Patent ID: 11914394
Assignee: CROWN EQUIPMENT CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 1:
2. The materials handling vehicle of claim 1, further comprising one or more sensors configured to generate an active scan field, the one or more sensors comprising a camera, a 3D camera, a 2D laser scanner, a 3D laser scanner, radar array, ultrasonic array, or combinations thereof, wherein:
the dynamic exterior boundary of the materials handling vehicle approximates a physical periphery of the materials handling vehicle and is defined at an offset distance from the physical periphery of the materials handling vehicle and contains the active scan field;
the degree of potential impingement comprises an impingement distance that is an overlap distance at candidate positions indicative of an overlap between the dynamic exterior boundary or the dynamic clearance boundary of the materials handling vehicle and obstacle data; and
the path validation tool executes path validation logic to
(i) determine whether the dynamic exterior boundary of the vehicle is likely to intersect obstacles represented in the environmental layout data based on the determined vehicle pose and the degree of potential impingement at candidate positions along the proposed travel path to respectively identify the obstacle collision error within the active scan field, and
(ii) stop the materials handling vehicle when the obstacles are determined to be likely to impinge the active scan field and the proposed travel path is not modifiable to eliminate the obstacle collision error to avoid the collision.