HOMING OF STEERING UNITS FOR AUTOMATED VEHICLES

1 . A system, comprising:

a steering system including a steer arm;

a controller being operatively coupled to the steering system;

a homing system is configured to determine a home position of the steering system; and

wherein the homing system is configured to determine the home position by rotating the steer arm in a single direction.

2 . The system of claim 1 , wherein:

the homing system includes a target;

the target is coupled to the steer arm;

the homing system includes one or more sensors; and

the sensors are configured to detect the target.

3 . The system of claim 2 , wherein:

the homing system includes one or more encoders; and

the encoders are configured to monitor angular rotation of the steer arm.

4 . The system of claim 3 , wherein:

the controller is configured to rotate the steer arm in an homing direction; and

the controller is configured to determine a home position of the steering system based on detection of the target with the sensors and angular orientation information from the encoders.

5 . The system of claim 4 , wherein the controller is configured to determine an offset value to adjust steering operations based on the home position.

6 . The system of claim 3 , further comprising:

an encoder shaft being coupled to the steer arm to rotate in unison with the steer arm;

wherein the encoder shaft extends through the encoders; and

wherein the encoders are configured to monitor angular rotation of the encoder shaft.

7 . The system of claim 6 , wherein:

the encoders are rotary encoders; and

the encoders include at least two encoders.

8 . The system of claim 2 , wherein:

the target has a homing edge extending in a radial direction;

the sensors include a first proximity sensor and a second proximity sensor;

the first proximity sensor and the second proximity sensor are aligned along a sensor alignment line; and

the sensors are configured to detect the homing edge of the target when the controller rotates the steer arm in the single direction.

9 . The system of claim 8 , wherein:

the homing system includes a mounting plate;

the mounting plate defines one or more sensor holes;

the sensor holes include a first sensor hole and a second sensor hole;

the first proximity sensor is mounted in the first sensor hole in the mounting plate; and

the second proximity sensor is mounted in the second sensor hole in the mounting plate.

10 . The system of claim 9 , wherein:

the mounting plate defines one or more adjustment slots; and

the adjustment slots in the mounting plate are configured to facilitate positional adjustment of the sensors.

11 . The system of claim 9 , further comprising:

an encoder shaft being coupled to the steer arm to rotate in unison with the steer arm;

wherein the homing system includes one or more encoders;

wherein the mounting plate defines a shaft opening through which the encoder shaft extends; and

wherein the encoder shaft extends through the encoders.

12 . The system of claim 11 , wherein:

the encoders includes a first rotary encoder and a second rotary encoder;

the first rotary encoder is secured to the mounting plate;

the homing system includes an encoder plate;

the encoder plate is secured to the mounting plate; and

the encoder plate is disposed between the first rotary encoder and the second rotary encoder.

13 . The system of claim 1 , wherein:

the steering system includes a motor;

the steering system includes a gearbox; and

the homing system is secured to the gearbox.

14 . A system, comprising:

a homing system including an adapter plate;

wherein the adapter plate defines an adapter opening;

wherein the homing system includes a shaft adapter;

wherein the homing system includes an encoder shaft;

wherein the encoder shaft is secured to the shaft adapter;

wherein the homing system includes a target;

wherein the target is secured to the shaft adapter;

wherein the homing system includes a mounting plate;

wherein the mounting plate is secured to the adapter plate;

wherein the mounting plate defines a shaft opening through which the encoder shaft extends;

wherein the mounting plate defines one or more sensor holes;

wherein the sensor holes include a first sensor hole and a second sensor hole;

wherein the homing system includes one or more encoders;

wherein the encoder shaft extends through the encoders;

wherein the encoders includes a first rotary encoder and a second rotary encoder;

wherein the first rotary encoder surrounds the shaft opening in the mounting plate;

wherein the homing system includes one or more sensors;

wherein the sensors are configured to detect the target;

wherein the sensors include a first proximity sensor and a second proximity sensor;

wherein the first proximity sensor is mounted in the first sensor hole in the mounting plate; and

wherein the second proximity sensor is mounted in the second sensor hole in the mounting plate.

15 . The system of claim 14 , wherein the first sensor hole and the second sensor hole are aligned along a sensor alignment line that extends in a straight radial direction from the shaft opening.

16 . The system of claim 14 , wherein:

the target is in the form of a plate; and

the target has an arched shape.

17 . A method, comprising:

turning a steering system of a forklift in a homing direction;

detecting a target rotating with the steering system with at least two sensors;

monitoring an angular position of the steering system with at least two encoders; and

setting a home position of the steering system of the forklift to the angular position from the encoders upon the detecting the target with the sensors.

18 . The method of claim 17 , further comprising:

sensing the target with the sensors;

rotating the steering system in a reset direction in response to sensing the target;

wherein the reset direction is opposite to the homing direction;

sensing a falling edge of the target moving in the reset direction with the sensors; and

performing the turning the steering system of the forklift in the homing direction after the sensing the falling edge of the target.

19 . The method of claim 17 , further comprising:

determining an offset value based on the home position with a controller; and

turning the steering system at an angle adjusted by the offset value with the controller.

20 . The method of claim 17 . further comprising:

adjusting the sensors to the home position by rotating a mounting plate to which the sensors are mounted.