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EP-4121833-B1 - ADAPTIVE ACCELERATION FOR MATERIALS HANDLING VEHICLE

EP4121833B1EP 4121833 B1EP4121833 B1EP 4121833B1EP-4121833-B1

Inventors

  • SIMON, ANDREAS
  • THEOS, SEBASTIAN
  • NACHTIGAL, Johannes

Dates

Publication Date
20260506
Application Date
20210315

Claims (15)

  1. A method for operating a materials handling vehicle (10) comprising: monitoring, by a controller (103), a first vehicle drive parameter during a first manual operation of the vehicle (10) by an operator; monitoring, by the controller, the first vehicle drive parameter during a second manual operation of the vehicle (10) by the operator, wherein each of the first and second manual operations begins when an operator: a) is on the materials handling vehicle (10) and_moves the materials handling vehicle (10) with at least a minimum speed, or b) sends a drive signal via a travel switch (54) on the materials handling vehicle (10), or c) causes the materials handling vehicle (10) to move via activation of a drive control switch (140) on the materials handling vehicle (10), and wherein each of the first and second manual operations ends when a) the materials handling vehicle (10) remains stationary for at least a predetermined period, or b) the operator exits the materials handling vehicle (10), or c) the operator initiates a semi-automated driving operation; receiving, by the controller (103) after the first manual operation of the vehicle (10) and the second manual operation of the vehicle (10), a request to implement a semi-automated driving operation; calculating, by the controller (103), a first weighted average based on the monitored first vehicle drive parameter during the first manual operation of the vehicle (10) and the monitored first vehicle drive parameter during the second manual operation of the vehicle (10); and based at least in part on the calculated first weighted average, controlling, by the controller (103), implementation of the semi-automated driving operation.
  2. A system for operating a materials handling vehicle (10) comprising: a memory storing executable instructions; and a processor in communication with the memory, wherein execution of the executable instructions by the processor causes the processor to: monitor a first vehicle drive parameter during a first manual operation of the vehicle (10) by an operator; monitor the first vehicle drive parameter during a second manual operation of the vehicle (10) by the operator, wherein each of the first and second manual operations begins when an operator: a) is on the materials handling vehicle (10) and_moves the materials handling vehicle (10) with at least a minimum speed, or b) sends a drive signal via a travel switch (54) on the materials handling vehicle (10), or c) causes the materials handling vehicle (10) to move via activation of a drive control switch (140) on the materials handling vehicle (10), and wherein each of the first and second manual operations ends when a) the materials handling vehicle (10) remains stationary for at least a predetermined period, or b) the operator exits the materials handling vehicle (10), or c) the operator initiates a semi-automated driving operation; receive, after the first manual operation of the vehicle (10) and the second manual operation of the vehicle (10), a request to implement a semi-automated driving operation; calculate a first weighted average based on the monitored first vehicle drive parameter during the first manual operation of the vehicle (10) and the monitored first vehicle drive parameter during the second manual operation of the vehicle (10); and control implementation of the semi-automated driving operation based at least in part on the calculated first weighted average.
  3. The method of claim 1 or the system of claim 2, wherein calculating the first weighted average comprises: calculating a first component of the first weighted average by applying a first weight value to a first processed value related to the monitored vehicle parameter during the first manual operation of the vehicle (10); calculating a second component of the first weighted average by applying a second weight value to a second processed value related to the monitored vehicle parameter during the second manual operation of the vehicle (10); and calculating the first weighted average based on the calculated first and second components.
  4. The method or system of claim 3, wherein the first weight value is different than the second weight value, optionally wherein the second weight value is larger than the first weight value.
  5. The method or system of any one of claims 1 - 4, wherein the second manual operation of the vehicle (10) occurs closer in time, than the first manual operation, to receiving the request to implement the semi-automated driving operation.
  6. The method or system of any of claims 1 - 5, wherein the monitored first vehicle parameter corresponds to a first direction of travel of the vehicle (10).
  7. The method of claim 6, comprising: concurrently monitoring, by the controller (103), a second vehicle drive parameter corresponding to a second direction different from the first direction of travel during the first manual operation and the second manual operation of the vehicle (10) by the operator.
  8. The method of claim 7, comprising: calculating, by the controller (103), a second weighted average based on the monitored second vehicle drive parameter during the first manual operation of the vehicle (10) and the monitored second vehicle parameter during the monitored second manual operation of the vehicle (10).
  9. The system of claim 6, wherein execution of the executable instructions by the processor causes the processor to: concurrently monitor a second vehicle drive parameter corresponding to a second direction different from the first direction of travel during the first manual operation and the second manual operation of the vehicle (10) by the operator.
  10. The system of claim 9, wherein execution of the executable instructions by the processor causes the processor to: calculate a second weighted average based on the monitored second vehicle drive parameter during the first manual operation of the vehicle (10) and the monitored second vehicle parameter during the monitored second manual operation of the vehicle (10).
  11. The method of claim 8 or the system of claim 10, wherein the first vehicle drive parameter comprises acceleration in the first direction and the second vehicle drive parameter comprises acceleration in the second direction.
  12. The method of any one of claims 7, 8 or 11 or the system of any one of claims 9 - 11, wherein the first and second directions are substantially orthogonal to each other.
  13. The method of any one of claims 8, 11 or 12, further comprising: modifying the calculated first weighted average based on the calculated second weighted average when the calculated second weighted average falls outside of a predefined mid-range, and optionally further comprising: based on the modified first weighted average, controlling, by the controller (103), implementation of the semi-automated driving operation.
  14. The system of any one of claims 9 - 11, wherein execution of the executable instructions by the processor causes the processor to: modify the calculated first weighted average based on the calculated second weighted average when the calculated second weighted average falls outside of a predefined mid-range, and optionally wherein execution of the executable instructions by the processor causes the processor to: control implementation of the semi-automated driving operation based on the modified first weighted average.
  15. The method or system of any of claims 1 - 14, wherein controlling implementation of the semi-automated driving operation comprises limiting a maximum acceleration of the vehicle (10).

Description

BACKGROUND ART Materials handling vehicles are commonly used for picking stock in warehouses and distribution centers. Such vehicles typically include a power unit and a load handling assembly, which may include load carrying forks. The vehicle also has control structures for controlling operation and movement of the vehicle. In a typical stock picking operation, an operator fills orders from available stock items that are located in storage areas provided along one or more aisles of a warehouse or distribution center. The operator drives the vehicle between various pick locations where item(s) are to be picked. The operator may drive the vehicle either by using the control structures on the vehicle, or via a wireless remote control device that is associated with the vehicle. EP 2 886 507 A1 relates to "the field of material handling vehicles, and more specifically to a touch screen display and keypad that incorporates multiple modes of operation and that integrates a telematic system with a vehicle control system" (according to paragraph [0003] thereof). US 2019/184556 A1 relates to "machine learning and training of robotic devices", specifically "a robotic apparatus comprising a controllable actuator, a sensor module, and an adaptive controller", where "the sensor module may be configured to provide information related to an environment surrounding the robotic apparatus", and "the adaptive controller may be configured to produce a control instruction for the controllable actuator in accordance with the information provided by the sensor module" (according to paragraphs [0004] and [0007] thereof). US 2015/149017 A1 relates to a "vehicle system for providing and/or managing various modes of operation of an autonomous vehicle" and a "process for providing and/or managing various modes of operation of an autonomous vehicle" (according to paragraphs [0002] and [0003] thereof). DISCLOSURE OF INVENTION In accordance with a first aspect of the present disclosure, a method is provided for operating a materials handling vehicle comprising: monitoring, by a controller, a first vehicle drive parameter during a first manual operation of the vehicle by an operator; monitoring, by the controller, the first vehicle drive parameter during a second manual operation of the vehicle by the operator, wherein each of the first and second manual operations begins when an operator: a) is on the materials handling vehicle and moves the materials handling vehicle with at least a minimum speed, or b) sends a drive signal via a travel switch on the materials handling vehicle, or c) causes the materials handling vehicle to move via activation of a drive control switch on the materials handling vehicle, and wherein each of the first and second manual operations ends when a) the materials handling vehicle remains stationary for at least a predetermined period, or b) the operator exits the materials handling vehicle, or c) the operator initiates a semi-automated driving operation; receiving, by the controller after the first manual operation of the vehicle and the second manual operation of the vehicle, a request to implement a semi-automated driving operation; calculating, by the controller, a first weighted average based on the monitored first vehicle drive parameter during the first manual operation of the vehicle and the monitored first vehicle drive parameter during the second manual operation of the vehicle; and based at least in part on the calculated first weighted average, controlling, by the controller, implementation of the semi-automated driving operation. In accordance with this aspect, calculating the first weighted average may comprise: calculating a first component of the first weighted average by applying a first weight value to a first processed value related to the monitored vehicle parameter during the first manual operation of the vehicle; calculating a second component of the first weighted average by applying a second weight value to a second processed value related to the monitored vehicle parameter during the second manual operation of the vehicle; and calculating the first weighted average based on the calculated first and second components. In accordance with this aspect, the first weight value may be different than the second weight value. Furthermore, the second weight value may be larger than the first weight value. In accordance with this aspect, the second manual operation of the vehicle may occur closer in time, than the first manual operation, to receive the request to implement the semi-automated driving operation. In accordance with a second aspect of the present disclosure, the monitored first vehicle parameter may correspond to a first direction of travel of the vehicle. Additionally, in accordance with the second aspect, the method can include concurrently monitoring, by the controller, a second vehicle drive parameter corresponding to a second direction different from the first direction of travel