Patents by Inventor Grace Da-In Lee
Grace Da-In Lee has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230273618Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: ApplicationFiled: May 5, 2023Publication date: August 31, 2023Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Patent number: 11681300Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: GrantFiled: February 4, 2020Date of Patent: June 20, 2023Assignee: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Patent number: 11640175Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: GrantFiled: February 4, 2020Date of Patent: May 2, 2023Assignee: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Publication number: 20230084450Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: ApplicationFiled: November 22, 2022Publication date: March 16, 2023Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Patent number: 11531352Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: GrantFiled: February 4, 2020Date of Patent: December 20, 2022Assignee: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Patent number: 11416001Abstract: 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.Type: GrantFiled: July 17, 2019Date of Patent: August 16, 2022Assignee: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Publication number: 20200247612Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: ApplicationFiled: February 4, 2020Publication date: August 6, 2020Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Publication number: 20200249692Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: ApplicationFiled: February 4, 2020Publication date: August 6, 2020Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Publication number: 20200247613Abstract: A materials handling vehicle includes a camera, odometry module, processor, and drive mechanism. The camera captures images of an identifier for a racking system aisle and a rack leg portion 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 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 positions, and update the vehicle odometry-based position using the odometry error signal and/or generated mast sway compensation to use for end of aisle protection and/or in/out of aisle localization.Type: ApplicationFiled: February 4, 2020Publication date: August 6, 2020Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee
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Publication number: 20200026304Abstract: 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.Type: ApplicationFiled: July 17, 2019Publication date: January 23, 2020Applicant: Crown Equipment CorporationInventors: Justin Forbes Thode, Grace Da-In Lee