# US 12,761,649 B2 · Automating control of an industrial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,761,649 B2 - Document ID: US12761649B2 - Status: Granted - Kind: B2 - Application number: 19/052,749 - Filed: 2025-02-13 - Published: 2025-06-05 - Granted: 2026-10-13 - Earliest claimed: 2020-02-12 - Assignees: Crown Equipment Corporation - Applicants: Crown Equipment Corporation - Inventors: Sebastian Theos; Andreas Simon; Alexander Peters; Christian Molnar - Web page: https://patentgrep.com/patent/US12761649B2 ## CPC - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G06K 7/10: by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G06K 2007/10485: {Arrangement of optical elements} - G06K 2007/10504: {Data fields affixed to objects or articles} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract A process for automating control of an industrial vehicle based on location comprises scanning an environment, by using an optical scanner affixed to the industrial vehicle. A marker defined by a series of tags is identified by recursively receiving a reflection of the optical scanner; determining if the reflection is indicative of an optical tag; and concatenating the indication of an optical tag to the marker. Once the marker is identified, the marker is transformed into an environmental condition and a status of the vehicle is determined, where the status correlates to the environmental condition. Further, an automated control is applied on the industrial vehicle based on the environmental condition and the status of the industrial vehicle. ## Claims ### Claim 1 A process for automating control of an industrial vehicle based on location, the process comprising: scanning an environment using an optical scanner affixed to the industrial vehicle; identifying a marker defined by a series of optical tags by recursively: receiving, by an optical detector on the industrial vehicle, a reflection indicative of a signal emitted by the optical scanner, wherein the reflection also indicates that an object that caused the reflection of the signal emitted by the optical scanner is outside a travel path of the industrial vehicle; measuring a received signal value of the reflection indicative of the signal emitted by the optical scanner; verifying whether the measured received signal value is indicative of an optical tag based upon the measured received signal value to create a present indication of the optical tag; and concatenating the present indication of the optical tag to the marker. ### Claim 2 (depends on 1) The process of claim 1, wherein concatenating the present indication of the optical tag to the marker comprises: determining that a first optical tag is indicative of a start bit; determining a second optical tag in the series of optical tags by: assigning a first value to the second optical tag if the signal value indicative of an optical tag is received before a timer expires; and assigning a second value different than the first value to the second optical tag if no signal value indicative of an optical tag is received before the timer expires. ### Claim 3 (depends on 2) The process of claim 2 further comprising: resetting the timer when the second optical tag of the series of optical tags is assigned; and determining a third optical tag in the series of optical tags by: assigning the first value to the third optical tag if a signal value indicative of an optical tag is received after the second optical tag is assigned but the timer expires; and assigning the second value to the third optical tag if no signal value indicative of an optical tag is received after the second optical tag is assigned and the timer expires. ### Claim 4 (depends on 1) The process of claim 1, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker, based on a sequential order in which the series of optical tags were received. ### Claim 5 (depends on 1) The process of claim 1, wherein measuring the received signal value of the reflection indicative of the signal emitted by the optical scanner comprises generating: a first result if the received signal value of the reflection is lower than a first threshold, a second result if the received signal value of the reflection is between the first threshold and a second threshold, and a third result if the received signal value of the reflection is greater than the second threshold. ### Claim 6 (depends on 1) The process of claim 1, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until a predetermined number of optical tags have been concatenated to the marker. ### Claim 7 (depends on 1) The process of claim 1, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until an end indicator optical tag is received. ### Claim 8 (depends on 1) The process of claim 1, wherein scanning the environment comprises scanning the environment by using an obstacle detection signal. ### Claim 9 A process for automating control of an industrial vehicle based on location, the process comprising: scanning an environment using an optical scanner affixed to the industrial vehicle; identifying a marker defined by a series of optical tags by recursively: receiving, by an optical detector on the industrial vehicle, a reflection indicative of a signal emitted by the optical scanner; measuring a received signal value of the reflection indicative of the signal emitted by the optical scanner; verifying whether the measured received signal value is indicative of an optical tag based upon the measured received signal value to create a present indication of the optical tag; and concatenating the present indication of the optical tag to the marker including: determining that a first optical tag is indicative of a start bit; and determining a second optical tag in the series of optical tags by: assigning a first value to the second optical tag if the signal value indicative of an optical tag is received before a timer expires; and assigning a second value different than the first value to the second optical tag if no signal value indicative of an optical tag is received before the timer expires. ### Claim 10 (depends on 9) The process of claim 9 further comprising: resetting the timer when the second optical tag of the series of optical tags is assigned; and determining a third optical tag in the series of optical tags by: assigning the first value to the third optical tag if a signal value indicative of an optical tag is received after the second optical tag is assigned but the timer expires; and assigning the second value to the third optical tag if no signal value indicative of an optical tag is received after the second optical tag is assigned and the timer expires. ### Claim 11 (depends on 9) The process of claim 9, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker, based on a sequential order in which the series of optical tags were received. ### Claim 12 (depends on 9) The process of claim 9, wherein measuring the received signal value of the reflection indicative of the signal emitted by the optical scanner comprises generating: a first result if the received signal value of the reflection is lower than a first threshold, a second result if the received signal value of the reflection is between the first threshold and a second threshold, and a third result if the received signal value of the reflection is greater than the second threshold. ### Claim 13 (depends on 9) The process of claim 9, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until a predetermined number of optical tags have been concatenated to the marker. ### Claim 14 (depends on 9) The process of claim 9, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until an end indicator optical tag is received. ### Claim 15 (depends on 9) The process of claim 9, wherein scanning the environment comprises scanning the environment by using an obstacle detection signal. ### Claim 16 A process for automating control of an industrial vehicle based on location, the process comprising: scanning an environment using an optical scanner affixed to the industrial vehicle; identifying a marker defined by a series of optical tags by recursively: receiving, by an optical detector on the industrial vehicle, a reflection indicative of a signal emitted by the optical scanner; measuring a received signal value of the reflection indicative of the signal emitted by the optical scanner by generating: a first result if the received signal value of the reflection is lower than a first threshold; a second result if the received signal value of the reflection is between the first threshold and a second threshold; and a third result if the received signal value of the reflection is greater than the second threshold; verifying whether the measured received signal value is indicative of an optical tag based upon the measured received signal value to create a present indication of the optical tag; and concatenating the present indication of the optical tag to the marker. ### Claim 17 (depends on 16) The process of claim 16, wherein concatenating the present indication of the optical tag to the marker comprises: determining that a first optical tag is indicative of a start bit; determining a second optical tag in the series of optical tags by: assigning a first value to the second optical tag if the signal value indicative of an optical tag is received before a timer expires; and assigning a second value different than the first value to the second optical tag if no signal value indicative of an optical tag is received before the timer expires. ### Claim 18 (depends on 17) The process of claim 17 further comprising: resetting the timer when the second optical tag of the series of optical tags is assigned; and determining a third optical tag in the series of optical tags by: assigning the first value to the third optical tag if a signal value indicative of an optical tag is received after the second optical tag is assigned but the timer expires; and assigning the second value to the third optical tag if no signal value indicative of an optical tag is received after the second optical tag is assigned and the timer expires. ### Claim 19 (depends on 16) The process of claim 16, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker, based on a sequential order in which the series of optical tags were received. ### Claim 20 (depends on 16) The process of claim 16, wherein concatenating the present indication of the optical tag to the marker comprises concatenating the present indication of the optical tag to the marker until a predetermined number of optical tags have been concatenated to the marker.