阅读说明：本技术 用于物料搬运车辆的主杆和辅助物体检测系统 (Master rod and auxiliary object detection system for a materials handling vehicle ) 是由 C·D·理查德斯 A·V·达科尔蒂 J·J·库斯 于 2020-04-02 设计创作，主要内容包括：一种物料搬运车辆。该物料搬运车辆包括车辆主体、操作者隔室和主杆。主杆具有安装平台、联接至安装平台的第一支承构件、联接至安装平台的第二支承构件以及联接至主杆的检测系统。主杆在相对于操作者隔室的向前位置处联接至车辆主体。主杆在车辆主体上的位置防止主杆妨碍位于操作者隔室中的操作者的视野。(A materials handling vehicle. The materials handling vehicle includes a vehicle body, an operator compartment, and a main mast. The boom has a mounting platform, a first support member coupled to the mounting platform, a second support member coupled to the mounting platform, and a detection system coupled to the boom. The main lever is coupled to the vehicle body at a forward position relative to the operator compartment. The location of the boom on the vehicle body prevents the boom from obstructing the view of an operator located in the operator compartment.)

1. A materials handling vehicle, comprising:

a vehicle main body;

an operator compartment; and

a boom, the boom including:

mounting a platform;

a first support member coupled to the mounting platform;

a second support member coupled to the mounting platform; and

a detection system coupled to the boom and

wherein the main lever is coupled to the vehicle body at a forward position relative to the operator compartment, and

wherein the position of the boom on the vehicle body prevents the boom from obstructing a view of an operator located in the operator compartment.

2. The materials handling vehicle as set out in claim 1, further comprising:

a display; and

a steering mechanism configured to steer the materials handling vehicle, an

Wherein the mounting platform of the boom is positioned below the display and below the steering mechanism, and

wherein the mounting platform of the boom is positioned forward relative to the display and forward relative to the steering mechanism.

3. The materials handling vehicle as set out in claim 1, wherein said mounting platform has an upper side and an opposite bottom side, and further comprising an autonomous navigation unit secured to the upper side of said mounting platform, and

wherein the detection system is secured to the underside of the mounting platform.

4. The materials handling vehicle as set out in claim 1, wherein said materials handling vehicle has a highest point and

wherein the main bar is positioned below a highest point of the materials handling vehicle.

5. The materials handling vehicle as set out in claim 4, further comprising a display, and wherein the display comprises a highest point of the materials handling vehicle.

6. The materials handling vehicle as set out in claim 4, wherein said detection system comprises:

a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone;

a second sensor configured to project the second detection area, the second detection area configured to detect an object located in the second detection area, and

wherein the first detection zone extends beyond a highest point of the materials handling vehicle,

and wherein the second detection zone extends beyond a highest point of the materials handling vehicle.

7. The materials handling vehicle as set out in claim 6, wherein a position of said first sensor is adjustable, thereby adjusting a spatial position of said first detection zone, and

wherein the position of the second sensor is adjustable, thereby adjusting the spatial position of the second detection zone.

8. The materials handling vehicle as set out in claim 1, wherein the first support member of the main lever comprises:

a first region;

a second region connected to the first region; and

a third region connected to the second region, the third region being offset from the first region, an

Wherein the second support member of the main lever includes:

a fourth region;

a fifth region connected to the fourth region; and

a sixth region connected to the fifth region, the sixth region being offset from the fourth region.

9. The materials handling vehicle as set out in claim 8, wherein the third region of the first support member comprises a first plurality of mounting locations to secure the third region of the first support member to the vehicle body, and

wherein the sixth region of the second support member includes a second plurality of mounting locations to secure the sixth region of the second support member to the vehicle body.

10. The materials handling vehicle as set out in claim 8, wherein the first region of the first support member and the fourth region of the second support member are connected to the mounting platform.

11. The materials handling vehicle as set out in claim 1, wherein said detection system comprises:

a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone;

a second sensor configured to project a second detection zone configured to detect an object located in the second detection zone.

12. The materials handling vehicle as set out in claim 11, wherein the first detection zone is planar and has a first portion and a second portion separated by a first gap, and

wherein the second detection zone is planar and has a third portion and a fourth portion separated by a second gap,

wherein the first portion of the first detection area and the third portion of the second detection area extend beyond a highest point of the materials handling vehicle and

wherein the first portion of the first detection zone and the third portion of the second detection zone are separated by a third gap comprising the operator compartment.

13. The materials handling vehicle as set out in claim 11, wherein said first sensor and said second sensor are two dimensional lidar sensors.

14. The materials handling vehicle as set out in claim 11, wherein said first sensor is angled toward said second sensor and said second sensor is angled toward said first sensor.

15. The materials handling vehicle as set out in claim 11, wherein said detection system comprises a third sensor configured to project a third detection zone configured to detect an object located in said third detection zone,

wherein the first detection area, the second detection area, and the third detection area are planar, and

wherein the third detection zone intersects the first detection zone.

16. The materials handling vehicle as set out in claim 15, wherein said first detection zone has a first edge that contours a surface supporting said materials handling vehicle and

wherein the first detection zone intersects the third detection zone at a first edge of the first detection zone.

17. A materials handling vehicle, comprising:

a vehicle main body; and

a main lever coupled to the vehicle body, the main lever including:

mounting a platform;

a first support member coupled to the mounting platform;

a second support member coupled to the mounting platform; and

a detection system coupled to the boom and

wherein the materials handling vehicle has a highest point, and

wherein the main bar is positioned below a highest point of the materials handling vehicle.

18. The materials handling vehicle as set out in claim 17, further comprising:

an operator compartment;

a display;

a steering mechanism configured to steer the materials handling vehicle,

wherein the main lever is coupled to the vehicle body at a forward position relative to the operator compartment,

wherein the mounting platform of the boom is positioned forward relative to the display and forward relative to the steering mechanism, and

wherein the position of the boom on the vehicle body prevents the boom from obstructing a view of an operator located in the operator compartment.

19. A method for mounting a boom on a materials handling vehicle having a vehicle body and an operator compartment, the method comprising:

providing a boom having:

a mounting platform having an upper side and an opposing lower side;

a first support member coupled to the mounting platform; and

a second support member coupled to the mounting platform;

securing a detection system to the boom;

securing a navigation unit to the boom, the navigation unit being an autonomous navigation unit;

securing the main boom to a front portion of the vehicle body that is forward relative to the operator compartment.

20. The method of claim 19, wherein the detection system comprises:

a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone;

a second sensor configured to project a second detection zone configured to detect an object located in the second detection zone, an

A third sensor configured to project a third detection area configured to detect an object located in the third detection area, and

the method further comprises the following steps:

mounting the first sensor to an underside of the mounting platform;

mounting the second sensor to an underside of the mounting platform; and

mounting the third sensor to an underside of the mounting platform.

Technical Field

The present invention relates to the field of materials handling vehicles, and more particularly to an object detection system for a materials handling vehicle.

Background

It should be understood that materials handling vehicles are designed in a variety of configurations to perform a variety of tasks. These types of vehicles are commonly used in warehouses or factories for transporting, storing and retrieving materials and finished goods.

Industrial materials handling vehicles are also designed to include sensing functionality, allowing them to become automatic guided vehicles ("AGVs"). The AGV may be programmed to store a travel route and may include a control system integrated with the drive, steering and braking systems of the vehicle. Sensing or locating features may be included in an AGV to detect the presence of an object to be lifted, as well as its position and orientation, among other reasons. However, such sensing or locating devices provide additional components (e.g., cameras, sensors, etc.) that must be mounted on the vehicle. Some materials handling vehicles include a mounting system, such as the one shown in FIG. 1, for securing the navigation device to the vehicle body of the vehicle.

Disclosure of Invention

Embodiments of the present invention provide novel systems and methods including a boom with an auxiliary object detection system.

Systems and methods for a boom and auxiliary object detection system for a materials handling vehicle are provided. Some embodiments of the present disclosure provide a materials handling vehicle comprising: a vehicle main body; an operator compartment; and a main pole including: mounting a platform; a first support member coupled to the mounting platform; a second support member coupled to the mounting platform; and a detection system coupled to the boom, and wherein the boom is coupled to the vehicle body at a forward position relative to the operator compartment, and wherein the position of the boom on the vehicle body prevents the boom from obstructing a view of an operator located in the operator compartment.

In some embodiments, the materials handling vehicle further comprises: a display; and a steering mechanism configured to steer the materials handling vehicle, and wherein the mounting platform of the main lever is positioned below the display and below the steering mechanism, and wherein the mounting platform of the main lever is positioned forward relative to the display and forward relative to the steering mechanism.

In some embodiments, the mounting platform has an upper side and an opposing bottom side, and further comprises an autonomous navigation unit secured to the upper side of the mounting platform, and wherein the detection system is secured to the bottom side of the mounting platform.

In some embodiments, the materials handling vehicle has a highest point, and wherein the main bar is positioned below the highest point of the materials handling vehicle.

In some embodiments, the materials handling vehicle further comprises a display, and wherein the display comprises the highest point of the materials handling vehicle.

In some embodiments, the detection system comprises: a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone; a second sensor configured to project a second detection zone configured to detect objects located in the second detection zone, and wherein the first detection zone extends beyond a highest point of the materials handling vehicle, and wherein the second detection zone extends beyond the highest point of the materials handling vehicle.

In some embodiments, the position of the first sensor is adjustable, thereby adjusting the spatial position of the first detection zone, and wherein the position of the second sensor is adjustable, thereby adjusting the spatial position of the second detection zone.

In some embodiments, the first support member of the main rod comprises: a first region; a second region connected to the first region; and a third region connected to the second region, the third region being offset from the first region, and wherein the second support member of the primary lever comprises: a fourth region; a fifth region connected to the fourth region; and a sixth region connected to the fifth region, the sixth region being offset from the fourth region.

In some embodiments, the third region of the first support member includes a first plurality of mounting locations to secure the third region of the first support member to the vehicle body, and wherein the sixth region of the second support member includes a second plurality of mounting locations to secure the sixth region of the second support member to the vehicle body.

In some embodiments, the first region of the first support member and the fourth region of the second support member are connected to the mounting platform.

In some embodiments, the detection system comprises: a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone; a second sensor configured to project a second detection zone configured to detect an object located in the second detection zone.

In some embodiments, the first detection area is planar and has a first portion and a second portion separated by a first gap, and wherein the second detection area is planar and has a third portion and a fourth portion separated by a second gap, wherein the first portion of the first detection area and the third portion of the second detection area extend beyond a highest point of the materials handling vehicle, and wherein the first portion of the first detection area and the third portion of the second detection area are separated by a third gap that includes the operator compartment.

In some embodiments, the first sensor and the second sensor are two-dimensional lidar sensors.

In some embodiments, the first sensor is angled toward the second sensor, and the second sensor is angled toward the first sensor.

In some embodiments, the detection system includes a third sensor configured to project a third detection zone configured to detect an object located in the third detection zone, wherein the first, second, and third detection zones are planar, and wherein the third detection zone intersects the first detection zone.

In some embodiments, the first detection zone has a first edge that outlines a surface supporting the materials handling vehicle, and wherein the first detection zone intersects the third detection zone at the first edge of the first detection zone.

Some embodiments of the present disclosure provide a materials handling vehicle comprising: a vehicle main body; and a main lever coupled to the vehicle main body, the main lever including: mounting a platform; a first support member coupled to the mounting platform; a second support member coupled to the mounting platform; and a detection system coupled to the boom, and wherein the materials handling vehicle has a highest point, and wherein the boom is positioned below the highest point of the materials handling vehicle.

In some embodiments, a materials handling vehicle comprises: an operator compartment; a display; a steering mechanism configured to steer the materials handling vehicle, wherein the main lever is coupled to the vehicle body at a forward position relative to the operator compartment, wherein the mounting platform of the main lever is positioned forward relative to the display and forward relative to the steering mechanism, and wherein the position of the main lever on the vehicle body prevents the main lever from obstructing a view of an operator located in the operator compartment.

Some embodiments of the present disclosure provide a method for mounting a boom on a materials handling vehicle having a vehicle body and an operator compartment, the method comprising: providing a boom having: a mounting platform having an upper side and an opposing lower side; a first support member coupled to the mounting platform; and a second support member coupled to the mounting platform; securing a detection system to the main pole; securing a navigation unit to the boom, the navigation unit being an autonomous navigation unit; the main rod is fixed to a front portion of the vehicle body, which is forward relative to the operator compartment.

In some embodiments, the detection system comprises: a first sensor configured to project a first detection zone configured to detect an object located in the first detection zone; a second sensor configured to project a second detection zone configured to detect an object located in the second detection zone, and a third sensor configured to project a third detection zone configured to detect an object located in the third detection zone, and the method further comprises: mounting a first sensor to an underside of the mounting platform; mounting a second sensor to an underside of the mounting platform; and mounting a third sensor to an underside of the mounting platform.

Some embodiments of the present disclosure provide a materials handling vehicle configured to be selectively controlled by a primary navigation unit, the materials handling vehicle comprising: a vehicle main body; a boom, the boom including: a frame including a mounting platform and a support member extending from the mounting platform to a vehicle body; and

an auxiliary detection system secured to the mounting platform and including a plurality of sensors that collectively provide a detection field, the auxiliary detection system configured to detect an object in the detection field.

In some embodiments, the top side of the main bar is positioned below a highest point on the materials handling vehicle.

In some embodiments, the vehicle body includes

An operator compartment configured for an operator; and

a top side of the boom positioned outside of an operator's field of view when the operator is in the operator compartment.

In some embodiments, the main navigation unit is fixed to the top side of the main mast, and the main navigation unit is positioned out of the operator's field of view when the operator is in the operator compartment.

In some embodiments, the plurality of sensors includes at least one side sensor providing a first side detection zone having a portion extending in a forward direction from the at least one side sensor and a second side detection zone extending in a rearward direction from the at least one side sensor.

In some embodiments, the first side detection zone extends beyond a front side of the materials handling vehicle.

In some embodiments, the second side detection zone extends across a rear side of the materials handling vehicle.

In some embodiments, a portion of at least one of the first side detection area and the second side detection area extends above a highest extent of the materials handling vehicle.

In some embodiments, the at least one side sensor includes a left side sensor configured to detect objects on a left side of the materials handling vehicle and a right side sensor configured to detect objects on a right side of the materials handling vehicle.

In some embodiments, the plurality of sensors includes a front sensor that provides a front detection zone that extends beyond a front side of the materials handling vehicle, and wherein the front detection zone is wider than a vehicle body of the materials handling vehicle.

Some embodiments of the present disclosure provide a boom configured to be coupled to a materials handling vehicle having a vehicle body, the materials handling vehicle configured to be selectively controlled by an autonomous navigation unit, the boom comprising: a frame including a mounting platform and a support member extending from the mounting platform to a vehicle body; and an auxiliary detection system secured to the mounting platform and including a plurality of sensors that collectively provide a detection field, the auxiliary detection system configured to detect an object in the detection field.

In some embodiments, the mounting platform is positioned to be outside of an operator's field of view in an operator compartment of the materials handling vehicle when the boom is secured to the vehicle body.

In some embodiments, the mounting platform is configured to receive an autonomous navigation unit.

In some embodiments, the autonomous navigation unit is secured to a top side of the mounting platform and the plurality of sensors is secured to a bottom side of the mounting platform.

In some embodiments, a portion of the detection field extends above the mounting platform.

In some embodiments, a first portion of the detection field extends from the front side of the boom, and a second portion of the detection field extends from the rear side of the boom.

In some embodiments, each sensor of the plurality of sensors provides a detection zone that forms a portion of the detection field.

In some embodiments, the plurality of sensors includes at least one side sensor providing at least one side detection zone and at least one front sensor providing at least one front detection zone.

In some embodiments, a portion of the at least one side detection zone extends from a first side of the mounting platform in a direction of a second side of the mounting platform opposite the first side.

In some embodiments, at least one of the detection zones intersects a detection zone from another of the plurality of sensors.

In some embodiments, at least one stop button is configured to selectively prevent movement of the materials handling vehicle.

In some embodiments, the plurality of sensors includes at least one two-dimensional lidar scanner.

Some embodiments of the present disclosure provide a method for defining a test field for a materials handling vehicle, the method comprising the steps of: providing a front sensor;

defining a front detection zone extending beyond a front side of the materials handling vehicle with a front sensor;

providing at least one lateral sensor; and

the first side detection zone extends forwardly from the at least one side sensor and the second side detection zone extends rearwardly from the at least one side sensor.

In some embodiments, the first side detection zone extends beyond a front side of the materials handling vehicle.

In some embodiments, the second side detection zone extends across a rear side of the materials handling vehicle.

In some embodiments, the step of providing at least one side sensor comprises providing a left side sensor and providing a right side sensor.

These and other advantages of the invention will be apparent from the following detailed description and drawings. The following is a description of only some of the preferred embodiments of the invention. To assess the full scope of the invention the claims should be looked to as these preferred embodiments are not intended to be the only embodiments within the scope of the claims.

Drawings

The present invention will be better understood and features, aspects and advantages other than those set forth above will become apparent when consideration is given to the following detailed description thereof. This detailed description refers to the following figures.

Fig. 1 is a perspective view of a prior art system.

Fig. 2 is a perspective view of a boom including an object detection system according to aspects of the present disclosure.

Fig. 3 is a frame from the boom of fig. 2, according to aspects of the present disclosure.

Fig. 4 is a detailed perspective view of the support platform and object detection system from the boom of fig. 2, according to aspects of the present disclosure.

Fig. 5A is a detailed view of the object detection system and mounting features from the boom of fig. 4, in accordance with aspects of the present disclosure.

Fig. 5B is another detailed view of the object detection system and mounting features from the boom of fig. 4, in accordance with aspects of the present disclosure.

FIG. 6 is a perspective view of a materials handling vehicle having the boom of FIG. 2, according to aspects of the present disclosure.

FIG. 7 is a side view of the materials handling vehicle of FIG. 6 with an operator in accordance with aspects of the present disclosure.

FIG. 8A is a top plan view of the materials handling vehicle of FIG. 6 with a detection field in accordance with aspects of the present disclosure.

Fig. 8B is a side view of the boom, materials handling vehicle, and detection field of fig. 8A, in accordance with aspects of the present disclosure.

Fig. 8C is a front view of the boom, materials handling vehicle, and detection field of fig. 8B, in accordance with aspects of the present disclosure.

FIG. 9 is a flow chart of a process for mounting a boom on a materials handling vehicle.

Detailed Description

Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. Also, the use of "right," "left," "front," "back," "upper," "lower," "above," "below," "top" or "bottom" and variations thereof herein is for descriptive purposes and is not to be construed as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Unless otherwise stated or limited, phrases like "at least one of A, B and C," "one or more of A, B and C," and the like, are intended to mean any combination of a or B or C, or A, B and/or C, including combinations with multiple or single instances of A, B and/or C.

Certain operations of methods or systems for performing those methods in accordance with the present invention may be schematically represented in the figures or otherwise discussed herein. Unless otherwise specified or limited, the representation of particular operations in a particular spatial order in the figures may not necessarily require that those operations be performed in the particular order corresponding to the particular spatial order. Accordingly, certain operations shown in the drawings or otherwise disclosed herein may be performed in a different order than explicitly illustrated or described to accommodate particular embodiments of the present invention. Further, in some embodiments, certain operations may be performed in parallel, including by dedicated parallel processing devices or separate computing devices configured to interoperate as part of a large system.

The following discussion is presented to enable a person skilled in the art to make and use aspects of the present disclosure. Various modifications to the described configurations will be readily apparent to those skilled in the art, and the generic principles herein may be applied to other configurations and applications without departing from aspects of the disclosure. Thus, the aspects of the present disclosure are not intended to be limited to the embodiments shown, but are to be accorded the widest scope consistent with the principles and features disclosed herein. The following detailed description should be read with reference to the drawings, in which like elements in different drawings have like reference numerals. The drawings, which are not necessarily to scale, depict selected configurations and are not intended to limit the scope of embodiments of the disclosure. Those skilled in the art will recognize that the non-limiting examples provided herein have many useful alternatives and fall within the scope of the present disclosure.

The present invention will now be described with more particular reference to the following examples. It should be noted that the following examples are given herein for the purpose of illustration and description only. It is not intended to be exhaustive or to be limited to the precise form disclosed.

A boom for a materials handling vehicle (e.g., forklift, pallet truck, etc.) having an auxiliary object detection feature is disclosed herein. The boom may be secured to the materials handling vehicle and may support a plurality of sensors configured to detect the presence of an object in a detection field generated by the sensors, which may extend in front of, behind, to the side of, below, and/or above the materials handling vehicle. The main rod may also be configured to support a main navigation system for controlling the functions of the materials handling vehicle. When secured to the vehicle body, the main rod may be configured to provide a field of view function while remaining out of the operator's field of view, and to allow operation of other systems of the materials handling vehicle.

Fig. 2 and 3 illustrate an example of a main boom 100 for a materials handling vehicle. The boom 100 may include a frame 102 having two support members 104 connected to a mounting platform 110. The mounting platform 110 may have a plate body 112, the plate body 112 having a top surface and a bottom surface, and the plate body 112 narrowing from a central region into two arms extending from opposite sides of the central region. The side walls 118 extend along the front and rear edges of the mounting platform 110 and project downwardly from the bottom surface of the plate body 112. The side walls 118 and the plate body 112 may define downwardly facing channels at arms adjacent the mounting platform 110, which may be much narrower than the central region. A top end 124 of the support members 104 may be received in each channel, and the support members 104 may each extend downward to their respective bottom ends 126.

It should be appreciated that at least one of the panel body, the side wall or the support member may be integrally constructed or may be a separate component that is coupled to an adjacent component using welding, mechanical fasteners, brackets, adhesives or any other method of connecting the components. The at least one support member may be secured to an alternative portion of the mounting platform. In some embodiments, at least one of the mounting platform and the at least one support member may be different from the mounting platform and support member illustrated. Further, embodiments may include a different number of support members, at least one of which may be different from at least one other support member.

Each support member 104 includes an upper region 128, a central region 130, and a lower region 132. As shown, the upper region 128 includes the top end 124, and the lower region 132 includes the bottom end 126. Upper region 128 is substantially straight (e.g., offset from straight by one degree, two degrees, three degrees, four degrees, etc.) and is bonded (or connected) to central region 130 and extends along axis 136. The central region 130 is curved and joined at an apex to the upper region 128 and at a lower end to the lower region 132. Lower region 132 is substantially straight, is joined to central region 130, and extends along axis 138. As shown in fig. 3, the axes 136, 138 are spaced apart by a distance 146 such that the upper region 128 is offset from the lower region 132 (e.g., by the bend region 132). In some cases, this configuration may be advantageous because the detection system (described in detail below) has no other components on the materials handling vehicle, such as a display, steering mechanism, or mounting structure to which the display or steering mechanism is secured. In other words, by having the support member with an offset portion, there is clearance between the detection system and other components of the materials handling vehicle, and the main navigation unit may be mounted to the mounting platform 110 with clearance (e.g., so the navigation unit does not have mounting structure to support the display and steering mechanism). In some embodiments, the support members 104 are substantially parallel to each other (e.g., offset from parallel by one, two, three, four, or more, or less). In some embodiments, the support members 104 are substantially similar (or identical).

As shown in FIG. 2, each support member 104 includes a plurality of mounting locations 148, which mounting locations 148 allow the support member 104 to be connected to the frame of the materials handling vehicle. More specifically, the central region 130 has one mounting location 148 and the lower region 132 has three mounting locations 148. In the illustrated embodiment, the mounting locations 148 are implemented as fastening holes, which may be threaded in some cases. The fastening holes are configured to receive respective fasteners, and the respective fasteners are received within apertures of the body of the materials handling vehicle, thereby fastening (or coupling) the central region 130 and the lower region 132 of the support member 104 to the body of the materials handling vehicle. In alternative embodiments, the support member 104 may be coupled to the vehicle body in a different manner (e.g., adhesive, welding, etc.).

Referring now to fig. 2-4, the mounting platform 110 may include at least one mounting feature for securing a component to the frame 102. For example, the at least one mounting opening 134 may be formed through a central region and/or arm of the plate body 112 and through the at least one side wall 118. The mounting openings 134 may be configured for securing brackets, electronic components, or other components to the mounting platform 110 above and below the board body 112. In some embodiments, the main navigation unit 140 may be positioned on a top surface of the plate body 112 and may be secured thereto by at least one bolt extending through the mounting opening 134. Further, at least one stop button 142 may be received in a mounting opening 134 formed through one of the arms, and various circuitry or other electronic components may be secured to at least one of the top or bottom surfaces of the board body 112. Other openings through the plate body 112 may provide access for wires or other components to pass through the mounting platform 110. In some embodiments, the primary navigation unit 140 may include electronic components (e.g., processors, memory, communication systems, etc.) that may allow communication between the materials handling vehicle and the detection system 150. In some cases, the primary navigation unit 140 controls the materials handling vehicle (e.g., steering, braking, etc.).

In some embodiments, the primary navigation unit 140 allows the materials handling vehicle to be an automated guided vehicle ("AGV"). For example, the primary navigation unit 140 may allow for interfacing between the detection system 150 and other cameras, geographic positioning systems ("GPS"), motion sensors, and the like. The master navigation unit 140 provides sensing, navigation capabilities, computing resources, etc. to automatically guide the materials handling vehicle. In some cases, the primary navigation unit 140 may automatically direct the materials handling vehicle, but control of the primary navigation unit 140 may be overridden when the operator engages a display, a stop button, initiates a steering action, initiates a braking action, etc.

Referring to fig. 4, 5A, and 5B, the mounting platform 110 may be configured to support a supplemental detection system 150, the supplemental detection system 150 including a sensor 156a and a sensor 156B both positioned below the panel body 112. In the illustrated embodiment, the secondary detection system 150 may include two lateral sensors 156a and a forward sensor 156b, the two lateral sensors 156a being positioned on opposite sides of the mounting platform 110 proximate to the support member 104. Each of the sensors 156a, 156b may be a two-dimensional laser radar (LiDAR) sensor (e.g., a light radar sensor or a laser scanning sensor) configured to project a detection zone to detect objects therein (e.g., see fig. 8A-8C). However, in some embodiments, other types of sensors may be implemented. Each sensor 156a may be secured to the mounting platform 110 with a mounting bracket 162, 164, and the sensor 156b may be secured to the mounting platform 110 with a mounting bracket 166. As shown in fig. 5A, the side sensor 156a may be connected to an adjustable bracket 162, and the adjustable bracket 162 may be movably coupled to two sidewall brackets 164, the two sidewall brackets 164 being secured to opposite sides of the downwardly facing channel of the mounting platform 110. The front sensor 156b may be supported by two L-shaped brackets 166 that extend downwardly from a central region of the plate body 112 to movably receive opposite sides of the front sensor 156 b. The orientation of the sensors 156a, 156b relative to the mounting platform 110 may be selectively adjusted by loosening at least one adjustable fastener used to couple the mounting brackets 162, 164, 166 and the sensors 156a, 156b to one another. Once the sensors 156a, 156b are in the desired position, the respective adjustable fasteners can be tightened to hold the sensors 156a, 156b in that position.

In some embodiments, the brackets 162, 164 may allow the respective sensor 156a to translate along an axis 157 that coincides with a surface of the sensor 156a, the axis 157 being orthogonal to the surface of the sensor 156a mounted on the bracket 162. Additionally, the brackets 162, 164 may allow the sensor 156a to rotate (e.g., tilt adjustment) in a counterclockwise or clockwise direction indicated by reference numeral 159, which is coincident with the axis 157. In other words, the sensor 156a may be adjusted to pivot upward toward the mounting platform 110 about the axis 157, or downward away from the mounting platform 110. In this way, the surface 161 of the sensor 156a projecting the detection zone 181 may translate along the axis 157 and may pivot (e.g., adjust the inclination of the surface 161) in a counterclockwise or clockwise direction about the axis 157 relative to the view in fig. 5A. In some embodiments, the surface 163 of the sensor 156b that projects the detection zone 182 may pivot toward or away from the mounting platform 110 (e.g., to adjust the inclination of the surface 163) while being constrained between the brackets 166 (e.g., a hole in the bracket may adjust the pivot angle of the sensor 156 b). By adjusting the orientation or translational position of the sensor 156a or the sensor 156b, the corresponding projected detection regions 181, 182 are also moved in space.

It should be understood that some embodiments may include at least one mounting bracket or other mounting feature that is different from at least one other mounting feature. Some embodiments may include a different number of mounting features than shown, and at least one mounting feature may be positioned at a different location. For example, the mounting bracket may be secured to the top of the mounting platform or to the support member. Although the illustrated embodiment includes an adjustable screw, some embodiments may include at least one adjustable fastener that is different from another adjustable fastener.

In some embodiments, the boom may be attached to a variety of materials handling vehicles. For example, as shown in fig. 6-7, the boom 100 may be attached to the materials handling vehicle 80 at a location proximate the front end 86 of the materials handling vehicle 80 opposite the rear end 88 of the materials handling vehicle 80 and in front of the operator compartment 82. In some embodiments, the boom 100 may be attached to a materials handling vehicle that does not include an operator compartment. Support members 104, which may extend along the left and right sides of vehicle body 84, may include at least one attachment feature (such as an attachment opening) as described above for securely securing main rod 100 to materials handling vehicle 80. The support member 104 may also be hollow to permit wires or any other portion to extend between the mounting platform 110 and the vehicle body 84. When attached to the vehicle body 84, the frame 102 may follow the contour of the vehicle body 84 such that the main lever 100 has a lower contour. For example, as shown in fig. 7, the frame 102 may be sized such that the main navigation unit 140 and the boom 100 (including the support member 104) remain out of the operator's field of view while the operator is in the operator compartment 82 (including the operator).

In some embodiments, the materials handling vehicle 80 includes: a fork (not shown) with a load carrying fork but generally located beyond the rear end 88 of the materials handling vehicle 80, a motor compartment 89 to receive a motor (not shown), a battery compartment 91 for housing a battery (not shown), a support 90, a steering mechanism 92 with a throttle control 94, and a display 98. The support 90 is connected to and extends from the vehicle body 84 and provides a mounting location for the steering mechanism 92 and the display 98. Thus, the steering mechanism 92 and the display 98 are also coupled to the vehicle body 84 via the support 90. As shown, the display 98 including the housing also includes a stop button 142, and when the button 142 is pressed, the materials handling vehicle 80 stops. In the illustrated embodiment, the main lever 100 is positioned forward relative to the operator compartment 82 and is positioned forward relative to the steering mechanism 92 (the steering mechanism 92 steers or otherwise turns the materials handling vehicle 80). In addition, the mounting platform 110 including the main navigation unit 140 is positioned forward relative to the support 90, the steering mechanism 92 and the display 98. In some embodiments, the mounting platform 110 is positioned below the display 98 and below the steering mechanism 92. As described above, the offset configuration of the support member 104 provides clearance for the support 90, the steering mechanism 92, and the display 98.

In some embodiments, materials handling vehicle 80 includes a peak 87, and in the illustrated embodiment, peak 87 is defined on a display 98. However, in alternative embodiments, the highest point 87 may be on other portions or locations of the materials handling vehicle, such as raising the telescoping boom of a forklift. Importantly, the boom 100 and components coupled to the boom (including the main navigation unit 140 and the detection system 150) are positioned below the highest point 87 on the materials handling vehicle 80. This may be advantageous for a number of reasons. First, the main lever 100 with the main navigation unit 140 and the detection system 150 is located closer to the vehicle body 84, and therefore, these components may be closer to the center of mass of the materials handling vehicle 80, which may reduce vibrations (which may be felt by the detection system 150). Further, the mounting locations 148 that span a majority of the length of the support member 104 provide a fixed location (e.g., a fastened location) to the vehicle body 84, and thus the distance between the uppermost fastened location on the main bar 100 and the detection system 150 is relatively short. In other words, the distance between a given sensor of the detection system 150 and the uppermost fastening location on the boom is shorter, and thus the boom 100 may be more structurally sound and less susceptible to vibration disturbances that may be felt by the sensor of the detection system 150. Second, the relatively short height of the main boom 100 below the highest point 87 allows the materials handling vehicle 80 to operate in an environment with a clearance height. In other words, the main boom 100 does not limit the ability of the materials handling vehicle 80 to operate in areas having high clearance. Third, the detection system 150 is relatively close to a surface 200 (e.g., floor, road, etc.), and the materials handling vehicle 80 is supported and disposed on the surface 200 to travel in a direction 202 defined from the rear end 88 to the front end 86 of the materials handling vehicle 80. Accordingly, the detection system 150 is closer to obstacles that the materials handling vehicle 80 may encounter on the surface 200 (e.g., which may be advantageous because the time to detect obstacles, such as sensor travel time and calculation time, may be reduced). Finally, boom 100 remains out of view of an operator located in operator compartment 82.

In some embodiments, the boom 100 may also provide a clear (clear) view around the materials handling vehicle 80 for the main navigation unit 140 (when included) and the auxiliary detection system 150. This may allow, for example, the sensors 156a, 156b to provide a detection field, such as the detection field 180 shown in fig. 8A-8C. As previously described, sensor 156a may project a detection zone 181 having detection regions 184, 186, and sensor 156b may project a detection zone 182, wherein detection zone 181 and detection zone 182 together form a detection field 180 and sensor 156b may be configured to provide a forward detection zone 182, with forward detection zone 182 extending at a downward angle toward front side 86 of materials handling vehicle 80. Front detection zone 182 may also extend laterally outward (e.g., increasing in width away from front end 88 of materials handling vehicle 80) such that front detection zone 182 is wider than materials handling vehicle 80 at the point where front detection zone 182 intersects surface 200. In general, the detection zones 181, 182 are configured to detect objects positioned within the respective detection zones 181, 182, with the respective detection zones 181, 182 comprising areas within a given detection zone. For example, if an object is located within the area 184 of the detection zone 181, the sensor 156a (and/or corresponding circuitry within the navigation unit 140 or detection system 150, for example) may determine or sense that the object is located within the area 184 of the detection zone 181. As shown, the detection zone 182 may be planar and may be trapezoidal. However, in alternative embodiments, different shapes of the regions 184 (e.g., triangular, etc.) may be implemented.

The side sensors 156a may each define (or project) a detection zone 181 having a first side area 184 and a second side area 186. In certain embodiments, one of the sensors 156a may be configured as a left sensor that projects a corresponding detection zone 181 on the right side of the materials handling vehicle 80, and the other sensor 156a may be a right sensor that projects a corresponding detection zone 181 on the left side of the materials handling vehicle 80. Thus, the sensor 156a, which is a right side sensor, projects a detection zone 181 on the right side of the materials handling vehicle 80 having detection areas 184, 186, while the sensor 156a, which is a left side sensor, projects a detection zone 181 on the left side of the materials handling vehicle 80 having detection areas 184, 186.

As shown, the first side region 184 may extend outward in one direction (e.g., along the direction of travel 202) away from the front end 86 (from one of the side sensors 156 a) and toward the rear end 88 and away from the front end 86 (e.g., against the direction of travel 202). In some embodiments, the first side region 184 may be angled to include a lower edge 188 and a high end 190. The lower edge 188 of the first side region 184 may outline the surface 200 (and extend along the surface 200) (and may intersect the surface 200) such that the edge of the first side region 184 extends beyond the front end 86 and toward the rear end 88. In some embodiments, a first point of the edge 188 of the region 184 is in front of the corresponding sensor 156a and a second point of the edge 188 of the region 184 is behind the corresponding sensor 156 a. For example, a first point of the area 184 may be positioned forward of the materials handling vehicle 80 (e.g., beyond the front end 86) and a second point of the area 184 may be positioned toward the rear 86 of the materials handling vehicle 80. However, in certain embodiments, the lower end of region 184 may intersect surface 200 only forward of materials handling vehicle 80, at a location beyond front end 86, or only between the front and rear ends of the materials handling vehicle (e.g., between front end 86 and rear end 88). As shown, the lower edge 188 of region 184 is substantially straight and substantially parallel to surface 200.

In some embodiments, the high end 190 of the region 184 may be positioned above the side sensor 156a such that a portion of the region 184 extends upward. For example, as shown in fig. 8B and 8C, the high end 190 of the region 184 is positioned above the highest point of the materials handling vehicle 80. Additionally or alternatively, the high ends 190 of the regions 184 may be positioned on a side laterally opposite the respective low ends such that the regions 184 are angled laterally across the vehicle body 84 (e.g., angled relative to the view in fig. 8C). For example, as shown in fig. 8A and 8C, the high end 190 of the left side area 184 may be positioned to the right of the center of the materials handling vehicle 80 and the high end 190 of the right side area 184 may be positioned to the left of the center of the materials handling vehicle 80. Between its low and high ends, the regions 184 may intersect each other at the intersection between the two side sensors 156 a. However, in some embodiments, the regions 184 do not intersect with each other. As shown, the region 184 is planar and trapezoidal. However, in alternative embodiments, different shapes of the regions 184 (e.g., triangular, etc.) may be implemented.

In the illustrated embodiment, the regions 186 extend from the respective side sensor 156a toward the surface 200, outward (e.g., away from the vehicle body 84 relative to the view in fig. 8C), and downward away from the corresponding region 184. In some embodiments, and as shown, the region 186 includes a lower edge 192 similar to the lower edge 188, the lower edge 192 contouring the surface 200 and extending along the surface 200. The edge 192 (and the area 186) extends beyond the rear end 86 of the materials handling vehicle 80. In some embodiments, the regions 184, 186 are separated by a gap 194, wherein the gap 194 also separates the edges 188, 192. In some cases, such as in the embodiment shown in fig. 8B, primary rod 100, and in particular support member 104, is positioned within gap 194. Thus, the detection zone 181 is not blocked (obstructed) by the stem 100.

As shown in fig. 8C, relative to the center of the materials handling vehicle 80, the region 186 extends outward (e.g., away from the vehicle body 84) at an angle that is greater than the angle at which a portion of the region 184 (e.g., the edge 188 of the region 184) extends from the sensor 156 a. Further, the region 186 may extend from the respective sensor 156a toward the rear end 86 at an angle that is less than an angle at which a portion of the region 184 (such as the high end 190) extends from the respective sensor 156 a. As shown, the region 186 is planar and trapezoidal. In some cases, the shape and location of the region 186 allows for an unobstructed field of view while taking into account parameters such as vehicle pivoting. However, in alternative embodiments, different shapes (e.g., triangular, etc.) of the regions 186 may be implemented.

In some embodiments, the lower edge 192 of the region 186 intersects the surface 200 along a respective side of the materials handling vehicle 80. For example, as shown in fig. 8A and 8B, region 186 intersects surface 200 at lower edge 192. The lower edge 192 may have a first point positioned forward of the rear end 88 and may have a second point positioned beyond the rear end 88 in a rearward direction. In some embodiments, side areas 186 may intersect surface 200 only beyond rear end 88 (e.g., in a direction opposite direction 202), or in some cases, side areas 186 may intersect surface 200 only defined between front end 86 and rear end 88 of materials handling vehicle 80. In some embodiments, area 186 may extend above materials handling vehicle 80, such as above peak 87. In some embodiments, and as shown, regions 186 are separated by a gap 196 that includes operator compartment 82. In this way, an operator located in the operator compartment 82 is not "sensed" by being placed in a detection zone (e.g., zone 186). As also shown, the region 186 is planar and trapezoidal. However, in alternative embodiments, different shapes (e.g., triangular, etc.) of the regions 186 may be implemented.

In some embodiments, the boom 100 may be configured to provide access to an auxiliary detection system because of the location of the boom 100 on the vehicle body 84. This may allow the sensors 156a and 156b to be adjusted to provide detection zones other than those shown. It should also be appreciated that some embodiments may include a supplemental detection system having a detection field with at least one detection zone that is shaped, sized, and/or oriented differently than the detection zone shown. For example, at least one of the first side area of the side detection zone, the second side area of the side detection zone, and the front detection zone may have a different shape and size than the detection zones shown. Some embodiments may include an area of the side detection zone extending upward from the side sensor. The at least one first side detection region and/or the at least one second side detection region may be angled differently than in the illustrated embodiment. Further, the detection field may include at least one of a first side detection zone, a second side detection zone, a front detection zone, and an additional detection zone that intersects at least one other sensor zone.

In some embodiments, the detection field may include at least one additional detection zone, and the at least one additional detection zone may extend along the front of the materials handling vehicle, extend behind the materials handling vehicle, extend to the left side of the materials handling vehicle, extend to the right side of the materials handling vehicle, extend above the materials handling vehicle, extend below the materials handling vehicle, or any combination thereof. In addition, some auxiliary object detection systems may include at least one side sensor configured to provide a detection zone having a single detection zone or more than two detection zones. In some embodiments, the front sensor may be configured to project a detection zone having a plurality of zones. The auxiliary detection system may also provide a different sensor configuration for at least one of the detection zones shown. Some embodiments may include additional or fewer sensors than the illustrated embodiments, and at least one sensor may be a different type of sensor than at least one other sensor. In addition, some auxiliary detection systems may include other components, such as mirrors or lenses.

Once the boom 100 is attached to the vehicle body 84, the auxiliary detection system 150 may be configured to send data, control signals, or otherwise communicate with the materials handling vehicle 80, the primary navigation unit 140, or any associated system (e.g., motors, brakes, etc.). For example, when an object is detected in the detection field 180, the supplemental detection system 150 may be configured to communicate the detected object and the detection zone in which it was detected to the materials handling vehicle 80 (or the primary navigation unit 140) the supplemental detection system 150 may also be configured to communicate the same or similar information to the primary navigation unit 140.

FIG. 9 is a flow chart of a process 300 for installing a boom (e.g., boom 100) on a materials handling vehicle (e.g., materials handling vehicle 80). At 302, process 300 includes providing a boom (e.g., boom 100). In some cases, boom 100 may be pre-installed, while in other cases boom 100 may be configured accordingly. For example, a support member (e.g., support member 104) may be coupled to a mounting platform (e.g., mounting platform 110) of the boom. At 304, process 300 includes securing a detection system (e.g., detection system 150) to the boom. For example, sensors 156a and 156b may be mounted to respective portions of the boom. For example, the sensors 156a and 156b may be positioned and secured to the underside of the mounting platform of the boom. In some embodiments, as previously described, the sensors 156a and 156b may be mounted to the boom using respective brackets, fasteners, or the like. At 306, the process 300 includes securing (or mounting) the navigation unit to the boom. In some cases, the navigation unit may be secured to the upper side of the mounting platform with fasteners, as described above. In other constructions, other mounting or other securing methods may be envisaged to secure the navigation unit to the boom.

At 308, the process 300 includes securing the boom to the materials handling vehicle. For example, the main boom may be mounted to a vehicle body of the materials handling vehicle at a forward position relative to the operator compartment. Similarly, the boom may be mounted on the materials handling vehicle such that the boom remains outside of the operator's field of view within the operator compartment. In some embodiments, the boom may be mounted to the materials handling vehicle such that the boom is positioned below a highest point of the materials handling vehicle, and the boom may be mounted such that the boom is forward relative to the display and forward relative to the steering mechanism. The boom may be secured to the materials handling vehicle via a mounting location on the boom. For example, a fastener may pass through a corresponding mounting opening in the main rod to threadably engage a hole in the vehicle body of the materials handling vehicle, thereby securing the main rod to the vehicle body of the materials handling vehicle.

Although examples of the present disclosure may be described using various spatial and directional terms, such as top, bottom, lower, mid, side, horizontal, vertical, front, and the like, it is understood that these terms are used only for the directions shown in the drawings. The orientation may be reversed, rotated, or otherwise changed such that the upper portion is the lower portion and vice versa, horizontal becomes vertical, and so forth.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Finally, it is expressly contemplated that any of the processes or steps described herein can be combined, eliminated, or reordered. In other embodiments, instructions may reside in a computer-readable medium, wherein those instructions are executed by a processor to perform one or more of the processes or steps described herein. Thus, it is expressly contemplated that any of the processes or steps described herein can be implemented as hardware, firmware, software, or any combination thereof, including program instructions executing on a computer. Accordingly, this description is to be construed as illustrative only and is not intended to limit the scope of the present invention in any way.