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公开(公告)号：US20240280983A1
公开(公告)日：2024-08-22
申请号：US18171768
申请日：2023-02-21
发明人： Hojjat Izadi , Mahdokht Ezati , Mohammad Hossein Beheshti , Jonathan From , Martin Juhas , Johnson Qu , Carlos Arreaza
CPC分类号： G05D1/0027 , B65D19/38 , B65D2519/00776
摘要： Methods and systems for controlling movement of an e-pallet includes one or more sensors configured to obtain sensor data as to a user of the e-pallet, a second e-pallet, or both; and a processor coupled to the one or more sensors and configured to at least facilitate: determining, using the sensor data, a relative position of the user, the second e-pallet or both, with respect to the e-pallet; determining, using the sensor data, a relative orientation of the user, the second e-pallet or both, with respect to the e-pallet; and taking a control action for the e-pallet, in accordance with instructions provided by the processor, based on both the relative position and the relative orientation.
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公开(公告)号：US20230125809A1
公开(公告)日：2023-04-27
申请号：US17511665
申请日：2021-10-27
摘要： An electronic pallet (e-pallet) includes a superstructure mounted to a wheeled base platform. A tether device defines an articulation angle with respect to a leading edge of the superstructure, and is grasped by an operator towing the e-pallet. A motor connected to driven road wheels transmits a drive torque to the road wheels responsive to motor control signals, including a desired yaw rate and ground speed. A speed sensor, angle sensor, and length sensor are respectively configured to determine an actual ground speed of the e-pallet, the articulation angle, and a length of the tether device. An electronic controller, in response to the input signals, generates the motor control signals using proportional-integral-derivative (PID) control logic. Coupled lateral and longitudinal dynamics control loops respectively determine the desired yaw rate and ground speed to accommodate for motion of the operator.
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公开(公告)号：US11487993B2
公开(公告)日：2022-11-01
申请号：US15960948
申请日：2018-04-24
发明人： Wei Tong , Hojjat Izadi , Fahim Javid
摘要： A method and apparatus that detect wheel misalignment are provided. The method includes predicting a self-aligning torque parameter based on a regression model determined from a dataset including one or more from among a steering wheel angle parameter, a speed parameter, a torsion bar torque parameter, a lateral acceleration parameter, and a power steering torque parameter, comparing a measured self-aligning torque parameter and the predicted self-aligning torque parameter, and outputting a wheel alignment condition indicating whether the wheel alignment is proper if the self-aligning torque parameter and the predicted self-aligning torque parameter are within a predetermined value based on the comparing.
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公开(公告)号：US11465623B2
公开(公告)日：2022-10-11
申请号：US17088215
申请日：2020-11-03
发明人： Carlos E. Arreaza , Hojjat Izadi
IPC分类号： B60W30/18 , B60W30/16 , B60W40/105 , B60W40/114 , G05D1/02 , H04W4/46 , B60W40/12
摘要： Systems and methods for reversing a semi-autonomous follower vehicle involve obtaining a speed of a leader vehicle in front of and unattached to the follower vehicle that is reversing. A method includes estimating a path of the leader vehicle and determining a path for the follower vehicle based on the path of the leader vehicle. A longitudinal movement of the follower vehicle is controlled based on the speed of the leader vehicle and a lateral movement of the follower vehicle is controlled based on the path for the follower vehicle.
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公开(公告)号：US20190164362A1
公开(公告)日：2019-05-30
申请号：US15823814
申请日：2017-11-28
摘要： Examples of techniques for vehicle suspension system alignment monitoring are disclosed. In one example implementation, a method includes receiving vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with the vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system. The method further includes mitigating for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data. The method further includes detecting a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque. The method further includes reporting the misalignment of the vehicle based at least in part on detecting the misalignment.
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6.发明公开公开(公告)号：US20240345582A1
公开(公告)日：2024-10-17
申请号：US18299273
申请日：2023-04-12
发明人： Hojjat Izadi , Jonathan From , Martin Juhas
CPC分类号： G05D1/0246 , G06T7/246 , G06T2207/20081 , G06T2207/30196 , G06T2207/30252
摘要： Methods and systems for reducing the likelihood of rollover for an e-pallet are provided. The systems include one or more cameras configured to obtain camera data as to a user of the e-pallet, and a processor coupled to the one or more sensors and configured to at least facilitate determining, using the camera data, a relative orientation of the user, determining an e-pallet vertical vector based on the camera data and a user vertical vector based on the relative orientation of the user, determining a bank angle of the e-pallet based on the e-pallet vertical vector and the user vertical vector, and taking a control action for the e-pallet, in accordance with instructions provided by the processor, based on the bank angle.
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公开(公告)号：US20240281757A1
公开(公告)日：2024-08-22
申请号：US18171784
申请日：2023-02-21
IPC分类号： G06Q10/087
CPC分类号： G06Q10/087
摘要： Methods and systems for controlling movement of e-pallets using multi-modal interaction with a user are provided that include: one or more first sensors configured to obtain first sensor data of a first modality pertaining to a command from the user for movement of the e-pallets; one or more second sensors configured to obtain second sensor data of a second modality, different from the first modality, pertaining to the command; and a processor that is coupled to the one or more first sensors and the one or more second sensors, the processor configured to at least facilitate: determining an intended movement of the e-pallets based on both the first sensor data and the second sensor data; and moving the e-pallets in executing the intended movement, in accordance with instructions provided by the processor to actuators of the e-pallets.
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公开(公告)号：US10685506B2
公开(公告)日：2020-06-16
申请号：US15960781
申请日：2018-04-24
发明人： Wei Tong , Hojjat Izadi , Fahim Javid
摘要： An apparatus and method that detect a wheel alignment condition are provided. The method includes receiving a dataset comprising one or more from among a steering wheel angle parameter, a speed parameter, a lateral acceleration parameter, a self-aligning torque parameter and a power steering torque parameter, normalizing the received dataset, analyzing the normalized dataset according to a model for determining a wheel alignment condition, and outputting a value indicating whether the wheel alignment is within a predetermined value based on the model.
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公开(公告)号：US10685505B2
公开(公告)日：2020-06-16
申请号：US15823814
申请日：2017-11-28
摘要： Examples of techniques for vehicle suspension system alignment monitoring are disclosed. In one example implementation, a method includes receiving vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with the vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system. The method further includes mitigating for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data. The method further includes detecting a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque. The method further includes reporting the misalignment of the vehicle based at least in part on detecting the misalignment.
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公开(公告)号：US10679436B2
公开(公告)日：2020-06-09
申请号：US16001481
申请日：2018-06-06
发明人： Fahim Javid , Hojjat Izadi , Joseph K. Moore
摘要： Examples of techniques for vehicle suspension system alignment monitoring are disclosed. In one example implementation, a method includes receiving vehicle data and environmental data including, inertial measurement unit (IMU) acceleration data and global positioning system (GPS) velocity data from a GPS associated with the vehicle, and steering wheel angle data, driver applied torque data, and electronic power steering (EPS) applied torque data associated with the steering system. The method further includes mitigating for at least one of a vehicle effect and an environmental effect based on the vehicle data and environmental data. The method further includes detecting a misalignment based at least in part on one or more of the IMU acceleration data, the GPS velocity data, acceleration data, a steering wheel angle, and a self-aligning torque. The method further includes reporting the misalignment of the vehicle based at least in part on detecting the misalignment.
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