Abstract: A computer-implemented method is provided for finding a Ro image providing data corresponding to possible orthogonal distances to possible lines on a pallet in an image. The method comprises: acquiring a grey scale image including one or more pallets; determining, using a computer, a horizontal gradient image by convolving the grey scale image and a first convolution kernel; determining, using the computer, a vertical gradient image by convolving the grey scale image and a second convolution kernel; and determining, using the computer, respective pixel values of a first Ro image providing data corresponding to a possible orthogonal distance from an origin point of the grey scale image to one or more possible lines on one or more possible pallets in the grey scale image.

Abstract: A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.

Abstract: A programmable computer-implemented method is provided for finding possible corners of a pallet in an image. The method may comprise: acquiring a grey scale image including one or more pallets; determining, using a computer, horizontal cross correlations between the image and a first step-edge template to generate a set of horizontal cross correlation results; determining, using the computer, vertical cross correlations between the image and a second step-edge template to generate a set of vertical cross correlation results; and determining, using the computer, a first set of pixels, each such pixel respectively corresponding to a possible first corner of the one or more pallets, using a first corner template, the set of horizontal cross correlation results and the set of vertical cross correlation results.

Abstract: A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.

Abstract: A materials handling vehicle is provided comprising: a frame; wheels supported on the frame; a traction motor coupled to one of the wheels to effect rotation of the one wheel; a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of the traction motor; a system associated with a steerable wheel to effect angular movement of the steerable wheel; and control apparatus coupled to the speed control element to receive the speed control signal, and coupled to the traction motor to generate a drive signal to the traction motor in response to the speed control signal to control the operation of the traction motor. The control apparatus may determine an acceleration value for the traction motor based on at least one of an angular position of the steerable wheel, a speed of the traction motor and a current position of the speed control element as defined by the speed control signal.

Abstract: A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to the traction motor; and a first sensor for generating a speed signal indicative of a speed of the driven wheel. The control apparatus may calculate acceleration of the one wheel using changes in the speed signal over time and calculate an acceleration of the vehicle using torque applied by the traction motor and a mass of the vehicle.

Abstract: A lateral travel limiter for the chain of a chain drive assembly as commonly seen on multi-speed bicycles. The chain lateral travel limiter attached to a bicycle frame proximate to a front derailleur and the front chain rings, and is positioned with respect to the front derailleur and the front chain rings so that during a shifting event, and in the event that the front derailleur shifts the chain laterally from a first plane defined by an outer chain ring to second plane defined by an inner chain ring and the chain travels laterally beyond the second plane defined by the inner chain ring, the chain is caught against the chain lateral travel limiter and guided in a manner that redirects the chain to the plane of rotation defined by the chain when engaged and rotating on the inner chain ring.

Abstract: A materials handling vehicle is provided comprising a frame comprising an operator's compartment, wheels supported on the frame, at least one of the wheels being a steerable wheel, and a steer-by-wire system associated with the steerable wheel to effect angular movement of the steerable wheel. The vehicle further comprises a control apparatus.

Abstract: A materials handling vehicle is provided comprising: a frame comprising an operator's compartment; wheels supported on the frame, at least one of the wheels being a steerable wheel; a steer-by-wire system and control apparatus. The steer-by-wire system is associated with the steerable wheel to effect angular movement of the steerable wheel about a first axis.

Abstract: A supplemental control system for a materials handling vehicle comprises one or more sensors capable of defining multiple contactless detection zones at least towards the front of the forward travel direction of a remotely controlled vehicle. The vehicle responds to the detection of objects within the designated zones based upon predetermined actions, such as to slow down or stop the vehicle, and/or to take other action, such as to perform a steer angle correction.

Abstract: A vehicle is provided comprising: a main body; a plurality of wheels coupled to the main body; a traction motor associated with the main body and coupled to at least one of the wheels for driving the one wheel; control apparatus coupled to the traction motor and generating a motor drive signal to the traction motor; and a first sensor for generating a speed signal indicative of a speed of the driven wheel. The control apparatus may calculate acceleration of the one wheel using changes in the speed signal over time and calculate an acceleration of the vehicle using torque applied by the traction motor and a mass of the vehicle.

Abstract: A materials handling vehicle is provided comprising a frame comprising an operator's compartment, wheels supported on the frame, at least one of the wheels being a steerable wheel, and a steer-by-wire system associated with the steerable wheel to effect angular movement of the steerable wheel. The vehicle further comprises a control apparatus.

Abstract: A materials handling vehicle is provided comprising: a frame; wheels supported on the frame; a traction motor coupled to one of the wheels to effect rotation of the one wheel; a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of the traction motor; a system associated with a steerable wheel to effect angular movement of the steerable wheel; and control apparatus coupled to the speed control element to receive the speed control signal, and coupled to the traction motor to generate a drive signal to the traction motor in response to the speed control signal to control the operation of the traction motor. The control apparatus may determine an acceleration value for the traction motor based on at least one of an angular position of the steerable wheel, a speed of the traction motor and a current position of the speed control element as defined by the speed control signal.

Abstract: A materials handling vehicle is provided comprising: a frame comprising an operator's compartment; wheels supported on the frame, at least one of the wheels being a steerable wheel; a steer-by-wire system and control apparatus. The steer-by-wire system is associated with the steerable wheel to effect angular movement of the steerable wheel about a first axis.

Abstract: A magnetorheological (MR) damper includes a damper tube, a movable non-MR damper piston, and a non-movable MR damper piston. The damper tube has substantially hermetically separated first and second chambers, wherein the first chamber contains a non-MR fluid and the second chamber contains an MR fluid. The non-MR damper piston is located in the first chamber and is slidable with respect to the damper tube. The MR damper piston has a longitudinal axis and an electric coil, is located in the second chamber, and is fixedly attached to the damper tube. Sliding the non-MR damper piston with respect to the damper tube causes movement of at least some of the MR fluid longitudinally past the electric coil.

Abstract: An actuator having a housing that defines an interior volume and a primary driver that includes either a piezoelectric element or a magnetorestrictive element. The primary driver has first and second opposing ends and defines a longitudinal length therebetween. The first end of the primary driver is bearingly engaged with a reaction surface that is fixed relative to the housing. The second end of the primary driver longitudinally moves a bearing surface that partially defines a closed working chamber having a fixed quantity of an incompressible medium. An actuating rod extends through an orifice in the housing and has a first end projecting outwardly and a second end disposed within the working chamber. The cross sectional area of the orifice is less than the effective area of the bearing surface whereby the travel distance of the rod is amplified relative to the change in length of the primary driver.

Abstract: The invention is a suspension system, typically for use between a cab and a truck frame, includes a strut module having a strut and an air spring, and a control module, connected to a source of pressurized air, for sensing a distance between the cab and truck frame and selectively pressurizing the air spring in response to changes in that distance. Preferably, the strut is a McPherson-type strut and the air spring encloses at least a portion of the strut to provide a compact assembly and includes a three point connection to the cab and frame to resist relative lateral movement between the cab and frame. The strut also preferably is a magnetorheological-type damper so that the control module can adjust the damping characteristics of the strut to optimize rider comfort.

Abstract: A suspension system, typically for use between a cab and an associated truck frame, including a s strut module having a strut, an air spring and a control module. The control module is connected to a source of pressurized air, is integral with the strut and includes a height sensor for sensing a distance between the cab and truck frame. The integral control module selectively pressurizes the air spring in response to changes in that distance. Preferably, the strut is a magnetorheological, McPherson-type strut and the air spring encloses at least a portion of the strut to provide a compact assembly. The strut damping characteristics are varied by the control module to provide optimal ride characteristics. The strut module includes a three-point connection to the cab and frame to resist relative lateral movement between the cab and frame.

Abstract: A suspension damper comprises a cylinder tube and a control partition. The cylinder tube is disposed within a reservoir tube to define a fluid reservoir, and has at least one first hole. The control partition is disposed in the fluid reservoir, and communicates with the at least one hole.