from the central axis of the vehicle.