A materials handling vehicle comprises a drive unit, steering unit, localization module, and navigation module which are configured to cooperate to direct the materials handling vehicle along a travel path in a warehouse. A path validation tool comprises environmental layout data of the warehouse, a proposed travel path within the warehouse, kinematics of the materials handling vehicle, a dynamic exterior boundary of the materials handling vehicle, and a dynamic clearance boundary of the materials handling vehicle. The dynamic clearance boundary is enlarged relative to at least a portion of the dynamic exterior boundary of the materials handling vehicle to define an enlarged boundary about at least a portion of the materials handling vehicle. The path validation tool is configured to: execute path validation logic to determine vehicle pose along the proposed travel path; determine whether the dynamic exterior boundary or the dynamic clearance boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data, based on the determined vehicle pose and a degree of potential impingement at candidate positions along the proposed travel path, to respectively identify an obstacle collision error or a pinch point error; and modify the proposed travel path to avoid or mitigate against possible collisions and pinch points, wherein avoidance of collisions is prioritized over avoidance of pinch points.
MATERIALS HANDLING VEHICLE PATH VALIDATION AND DYNAMIC PATH MODIFICATION
WEGVALIDIERUNG UND DYNAMISCHE WEGMODIFIZIERUNG FÜR MATERIALHANDHABUNGSFAHRZEUG
VALIDATION DE TRAJET ET MODIFICATION DE TRAJET DYNAMIQUE DE VÉHICULE DE MANUTENTION DE MATÉRIAUX
2022-03-16
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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