IP Library › Granted Patent US 12,411,505
Granted Patent B2
US 12,411,505 · App. 18/741,989 · Granted Sep 9, 2025

Adaptive acceleration for materials handling vehicle

Inventors: Andreas Simon (Munich, DE); Sebastian Theos (Vaterstetten, DE); Johannes Nachtigal (Munich, DE)
Assignee: Crown Equipment Corporation
G05D13/62B60K31/0058B62B5/0069B66F9/07572B66F9/07581
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Quick Facts
Patent No.
US 12,411,505
App. No.
18/741,989
Granted
Sep 9, 2025
Kind
B2
Abstract

A method is provided for operating a materials handling vehicle comprising: monitoring, by a processor, vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when the vehicle is traveling in a first vehicle orientation; collecting and storing, by the processor, data related to the monitored vehicle acceleration; receiving, by the processor, a request to implement a semi-automated driving operation; calculating, by the processor, a maximum vehicle acceleration based on acceleration data comprising the stored data, wherein the data related to the monitored vehicle acceleration used in calculating the maximum vehicle acceleration comprises only the vehicle acceleration data in the direction of travel of the vehicle collected when the vehicle is traveling in the first vehicle orientation. Based at least in part on the maximum vehicle acceleration, controlling, by the processor, implementation of the semi-automated driving operation.

Claims (76)

1. A method for operating a materials handling vehicle comprising:

monitoring, by a processor, vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when the vehicle is traveling in a first vehicle orientation;

collecting and storing, by the processor, data related to the monitored vehicle acceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle acceleration when the vehicle is traveling in the first vehicle orientation during the manual operation;

receiving, by the processor, a request to implement a semi-automated driving operation;

calculating, by the processor, a maximum vehicle acceleration based on acceleration data comprising the stored data, wherein the data related to the monitored vehicle acceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle acceleration data in the direction of travel of the vehicle collected when the vehicle is traveling in the first vehicle orientation and wherein vehicle acceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in a second vehicle orientation, which is different from the first vehicle orientation, is not used by the processor when calculating the maximum acceleration; and

based at least in part on the maximum vehicle acceleration, controlling, by the processor, implementation of the semi-automated driving operation.

2. The method of claim 1 , wherein the second vehicle orientation is substantially 180 degrees different from the first vehicle orientation.

3. The method claim 1 , wherein the vehicle comprises a load handling assembly comprising at least one fork and a load support extending generally transverse to the at least one fork, wherein the load support is adapted to support a load carried by the at least one fork when the vehicle is accelerating while traveling in the second orientation and decelerating while traveling in the first orientation.

4. The method of claim 1 , wherein the materials handling vehicle comprises a load handling assembly and a power unit, the first orientation comprises a power unit first direction.

5. The method of claim 1 , further comprising:

detecting, by the processor, operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and

based on detecting the start of the pick operation, resetting, by the processor, the stored data related to the monitored vehicle acceleration.

6. The method of claim 5 , wherein the maximum vehicle acceleration is calculated by the processor based only on the acceleration data collected and stored after the resetting by the processor.

7. The method of claim 1 , further comprising:

monitoring vehicle acceleration along a transverse direction to the direction of travel of the vehicle during the manual operation of the vehicle;

collecting and storing data related to the monitored vehicle acceleration in the transverse direction;

when calculating the maximum vehicle acceleration, using the data related to the monitored vehicle acceleration in the transverse direction.

8. A method for operating a materials handling vehicle comprising:

monitoring, by a processor, vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when traveling in a first vehicle orientation;

monitoring, by the processor, vehicle deceleration in the direction of travel of the vehicle during the manual operation by the operator of the vehicle when traveling in a second vehicle orientation;

collecting and storing, by the processor, first data related to the monitored vehicle acceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle acceleration when the vehicle is traveling in the first vehicle orientation and second data related to the monitored vehicle deceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle deceleration when the vehicle is traveling in the second vehicle orientation;

receiving, by the processor, a request to implement a semi-automated driving operation;

calculating, by the processor, a maximum vehicle acceleration based on the stored first and second data, wherein the first data related to the monitored vehicle acceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle acceleration data in the direction of travel of the vehicle collected when the vehicle is traveling in the first vehicle orientation and wherein the second data related to the monitored vehicle deceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle deceleration data collected in the direction of travel of the vehicle when the vehicle is traveling in the second vehicle orientation, and wherein vehicle acceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in the second vehicle orientation, which is different from the first vehicle orientation, is not used by the processor when calculating the maximum acceleration; and

based at least in part on the maximum vehicle acceleration, controlling, by the processor, implementation of the semi-automated driving operation.

9. The method of claim 8 , wherein vehicle deceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in the first vehicle orientation is not used by the processor when calculating the maximum acceleration.

10. The method claim 8 , wherein the vehicle comprises a load handling assembly comprising at least one fork and a load support extending generally transverse to the at least one fork, wherein the load support is adapted to support a load carried by the at least one fork when the vehicle is accelerating while traveling in a second orientation and decelerating while traveling in the first orientation, wherein the second vehicle orientation is substantially 180 degrees different than the first vehicle orientation.

11. The method of claim 8 , wherein the materials handling vehicle comprises a load handling assembly and a power unit, the first vehicle orientation comprises a power unit first direction and the second vehicle orientation comprises a load handling assembly first direction.

12. The method of claim 8 , further comprising:

detecting, by the processor, operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and

based on detecting the start of the pick operation, resetting, by the processor, the stored first and second data related to the monitored vehicle acceleration and deceleration.

13. The method of claim 12 , wherein the maximum vehicle acceleration is calculated by the processor based only on the first and second data stored after the resetting by the processor.

14. A system for operating a materials handling vehicle comprising:

a memory storing executable instructions; and

a processor in communication with the memory, wherein execution of the executable instructions by the processor causes the processor to:

monitor vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when the vehicle is traveling in a first orientation;

collect and store data related to the monitored vehicle acceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle acceleration when the vehicle is traveling in the first vehicle orientation during the manual operation;

receive a request to implement a semi-automated driving operation;

calculate a maximum vehicle acceleration based on acceleration data comprising the stored data, wherein the data related to the monitored vehicle acceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle acceleration data in the direction of travel of the vehicle collected when the vehicle is traveling in the first vehicle orientation and wherein vehicle acceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in a second vehicle orientation, which is different from the first vehicle orientation, is not used by the processor when calculating the maximum acceleration; and

control implementation of the semi-automated driving operation based at least in part on the maximum vehicle acceleration.

15. The system of claim 14 , wherein the second vehicle orientation is substantially 180 degrees different from the first vehicle orientation.

16. The system of claim 14 , wherein the vehicle comprises a load handling assembly comprising at least one fork and a load support extending generally transverse to the at least one fork, wherein the load support is adapted to support a load carried by the at least one fork when the vehicle is accelerating while traveling in a second vehicle orientation and decelerating while traveling in the first orientation.

17. The system of claim 14 , wherein the materials handling vehicle comprises a load handling assembly and a power unit.

18. The system of claim 17 , wherein the first vehicle orientation comprises a power unit first direction.

19. The system of claim 14 , wherein execution of the executable instructions by the processor causes the processor to:

detect operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and

reset the stored data related to the monitored vehicle acceleration based on detecting the start of the pick operation.

20. The system of claim 19 , wherein execution of the executable instructions by the processor causes the processor to:

calculate the maximum vehicle acceleration based only on the acceleration data stored after the resetting of the stored data.

21. The system of claim 14 , wherein execution of the executable instructions by the processor causes the processor to:

monitor vehicle acceleration along a transverse direction to the direction of travel of the vehicle during the manual operation of the vehicle;

collect and store data related to the monitored vehicle acceleration in the transverse direction;

when calculating the maximum vehicle acceleration, using the data related to the monitored vehicle acceleration in the transverse direction.

22. The system of claim 21 , wherein the vehicle acceleration along the transverse direction is monitored when the vehicle is traveling in the first orientation and a second vehicle orientation, which is substantially 180 degrees different from the first vehicle orientation.

23. A system for operating a materials handling vehicle comprising:

a memory storing executable instructions; and

a processor in communication with the memory, wherein execution of the executable instructions by the processor causes the processor to:

monitor vehicle acceleration in a direction of travel of the vehicle during a manual operation by an operator of the vehicle when traveling in a first vehicle orientation;

monitor vehicle deceleration in the direction of travel of the vehicle during the manual operation by the operator of the vehicle when traveling in a second vehicle orientation;

collect and store first data related to the monitored vehicle acceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle acceleration when the vehicle is traveling in the first vehicle orientation and second data related to the monitored vehicle deceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle deceleration when the vehicle is traveling in the second vehicle orientation;

receive a request to implement a semi-automated driving operation;

calculate a maximum vehicle acceleration based on the stored first and second data, wherein the first data related to the monitored vehicle acceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle acceleration data collected when the vehicle is traveling in the first vehicle orientation and wherein the second data related to the monitored vehicle deceleration in the direction of travel of the vehicle used in calculating the maximum vehicle acceleration comprises the vehicle deceleration data collected when the vehicle is traveling in the second vehicle orientation, and wherein vehicle acceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in the second vehicle orientation is not used by the processor when calculating the maximum acceleration; and

control implementation of the semi-automated driving operation based at least in part on the maximum vehicle acceleration.

24. The system of claim 23 , wherein vehicle deceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in the first vehicle orientation is not used by the processor when calculating the maximum acceleration.

25. The system of claim 23 , wherein the vehicle comprises a load handling assembly comprising at least one fork and a load support extending generally transverse to the at least one fork, wherein the load support is adapted to support a load carried by the at least one fork when the vehicle is accelerating while traveling in a second orientation and decelerating while traveling in the first orientation.

26. The system of claim 23 , wherein the materials handling vehicle comprises a load handling assembly and a power unit.

27. The system of claim 26 , wherein the first vehicle orientation comprises a power unit first direction and the second vehicle orientation comprises a load handling assembly first direction.

28. The system of claim 23 , further comprising:

detecting, by the processor, operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and

based on detecting the start of the pick operation, resetting, by the processor, the stored first and second data related to the monitored vehicle acceleration.

29. The system of claim 28 , wherein the maximum vehicle acceleration is calculated by the processor based only on the first and second data stored after the resetting by the processor.

30. The system of claim 23 , wherein the second vehicle orientation is substantially 180 degrees different from the first vehicle orientation.

31. The method of claim 1 , further comprising:

monitoring, by the processor, vehicle deceleration in the direction of travel of the vehicle during the manual operation by the operator of the vehicle when traveling in a second vehicle orientation;

wherein the collected and stored data related to the monitored vehicle acceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle acceleration when the vehicle is traveling in the first vehicle orientation during the manual operation comprises first data;

collecting and storing, by the processor, second data related to the monitored vehicle deceleration in the direction of travel of the vehicle comprising data related to the monitored vehicle deceleration when the vehicle is traveling in the second vehicle orientation;

wherein calculating, by the processor, a maximum vehicle acceleration comprises calculating, by the processor, the maximum vehicle acceleration based on the stored first data and the stored second data, and wherein vehicle acceleration data in the direction of travel of the vehicle corresponding to when the vehicle is traveling in the second vehicle orientation, which is different from the first vehicle orientation, is not used by the processor when calculating the maximum acceleration.

Continuity (3)
Continuation 17443044 · Jul 20, 2021
Provisional Application 63109069 · Nov 3, 2020
Related Publication 20240329671A1 · Oct 3, 2024
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Laracilla, Edgar Flores; Office Action date Mar. 14, 2025; Mexican Application No. MX/a/2022/006498; Mexican Institute of the Industrial Property; Mexico City, Mexico. [cited by applicant]
Lalinde Araguas, Rafael; First Examination Report dated May 8, 2025; European Application No. 21715460.8; European Patent Office; Munich, Germany. [cited by applicant]
Farooji, Vahid Etminan; Examination Report No. 1 dated May 12, 2025; Australian Application No. 2020336166; IP Australia; Canberra, Australia. [cited by applicant]
Han Seong-Ho; Notice of Submission of Opinion dated Aug. 1, 2025; Korean Application No. 10-2022-7006806; Korean Intellectual Property Office; Daejeon, South Korea. [cited by applicant]