The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 05, 2020
Filed:
Dec. 22, 2017
X Development Llc, Mountain View, CA (US);
Hemal Shah, Campbell, CA (US);
Ian Gulliver, Los Altos, CA (US);
X Development LLC, Mountain View, CA (US);
Abstract
An example method may include receiving, from a sensor on a vehicle, an initial plurality of sensor data points representing a position of a face of a pallet. The vehicle may include tines configured to engage the pallet. A baseline geometric representation of the face of the pallet may be determined based on the initial plurality of sensor data points. The vehicle may be caused to reposition the tines relative to the pallet. A subsequent plurality of sensor data points representing the position of the face of the pallet after repositioning the tines may be received from the sensor. An updated geometric representation of the face of the pallet may be determined based on the subsequent sensor data points. It may be determined that the updated geometric representation deviates from the baseline geometric representation by more than a threshold value and, in response, motion of the vehicle may be adjusted.