HK1201628A1 - System and method for gathering video data related to operation of an autonomous industrial vehicle - Google Patents

Abstract

As an autonomously guided industrial vehicle travels through a facility images of the adjacent environment are acquired, by either a still camera or a video camera. An image file containing a plurality of the images is stored onboard the vehicle. During that travel, the location of the vehicle is determined. Upon occurrence of a predefined incident, such as encountering an obstacle or impacting an object, an incident message is transmitted wirelessly from the vehicle to a remote management computer. The incident message contains an indication of the type of incident, an indication of a location of the vehicle, and the plurality of the images. The remote management computer responds to the incident message by providing a notification about the incident to one or more persons. The contents of the incident message enables the person notified to take corrective action.

Description

System and method for collecting video data relating to operation of autonomous industrial vehicles

Cross reference to related patent applications

This application is a continuation of part of U.S. patent application No. 13/372,941, filed on day 2, month 14, 2012, and claims the benefit of U.S. provisional patent application No. 61/454,024, filed on day 3, month 18, 2011.

Statement regarding federally sponsored research or development

None.

Technical Field

The present invention relates to industrial vehicles, such as material handling vehicles, and more particularly to operating autonomously guided industrial vehicles.

Background

Various types of industrial vehicles, including lift trucks, are used to carry items at a facility such as a factory, warehouse, cargo transfer station, or retail store. These vehicles are traditionally controlled by an operator on board the vehicle. As industrial vehicles become more sophisticated, a new type of autonomously guided vehicle has been developed. An Autonomous Guided Vehicle (AGV) is a form of mobile robot that transfers goods and materials from one place to another in a confined environment (e.g., a factory or warehouse) without the use of an operator.

Some AGVs follow wires buried under the floor and are therefore constrained to travel along a fixed path defined by the wire. Guidance techniques have further evolved, thus eliminating the need for the vehicle to be confined to a fixed path. Reference marks, which are used herein as reference fiducials, are located at various locations in the facility. In one embodiment, each fiducial has a unique appearance or optically readable element, e.g., a unique barcode. An AGV that needs to travel to a particular location will determine a sequence of reference points to that location and then travel from one reference point to the next in the sequence. Optical sensors on the AGV sense adjacent reference points as the vehicle travels, and the unique appearance or coding of each reference point enables the vehicle to determine its current position and direction of travel along the desired sequence. Even more sophisticated navigation systems using cameras and image recognition software have been developed to guide the AGV along a desired path that is known in advance by the navigation system.

Regardless of whether a particular navigation system is used, AGVs often have difficulty when obstacles obstruct the desired path. For example, an employee may leave a pallet of goods in the aisle being traveled by the AGV. Sensors on the AGV detect an obstacle and the controller stops the vehicle before striking the obstacle. However, because the navigation system lacks intelligence to determine another path to avoid an obstacle, the AGV remains stopped as long as the obstacle obstructs the desired path. The vehicle remains stationary until the employee happens to notice the event and either removes the obstruction or manually guides the vehicle around the obstruction.

It is therefore desirable to provide a mechanism for handling sporadic events where the AGV is unable to continue operating along the intended path.

Disclosure of Invention

A method operates an autonomously guided industrial vehicle to travel through a facility. During travel, images of portions of the facility proximate the industrial vehicle are obtained. These images may be generated by a still camera or a video camera. An image file including a plurality of images is stored on the industrial vehicle.

Upon the occurrence of a predetermined contingency, such as an unexpected stop of the vehicle, a contingency message is wirelessly transmitted from the industrial vehicle to the remote management computer. The message includes one or more of the following types of information, a first indication of a type of the contingency, a second indication of a location of the industrial vehicle, and a plurality of images obtained immediately prior to the contingency. The remote management computer responds to the contingent event message by providing notification to the individual regarding the contingent event. In one embodiment of the present concept, the management computer sends the notification to the individual by email.

Drawings

FIG. 1 is a perspective view of an industrial vehicle according to the present invention;

FIG. 2 is a block diagram of a control system for an industrial vehicle;

FIG. 3 depicts a fleet management system in which vehicles communicate over a wireless network with a central asset management computer that is linked to other remote computers and has access to a remote database; and

fig. 4 is a floor plan view of a warehouse in which industrial vehicles operate.

Detailed Description

The present invention relates generally to the operation of an industrial vehicle. Although the present invention has been described in the context of a pallet truck for use in a warehouse, the inventive concepts are applicable to other types of industrial vehicles and they may be applied in a variety of facilities, such as factories, cargo terminals, warehouses, and retail stores.

Referring initially to FIG. 1, an industrial vehicle 10, and in particular a pallet truck, includes an operator compartment 11 having an opening for operator access. Associated with the operator compartment 11 is a joystick 14, the joystick 14 being one of several operator controls 17 and having an operator indicator 12. The industrial vehicle 10 has a load carrier 18, such as a pair of forks, which are raised and lowered relative to the frame. As described in further detail, the communication system of the industrial vehicle is capable of exchanging data and commands with a remotely located facility management system via the antenna 15 and wireless signals.

The industrial vehicle 10 further includes a guidance and navigation system (GANS) 13. Any commercially available guidance and navigation system may be used to determine a path for the industrial vehicle, sense environmental conditions external to the vehicle, and operate the propulsion drive train to guide the vehicle along the defined path. In one embodiment, the GANS13 may determine vehicle position and travel path by sensing buried wires, tape on building floors, or magnetic markers near the path. In another embodiment, the GANS13 uses a laser scanner or camera to sense fiducials placed on the stationary object throughout the facility, thereby defining various paths. Thus, on each occasion, another reference point is detected and a new current position of the vehicle is determined by the GANS. In a further embodiment, the GANS13 has one or more cameras that produce output images that are processed by image recognition software to detect the current location of the vehicle in the facility. Dead reckoning guidance techniques may also be used. For systems using video camera or dead reckoning guidance techniques, each industrial vehicle 10 is taught to traverse a different path by manually driving the vehicle as the GANS13 "learns" the path.

Thus, the industrial vehicle 10 is a hybrid control vehicle that can be controlled by an operator in the on-board operator compartment 11 or in an unmanned autonomous mode via the GANS 13.

Fig. 2 is a block diagram of a control system 20 onboard the industrial vehicle 10. The control system 20 includes a vehicle controller 21, which is a microcomputer-based device that includes a memory 24, an analog-to-digital converter, and input/output circuitry. The vehicle controller 21 executes a software program that responds to commands from the operator control 17 or the GANS13 and manipulates the vehicle components that propel the industrial vehicle and handle the loads to be transferred. The operator controls 17 provide input signals to initiate and manage operations of vehicle operation, such as forward and reverse travel, steering, braking, and raising and lowering of the load vehicle 18. In response to the operator input signals, vehicle controller 21 sends command signals to lift motor controller 23 and to propulsion drive train 25, which includes a traction motor controller 27 and a steering motor controller 29, over a first communication network 26. The first communication network 26 may be any known network for exchanging commands and data between machine components, such as a Controller Area Network (CAN) serial bus that utilizes the communication protocol of ISO-11898 promulgated by the International organization for standardization of Geneva, Switzerland.

Industrial vehicle 10 is powered by a rechargeable energy source, such as a battery pack 37, which is electrically coupled to vehicle controller 21, propulsion drive system 25, steering motor controller 29, and hoist motor controller 23 through a bank of fuses or circuit breakers in a power splitter 39.

The propulsion drive train 25 propels the industrial vehicle 10 in a direction desired by the facility floor. The traction motor controller 27 drives at least one traction motor 43 that is connected to the propulsion wheels 45 to provide motive force for the industrial vehicle. The speed and direction of rotation of the traction motor 43 and associated propulsion wheel 45 are selected by the operator through a throttle control on the joystick 14 and monitored by a feedback signal from the rotation sensor 44. The rotation sensor 44 may be an encoder coupled to the traction motor 43 and the signals generated therefrom are used to measure the speed and distance traveled by the vehicle as recorded by the odometer 46. Propulsion wheels 45 are also connected to the brakes 22 through the traction motor 43 to provide service and parking brake functions to the industrial vehicle 10.

The steering motor controller 29 is operatively connected to drive a steering motor 47 and associated steerable wheels 49. As described above, the steering direction is selected by the operator by rotating the manipulation handle 14. The direction and amount of rotation of the steerable wheels 49 determines the direction in which the industrial vehicle 10 is traveling. The steerable wheels 49 may be the same as the propulsion wheels 45 or may be different wheels. A rotational angle sensor 50 can be coupled to the steerable wheels 49 to sense the angle at which the vehicle is steered. The monitored rotation angle is used by the vehicle controller 21 to perceive the direction of vehicle travel.

The lift motor controller 23 sends drive signals to control the lift motor 51 which is connected to a hydraulic circuit 53 which operates the lift assembly for lifting and lowering the load carrier 18 and the load 35 to be carried.

Still referring to fig. 2, a plurality of data input and output devices are connected to the vehicle controller 21. These devices include vehicle sensors 60 for parameters such as temperature, battery charge level, and object impact force. A maintenance service port 64 and a communication port 65 are also connected to the vehicle controller 21. The operator controls 17 allow a vehicle operator, administrator, or other person to input data and configuration commands to the vehicle controller 21, and may be implemented as a keyboard, a series of discrete buttons, a mouse, a joystick, or other input device as will be apparent to those of ordinary skill in the art. The maintenance service port 64 enables a technician to connect a portable computer (not shown) to the industrial vehicle 10 for diagnostic and configuration purposes. The communication port 65 is connected to a wireless communication device 67 that includes a radio transceiver 69 coupled to the antenna 15 for exchanging data and commands using a wireless communication system in a warehouse or project in which the industrial vehicle 10 operates. Any of several known serial communication protocols, such as Wi-Fi, can be used to exchange messages carrying commands and data over a two-way communication system. Each industrial vehicle 10 has a unique identifier, such as its manufacturing serial number or a communication system address, that enables messages to be specifically communicated to the respective vehicle.

The vehicle controller 21 stores sensed data regarding vehicle operation in the controller memory 24. In addition, the stored data may include information generated by the vehicle controller 21, such as the number of hours of operation, the state of charge of the battery, and an operational fault code. The load lifting operation is monitored by the total amount of time the lift motor 51 is running. Various speed parameters, such as vehicle speed and acceleration, are also monitored on a typical industrial vehicle.

The vehicle controller 21 supplies some of this data to the operator indicator 12, which displays vehicle operating parameters such as travel speed, battery charge level, hours of operation, current time, and required maintenance. Temperature sensors monitor the temperature of the motor and the temperature of other components and can display these data. Warning indications are also present on the operator indicators to inform the operator of vehicle conditions that require attention.

A guidance and navigation system (GANS)13 is also coupled to the vehicle controller 21 to provide control signals for operating the lift motor controller 23, the traction nod motor controller 27, and the steering motor controller 29 to guide the vehicle in an unmanned autonomous mode of operation. The GANS13 has an operator input device 61 and an operator display 66. The GANS13 is coupled to a second communication network 70, such as another CAN serial bus to the interface circuit 74, by a connector 72. The interface circuit 74 is connected to the first communication network 26 so as to exchange messages with commands and data with the vehicle controller 21, as described below. The interface circuit 74 provides isolation between the first and second communication networks 26 and 70 to prevent unwanted signals applied to the connector 72 from adversely affecting the transfer of messages over the first communication network.

Referring to FIG. 3, a warehouse 100 in which one or more industrial vehicles 10 operate includes a two-way communication system 102 that links the wireless communication device 67 of each industrial vehicle 10 to an asset management computer 104 at a fixed location of the facility. The communication system 102 includes a plurality of wireless access points 106 distributed throughout the warehouse 100, such as at loading docks and warehouse areas. Wireless access point 106 is a radio frequency signal transceiver that is linked to asset management computer 104 by a local area network 105 or TCP/IP communications of conventional hardware implementations. Alternatively, the wireless access point 106 can be wirelessly coupled, such as via a Wi-Fi link to the asset management computer 104.

The communication system 102 can also provide a mechanism by which to determine the location of each industrial vehicle 10 within the warehouse. Periodically, the transceiver at each wireless access point 106 broadcasts a location message that is received by all of the industrial vehicles 10. The location message carries an identification of the wireless access point 106 that was sent and a time code indicating the time of day, for example, at which the message was sent. Each industrial vehicle 10 has a clock that generates a similar time code. All of the time code generators in the wireless access point 106 and on the industrial vehicle 10 are synchronized. Upon receiving the location message, the industrial vehicle records a time code from its clock. The vehicle controller 21 uses the transmit and receive time codes to calculate the travel time of the location message from the respective wireless access point 106 to the industrial vehicle 10. The propagation time corresponds directly to the distance of the industrial vehicle from the respective wireless access point. The vehicle controller 21 uses the wireless access point identification carried by the location message to access a table stored in the controller memory 24 and determine the fixed location of the wireless access point. With known message propagation times and the locations of at least three access points 106, the vehicle controller 21 can use triangulation to determine the location of the vehicle within the warehouse 100. This function of the wireless access point 106 is referred to as a Local Positioning System (LPS). Other methods for determining the vehicle position can be used. For example, the GANS13 may periodically determine the vehicle location and provide an indication of that location to the vehicle controller 21.

The asset management computer 104 also communicates with a warehouse management computer system 114 at the headquarters of the warehouse company over the internet 108 or other communication link. This connection enables the management computer system 114 to receive data regarding the operation of the fleet of industrial vehicles at all of the company's warehouses. The asset management computer 104 and the warehouse management computer system 114 each execute software for storing, analyzing, and reporting operational information about the industrial vehicle.

The connection of the asset management computer 104 to the internet 108, or other external communication link, enables the asset management computer 104 to access a database 110, which includes data provided from a computer 112 at the vehicle manufacturer. Data collected from industrial vehicles at the warehouse is also uploaded and stored in the database 110. The selected data may be accessible, for example, by a warehouse manager or vehicle dealer, which is connected to a database 110 via the internet 108. Various computers are capable of analyzing and comparing data collected from all industrial vehicles at a known warehouse, all facilities of a warehouse company, or all vehicles manufactured by a manufacturer.

Industrial applicability

The industrial vehicle 10 of the present invention is capable of operating in a manual, manual mode, wherein the vehicle operator controls the functions of the vehicle; in an unmanned autonomous (robotic) mode, in which the GANS13 automatically controls vehicle operation without the presence of an operator; or in a remote control mode where commands are sent by a person at asset management computer 104 to operate the vehicle.

Referring to fig. 4, the warehouse 100 includes a storage area 202 in which goods of a plurality of pallets 204 are stored, and a loading dock area 206 for transporting goods loading and unloading a transport cart 208. The warehouse also has an area for battery recharging stations 101. A given warehouse may have multiple battery recharging stations located at different locations.

A plurality of industrial vehicles 10 travel around the warehouse 100 to unload goods from the carts 208, place goods on the pallets 204, and then remove goods from the storage area and load the goods onto other carts. For example, a first operator manually drives the hybrid manual-autonomous industrial vehicle 10 through the storage area 202 to a suitable location where desired cargo is stored and loaded onto the vehicle's cargo vehicle 18. The industrial vehicle 10 is then driven to the staging area at station a, where a first operator uses the operator input device 61 to position the industrial vehicle 10 in an autonomous mode, with instructions to travel along path 214 to station C. The first operator then steps the industrial vehicle 10 and signals the vehicle controller 21 of this action via the pressure sensing floor mat from the operator compartment 11 (see fig. 1). Accordingly, the industrial vehicle 10 begins autonomous operation along the path 214 to travel through station B to the destination at station C. It should be noted that the industrial vehicle is also capable of being manually driven to station B, from where it is sent to station C in autonomous mode, when the cargo is carried from a storage location close to station B.

When an operator optionally manually inputs a routing task to the operator input device 61, the central dispatcher can input the routing task to the asset management computer 104 from which it is transmitted to the industrial vehicle 10 via the warehouse communication system 102. The vehicle controller 21 then sends the path task to the guidance and navigation system (GANS)13 through the first communication network 26, the interface circuit 74, and the second communication network 70.

Upon receiving the path task, the GANS13 assumes control over the operation of the industrial vehicle 10. The control includes the GANS13 sending commands to the vehicle controller 21 that simulate digital signals generated by a manual operator control 17, such as the control handle 14. Thus, the vehicle controller 21 receives commands from the GANS13 indicating the speed and direction at which the traction motor 43 is driven, and the direction and angle at which the steer motor 47 should steer the steerable wheels 49 in order to propel the vehicle along a prescribed path. The above-described control by the GANS13 may also include sending commands to the vehicle controller 21 when the brakes 22 are to be applied or released.

When the industrial vehicle 10 is traveling in the autonomous mode, the sensors on the GANS13 detect the position of the vehicle relative to the designated path 214. In one type of GANS, the camera 76 or laser scanner detects fiducials 216, which are periodically placed along various paths in the warehouse. Datum 216 may be disposed on warehouse floors, walls, columns, shelves, and other objects having a fixed position. Each fiducial 216 has a unique appearance or optically readable code, such as a unique bar code or other optical pattern, that enables the GANS13 to determine the current position of the vehicle and the direction to take to reach the next fiducial 216 along the beginning of the designated path 214. Another type of GANS13 uses a camera 76 that generates images of the environment proximate to the industrial vehicle 10. The images are processed by image recognition software that identifies the physical characteristics of the warehouse and determines the current location of the industrial vehicle 10 from these physical characteristics. Either type of GANS13 uses the derived data to determine when and how to steer the steerable wheels 49 to cause the industrial vehicle 10 to travel along the designated path 214.

When the GANS13 detects that station C is reached, the industrial vehicle 10 automatically stops and awaits further operating commands. Finally, the second operator steps on the vehicle and places the industrial vehicle 10 into manual mode. The operator then manually drives the industrial vehicle onto a transport cart 208 parked on the loading dock area 206 and deposits the goods in the transport cart. The second operator then returns the industrial vehicle 10 to station C and points toward the vehicle at station a.

The second operator then inputs a command to the operator input device 61 to instruct the path 218 for the vehicle to travel to station a and begin autonomous mode. After the second operator exits the operator compartment 11, the industrial vehicle 10 begins traveling along the path 218 to station a. Once station a is reached, the industrial vehicle stops and waits for another operator to manually control the vehicle.

There are certain contingencies that do not have the ability to operate the industrial vehicle 10 in an autonomous mode. For example, these vehicles typically have one of a plurality of emergency shutdown switches that can be operated by a person on the floor of the warehouse if undesired vehicle operation is observed. The autonomously operating vehicle may also be programmed to cease operation when the in-vehicle sensor 60 detects a colliding object with a more than predetermined amount of force.

Another sporadic event, depicted in fig. 4, is the autonomous industrial vehicle 210 encountering an obstacle 220 in its path. The guidance and navigation system 13 senses the obstacle and stops the vehicle before a collision occurs. However, the guidance and navigation system is unable to determine how to maneuver around the obstacle 220 so that the industrial vehicle 210 remains stationary at this location. All of these contingencies result in "unexpected stops" of the vehicle, since the stops are not part of a given designated path for the vehicle.

If the unexpected stop is not adjusted, such as by an obstacle 220 about to travel, the vehicle controller 21 automatically initiates a recovery routine within a predetermined event period.

To implement the recovery procedure, each industrial vehicle 10 continuously collects position and image data while operating. As noted previously, the GANS13 can detect a unique fiducial 216 attached to a fixed object at a known location in the warehouse 100. The memory in the GANS includes a table of unique appearances or codes for each fiducial point 216 in relation to the associated warehouse location. Thus, once a particular fiducial 216 is detected (which is the given scenario), the GANS13 knows that it is at that location in the warehouse 100 where that fiducial is located. Alternatively, the GANS13 may periodically determine the current position of the vehicle by processing video or still images from the camera 76. In another technique, the current location of the vehicle is obtained by a local configuration system using signals from a plurality of wireless access points 106 in the warehouse. Regardless of whether a particular technique is used, each location for vehicle determination is referred to as an "identified location". The GANS13 signals the vehicle controller 21 to obtain a new identified position each time. The vehicle controller 21 responds by resetting the odometer 46 to measure the distance traveled by the industrial vehicle 10 from the new identified location. Thereby resetting the odometer whenever a new identified location is obtained.

If the fiducial 216 for guidance is not used, the GANS13 may use image processing on the video signals generated by the camera 76 to detect warehouse structural features to guide the vehicle along the specified path. In this case, when the vehicle reaches each station A, B and C, the GANS13 detects, and then it becomes the location recognized by the vehicle. Reaching or passing one of these identified locations (which is the given scenario) causes the vehicle controller 21 to reset the odometer 46 to begin measuring the distance traveled by the industrial vehicle 10 from the associated station having a known location in the warehouse.

The camera 76 in the GANS13 continuously generates a sequence of video images while the industrial vehicle 10 is operating. Video image data comprising a plurality of sequences of video images for a given time period, e.g., 15 to 20 seconds, is stored in a file in the memory 77 of the GANS 13. The data stored in this file is configured such that the new video image overwrites the oldest video image, and such that the memory file includes the closest 15 to 20 seconds of video data. Instead of a video camera, a still image camera can be used, periodically, for example, one and a half seconds each, to produce a separate image that approximates the environment of the industrial vehicle 10. These still images are stored in the files of the GANS memory 77 in a loop mode. The memory 77 in the GANS13 may be any type of conventional data storage device, such as a computer hard drive.

When an unexpected stop occurs in the industrial vehicle 10 or 210, such as upon encountering an obstacle 220 in its path (contingent event), the GANS13 closes the image file in which the camera image has been previously stored and opens a new file for storing future images in another 15-20 second cycle. Thus, the first of the multiple images held in these files is obtained immediately prior to the contingent event of unexpected stoppage. Second, the vehicle controller 21 generates a contingency message that includes an indication of the type of contingency that caused the unexpected stop, the last identified location, a current odometer reading a distance and a direction of travel from the last identified location. The contingent event message also includes a video file or still image stored immediately prior to the unexpected stop in the GANS memory 77. Then a contingent event message is sent from wireless communication device 67 to communication system 102 by conveying the message to asset management computer 104.

Upon receiving the contingent event message, the asset management computer 104 renders non-image data for displaying the contingent event notification on the computer's monitor. Non-image data may also be sent to designated personnel at the warehouse, such as managers and contingent event responders. Asset management computer 104 is configured with a list of email addresses for a given person to notify the person about each unexpected stop. Alternatively, the configuration data can specify separate groups of people to be notified for each different type of unexpected stop, such as an obstacle, an emergency shutdown switch activation, or a collision. These designated persons receive emails in the warehouse via a smart phone or other computer 108, which is connected to the asset management computer 104. Upon receiving the email, the person uses the last identified location, odometer distance, and direction of travel to turn the vehicle to the address of the cause of the unexpected stop. Alternatively, the email recipient can access images included in the contingent event message to determine the cause of the unexpected stop.

In a recovery process variation, the contingency message sent from the industrial vehicle does not include image data and only includes an indication of the type of contingency, the last identified location, the odometer distance, and the direction of travel from the last identified location. In this case, once an unexpected stop is being notified, individuals can send image request messages from the asset management computer 104 to the respective industrial vehicle 210a via the communication system 102, if desired. By collecting image data from the GANS memory 77 and placing that data into an image message, the vehicle controller 21 in the vehicle responds to the image situation message, which is transmitted back to the asset management computer 104 for review by the requesting individual. When the GNAS memory 77 stores multiple image data files obtained in response to different unexpected stops, a variation of the recovery process is used in which each file can be accessed to evaluate the evaluation of a respective contingency. Now once a new unexpected stop occurs, the contingent event message also includes an indication of the particular image data file in the GANS memory 77 that includes the image for the new unexpected stop. The image file indication is then used in an image request message to have the appropriate file retrieved from the GANS memory 77 and the image transferred therein to the asset management computer 104.

In another embodiment, an individual can control the operation of the industrial vehicle 10 or 210 from the asset management computer 104 to turn around contingencies that cause unexpected stops. Initially, a personal input causes a command for the industrial vehicle to transition from an autonomous mode to a remote control mode. In the remote control mode, the current image is transmitted from the industrial vehicle 10 or 210 to the asset management computer 104 of the real image. From asset management computer 104, an individual can send commands to the industrial vehicle to control steering, travel methods, speed, and other functions. For example, the industrial vehicle 210 can be commanded to travel around an obstacle 220 that is blocking a designated path. When the contingency event has been diverted and remote control is no longer needed, operation of the vehicle control system 20 is reestablished to the autonomous mode by an additional command sent from the asset management computer 104.

Alternatively, the manager at the asset management computer 104 can send a designation to the industrial vehicle 210 to tailor the GANS13 using the alternate path to the desired destination to avoid the obstruction.

In a similar mode, when a vehicle collision causes an unexpected stop and a sporadic message is sent to the asset management computer 104, the image data in the message can be viewed in the computer. This enables a manager to observe the environment of the industrial vehicle 10 and recognize the type and severity of the impact that occurred. Thus, the manager can determine whether the industrial vehicle is operational, wherein the appropriate case command is sent from the asset management computer 104 to the industrial vehicle instructing the appropriate vehicle to operate. Alternatively, in the event of a major collision, the manager can dispatch a repair technician to attend to the industrial vehicle.

The foregoing description has been directed to one or more embodiments of the present invention. While some attention was given to various alternatives within the scope of the invention, it is anticipated that one skilled in the art will likely realize additional alternatives that are now apparent from disclosure of embodiments of the invention. For example, although the current concepts have been described in the context of use on hybrid manual-autonomous vehicles, they can be used on fully autonomously guided vehicles. Accordingly, the scope of the invention is to be determined by the claims that follow and is not limited by the above disclosure.

Claims (18)

1. A method for operating an autonomously guided industrial vehicle traveling through a facility, the method comprising:

obtaining an image of the facility while the industrial vehicle is traveling;

storing each acquired image on the industrial vehicle;

wirelessly transmitting a contingent event message from the industrial vehicle to the remote management computer upon the occurrence of a predetermined contingent event, wherein the contingent event message comprises positioning data representative of a location of the industrial vehicle;

transmitting, from the industrial vehicle, a plurality of images obtained prior to the predetermined contingency, after the predetermined contingency; and

the remote management computer responds to the contingent event message by providing a human perceptible notification of the contingent event.

2. The method of claim 1, wherein the plurality of images comprises a video sequence.

3. The method of claim 1, wherein the contingent event message comprises an indication of the type of contingent event that occurred.

4. The method of claim 1, wherein the contingent event message comprises at least one of a plurality of images.

5. The method of claim 1, wherein the plurality of images are transmitted as part of an incident message.

6. The method of claim 1, further comprising:

determining an identified location at which the industrial vehicle is located; and

the distance traveled by the industrial vehicle from the identified location is measured.

7. The method of claim 6, wherein the location data comprises an indication of the identified location and an indication of the distance.

8. The method of claim 6, wherein the identified locations are determined whenever a given occasion arises while the industrial vehicle is traveling, and the distance traveled by the industrial vehicle from each identified location is measured.

9. The method of claim 1, wherein providing a human perceptible notification comprises sending an email.

10. The method of claim 1, further comprising:

wirelessly transmitting an image request message to the industrial vehicle after receiving the contingency event message; and

the industrial vehicle responds by transmitting the plurality of images from the industrial vehicle in a wireless transmission.

11. The method of claim 1, wherein the plurality of images are stored in one of a plurality of image files onboard the industrial vehicle; and the contingent event message comprises an indication of the one of the plurality of image files comprising an image obtained prior to a predetermined contingent event causing transmission of the contingent event message.

12. A method for operating an autonomously guided industrial vehicle traveling between planned stop points through a facility, the method comprising:

from time to time, determining a current location of the industrial vehicle, thereby producing an identified location;

an on-board camera of an industrial vehicle generates images of the surrounding environment;

storing a plurality of images on an industrial vehicle;

upon an unexpected stop of the industrial vehicle, a contingent event message is automatically transmitted from the industrial vehicle to the remote management computer, wherein the contingent event message includes a first indication of a contingent event causing the unexpected stop, a second indication of the identified location, and a plurality of images.

13. The method of claim 12, wherein storing a plurality of images stores images obtained during a most recently defined time period.

14. The method of claim 12, wherein the plurality of images comprises a video sequence.

15. The method of claim 12, further comprising measuring a distance traveled by the industrial vehicle from the identified location.

16. The method of claim 15, wherein the contingent event message further comprises an indication of the distance.

17. The method of claim 12, further comprising: the remote management computer responds to the contingent event message by providing notification to the individual regarding the contingent event.

18. The method of claim 12, further comprising: the remote management computer responds to the contingent event message by sending an email to the individual regarding the contingent event.