公开(公告)号：US11960286B2

公开(公告)日：2024-04-16

申请号：US16429906

申请日：2019-06-03

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Bijan Sakhdari ,  Sadegh Tajeddin ,  Zi Cong Guo

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0238 ,  G05D2201/02 ,  G05D2201/0216

Abstract: A method in a navigational controller includes: obtaining (i) a plurality of task fragments identifying respective sets of sub-regions in a facility, and (ii) an identifier of a task to be performed by a mobile automation apparatus at each of the sets of sub-regions; selecting an active one of the task fragments according to a sequence specifying an order of execution of the task fragments; generating a path including (i) a taxi portion from a current position of the mobile automation apparatus to the sub-regions identified by the active task fragment, and (ii) an execution portion traversing the sub-regions identified by the active task fragment; during travel along the taxi portion, determining, based on a current pose of the mobile automation apparatus, whether to initiate execution of another task fragment; and when the determination is affirmative, updating the sequence to mark the other task fragment as the active task fragment.

公开(公告)号：US11822333B2

公开(公告)日：2023-11-21

申请号：US16834949

申请日：2020-03-30

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Ali Jazayeri ,  Sadegh Tajeddin ,  Bijan Sakhdari

IPC: G05D1/02 ,  G01C21/20

CPC classification number: G05D1/0214 ,  G01C21/206 ,  G05D1/0238 ,  G05D2201/0216

Abstract: A method in a navigational controller includes: obtaining image data and depth data from corresponding sensors of a mobile automation apparatus; detecting an obstacle from the depth data and classifying the obstacle as one of a human obstacle and a non-human obstacle; in response to the classifying of the obstacle as the human obstacle, selecting a portion of the image data that corresponds to the obstacle; detecting, from the selected image data, a feature of the obstacle; based on a detected position of the detected feature, selecting an illumination control action; and controlling an illumination subsystem of the mobile automation apparatus according to the selected illumination control action.

公开(公告)号：US20210302976A1

公开(公告)日：2021-09-30

申请号：US16834949

申请日：2020-03-30

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Ali Jazayeri ,  Sadegh Tajeddin ,  Bijan Sakhdari

IPC: G05D1/02 ,  G01C21/20

Abstract: A method in a navigational controller includes: obtaining image data and depth data from corresponding sensors of a mobile automation apparatus; detecting an obstacle from the depth data and classifying the obstacle as one of a human obstacle and a non-human obstacle; in response to the classifying of the obstacle as the human obstacle, selecting a portion of the image data that corresponds to the obstacle; detecting, from the selected image data, a feature of the obstacle; based on a detected position of the detected feature, selecting an illumination control action; and controlling an illumination subsystem of the mobile automation apparatus according to the selected illumination control action.

公开(公告)号：US20200379468A1

公开(公告)日：2020-12-03

申请号：US16429906

申请日：2019-06-03

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Bijan Sakhdari ,  Sadegh Tajeddin ,  Zi Cong Guo

IPC: G05D1/02

Abstract: A method in a navigational controller includes: obtaining (i) a plurality of task fragments identifying respective sets of sub-regions in a facility, and (ii) an identifier of a task to be performed by a mobile automation apparatus at each of the sets of sub-regions; selecting an active one of the task fragments according to a sequence specifying an order of execution of the task fragments; generating a path including (i) a taxi portion from a current position of the mobile automation apparatus to the sub-regions identified by the active task fragment, and (ii) an execution portion traversing the sub-regions identified by the active task fragment; during travel along the taxi portion, determining, based on a current pose of the mobile automation apparatus, whether to initiate execution of another task fragment; and when the determination is affirmative, updating the sequence to mark the other task fragment as the active task fragment.