Abstract: A computer implemented process is carried out by identifying a metric that characterizes an event associated with the operation of an industrial vehicle. Information about the metric is transmitted to an industrial vehicle. Further, the process includes receiving event data that characterizes a response of the industrial vehicle to the event. The process also includes updating a score for the instance of the metric associated with the vehicle operator by deriving a raw score value based upon the received event data, aggregating the derived raw score value to previously derived raw scores for the metric, and computing a modified score by applying a filter to the aggregate of raw score values. The process also includes comparing the computed modified score with a predetermined modification criteria, and sending a command back to the industrial vehicle to modify the industrial vehicle based upon the comparison.

Abstract: A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose.

Abstract: The embodiments described herein relate to systems and methods for showing information from a management server on a mobile client device to facilitate the management of industrial vehicles. Embodiments of the system can include a plurality of industrial vehicles communicatively coupled to the management server, and a mobile client device communicatively coupled to the management server. The mobile client device can include a display, a wireless communication circuit, and one or more client processors. Encoded objects, vehicular objects, or combinations thereof can be shown upon the display of the mobile client device to show information from the management server.

Abstract: A method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.

Abstract: In location-based geo-feature implementations, messages for conveyance on an industrial vehicle are determined based on a current operating state of the industrial vehicle, information about a zone with expected operating conditions, and the industrial vehicle's location. When the industrial vehicle enters the zone, the current operating state of the industrial vehicle is compared to the expected operating state, which determines the message for display. Further, the current operating state may change the way the message is displayed. In vehicle-based implementations, vehicle data is collected and analyzed to generate messages upon the triggering of predetermined events. The detection of an event can be combined with vehicle position data to create an event record that captures location. Tools are also provided for setting up, managing and using the above capabilities.

Abstract: A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.

Abstract: A method of monitoring operation of a vehicle detects an application of force to the vehicle and a change of momentum of the vehicle is calculated. If the change of momentum and the application of force are determined to occur within a predetermined time period of one another, an impact signal is generated.

Abstract: A process of operating a materials handling vehicle based upon tasks comprises receiving an operator login of an operator and wirelessly transmitting an identification of the operator to a remote server based upon the received operator login. Further, an operation on the materials handling vehicle by the operator is monitored to derive operational information communicated across a materials handling vehicle network bus of the materials handling vehicle. The operational information is then wirelessly transmitted to the remote server. An instruction that is derived from blending a task related activity associated with the operator login and the operational information is wirelessly received from the server. A command, based on the received instruction, is communicated across the vehicle network bus to an electronic component on the materials handling vehicle.

Abstract: An industrial vehicle comprising a tag reader, a reader module, and a diagnostic tag, wherein the diagnostic tag is coupled to the industrial truck within a read range of the tag reader. The reader module and the tag reader cooperate to identify the diagnostic tag and individual tags of a tag layout and the reader module discriminates between the individual tags of the tag layout and the diagnostic tag and the individual tags of the tag layout, correlates an identified individual tag of the tag layout with tag data, correlates an identified diagnostic tag with operation of the tag reader, and generates a missing tag signal if the diagnostic tag is not identified or the operation of the tag reader is not within specified operating parameters.

Abstract: Electronic badges are indirectly tracked by detecting, by a badge communicator on a select industrial vehicle of a fleet of industrial vehicles, the presence of an electronic badge and performing a badge logging transaction in response to detecting the electronic badge. The badge logging transaction includes receiving, by the badge communicator, a badge identifier transmitted by the detected electronic badge. The badge logging transaction also includes determining, by the badge communicator, an offset measurement of the electronic badge relative to the select industrial vehicle, electronically determining a vehicle location of the select industrial vehicle, and identifying a badge location based upon the determined vehicle location and the measured offset. The badge logging transaction can also include generating a time stamp, and wirelessly communicating a badge locator message to a remote server, the badge locator message including the badge identifier, the badge location, and the timestamp.

Abstract: A system for controlling an industrial vehicle comprises an information linking device, a badge communicator, an operator badge, and a controller. The controller controls the industrial vehicle operating state by identifying that an operator possessing the operator badge has approached the industrial vehicle, communicating with the server via the information linking device to authenticate the operator as authorized to operate the industrial vehicle, and pairing the operator badge with the industrial vehicle upon determining that the operator is authorized to operate the industrial vehicle. Moreover, the controller controls the industrial vehicle operating state by controlling the industrial vehicle based upon a location of the operator badge relative to the industrial vehicle.

Abstract: Evaluation of a battery state comprises transforming a time based history of the load on the battery into a spectral representation of that history in a load domain, e.g., the current domain. The method also comprises comparing the spectral representation to an expected battery capability for the load represented by each line in the spectra and calculating the fraction of the expected capability used at each spectral line. The method still further comprises aggregating the calculated fractions into a total fraction that represents the estimated fraction of the expected battery capability associated with that particular time history.

Abstract: Systems and methods for a materials handling vehicle configured to navigate along a warehouse environment inventory transit surface, the vehicle including control architecture in communication with a drive mechanism, a materials handling mechanism, a speed zone sensing subsystem configured to provide an indication of whether the vehicle is in a speed zone, and a speed control processor configured to prompt the operator to reduce a vehicle speed of the vehicle to under a speed zone limit when the vehicle speed is approaching or in the speed zone, determine whether the vehicle speed is under the speed zone limit in the speed zone, and apply a speed cap to limit a maximum vehicle speed of the vehicle to a magnitude that is at or below the speed zone limit when the speed control processor has determined that the vehicle speed is under the speed zone limit in the speed zone.

Abstract: An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights characterized by different rates of image intensity change along longitudinal and transverse axial directions, and ceiling lights characterized by a circularly symmetric rate of image intensity change. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, or both.

Abstract: A variety of vehicle-based and warehouse-based solutions are provided to increase the adaptability, utility, and efficiency of materials handling vehicles in the warehouse environment, such as a materials handling vehicle comprising a picking attachment is secured to a fork carriage assembly and comprising an X-Y-Z-? positioner to engage and disengage a target tote such that movement of the picking attachment along a Z axis by the X-Y-Z-? positioner is independent of movement of the fork carriage assembly along the vertical axis Z? by the mast assembly and mast assembly control unit. The fork carriage assembly may comprise a mobile storage cart support platform defined by one or more cart lifting forks, and an anti-rock cart engagement mechanism configured to engage a mobile storage cart supported by the cart lifting forks.

Abstract: A materials handling vehicle includes a camera, an odometry module to generate odometry data, a processor, and a drive mechanism. The camera captures images of an identifier for a racking system aisle and at least a rack leg portion positioned in the aisle. The processor uses the identifier to generate information indicative of an initial rack leg position and rack leg spacing in the aisle, generate an initial vehicle position using the initial rack leg position, generate a vehicle odometry-based position in the aisle using odometry data and the initial vehicle position, detect a subsequent rack leg using a captured image, correlate the detected subsequent rack leg with an expected vehicle position using rack leg spacing, generate an odometry error signal based on a difference between the expected vehicle position and the vehicle odometry-based position, and update the vehicle odometry-based position using the odometry error signal.

Abstract: Systems and methods for calibrating odometry of a materials handling vehicle. One embodiment of a method includes determining a current location of the materials handling vehicle, determining an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of a wheel and a circumference of the wheel, and determining a positioning system distance from the current location to the destination. Some embodiments include comparing the odometry distance with data from the positioning system distance to calculate a scaling factor, applying the scaling factor to a fast alpha filter to achieve a fast filter result, and applying the scaling factor to a slow alpha filter to achieve a slow filter result. Similarly, some embodiments include applying the fast alpha filter to the scaling factor to smooth noise, calculating an updated odometry distance utilizing the scaling factor, and utilizing the updated odometry distance.

Abstract: A materials handling vehicle comprises an obstacle scanning tool and steering mechanism, materials handling hardware, vehicle drive mechanism, and user interface that facilitate movement of the materials handling vehicle and materials handled along a travel path. The tool establishes a scan field, a filter field, and a performance field, and is configured to indicate the presence of obstacles in the filter field and the performance field. The tool executes logic to establish the performance field in response to an input performance level, scan for obstacles in the filter field and the performance field, execute obstacle avoidance for obstacles detected in the filter field, and execute a performance level reduction inquiry for obstacles detected in the performance field wherein outcomes of the inquiry comprise reduction of the performance level when a performance level reduction is available and execution of obstacle avoidance when a performance level reduction is not available.

Abstract: Dynamic industrial vehicle monitoring for modification of vehicle operator behavior comprises identifying a metric that characterizes an event associated with the operation of an industrial vehicle, the metric having at least one behavior modification action and at least one performance parameter to evaluate the event against. Monitoring operation of the industrial vehicle is carried out for the event. Upon detecting an occurrence of the event, event data is recorded that characterizes a response of a vehicle operator to the event. The recorded event data is evaluated against at least one performance parameter associated with the corresponding metric to determine whether the vehicle operator demonstrated appropriate behavior for the event. A vehicle operator score is updated based upon the evaluation and the updated vehicle operator score is communicated.

Abstract: An industrial vehicle comprising a tag reader, a reader module, and a diagnostic tag, wherein the diagnostic tag is coupled to the industrial truck within a read range of the tag reader. The reader module and the tag reader cooperate to identify the diagnostic tag and individual tags of a tag layout and the reader module discriminates between the individual tags of the tag layout and the diagnostic tag and the individual tags of the tag layout, correlates an identified individual tag of the tag layout with tag data, correlates an identified diagnostic tag with operation of the tag reader, and generates a missing tag signal if the diagnostic tag is not identified or the operation of the tag reader is not within specified operating parameters.