경로 검증 툴 및 창고 이동 경로를 따라 차량을 내비게이팅하기 위해 협력하는 구동 유닛, 조향 유닛, 위치 측정 모듈, 및 내비게이션 모듈을 포함한 자재 핸들링 차량. 상기 툴은 창고 레이아웃 데이터, 제안된 이동 경로, 차량 운동학 및 차량 물리적 주변부에 가까운 동적 차량 경계를 포함한다. 상기 툴은 제안된 이동 경로를 따라 차량 자세를 결정하고, 차량 속도 및 조향각에서의 변화들을 감안하기 위해 동적 차량 경계를 업데이트하고, 상기 제안된 이동 경로를 따라 후보 위치들에서 상기 결정된 차량 자세에 기초하여 상기 동적 차량 경계가 상기 레이아웃 데이터에 표시된 장애물들과 교차할 가능성이 있는지를 결정하고, 상기 동적 차량 경계 및 장애물 데이터를 참조함으로써 상기 후보 위치들에서 잠재적인 충돌의 정도를 결정하고, 상기 잠재적인 충돌의 정도를 완화하도록 상기 제안된 이동 경로를 수정하기 위해 경로 검증 로직을 실행한다.

    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.


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    Title :

    MATERIALS HANDLING VEHICLE PATH VALIDATION AND DYNAMIC PATH MODIFICATION


    Additional title:

    자재 핸들링 차량 경로 검증 및 동적 경로 수정


    Contributors:

    Publication date :

    2022-06-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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