Object tracking and steer maneuvers for materials handling vehicles

摘要

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.

主权项

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; and wherein the controller automatically implements a steer correction maneuver if a tracked object enters a steer away zone defined within the environment.