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公开(公告)号：US20200182622A1
公开(公告)日：2020-06-11
申请号：US16213553
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Jingxing Qian
Abstract: A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.
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公开(公告)号：US20200150666A1
公开(公告)日：2020-05-14
申请号：US16189593
申请日：2018-11-13
Applicant: Zebra Technologies Corporation
Inventor： Bradley M. Scott , Peter Arandorenko , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and controlling the apparatus to traverse the generated navigational path.
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公开(公告)号：US10716177B2
公开(公告)日：2020-07-14
申请号：US16219691
申请日：2018-12-13
Applicant: Zebra Technologies Corporation
Inventor： Feng Cao , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of controlling light emitters of a mobile automation apparatus includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a support structure; obtaining a support structure plane definition; selecting a subset of the depth measurements; determining, based on the subset of depth measurements and the support structure plane, whether the subset of the depth measurements indicates the presence of a sensitive receptor; when the determination is affirmative, disabling the light emitters; and when the determination is negative, controlling (i) the light emitters to illuminate the support structure and (ii) a camera to capture an image of the support structure simultaneously with the illumination.
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公开(公告)号：US20200209881A1
公开(公告)日：2020-07-02
申请号：US16719541
申请日：2019-12-18
Applicant: Zebra Technologies Corporation
Inventor： Zichen Huang , Harsoveet Singh , Jonathan Kelly , Mahyar Vajedi
Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.
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公开(公告)号：US20200182623A1
公开(公告)日：2020-06-11
申请号：US16214764
申请日：2018-12-10
Applicant: Zebra Technologies Corporation
Inventor： Zichen Huang , Harsoveet Singh , Mahyar Vajedi
Abstract: A method for dynamic target feature mapping in a mobile automation apparatus includes, at a navigational controller of the apparatus: obtaining mapping trajectory data defining a trajectory traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse the trajectory; generating a sequence of keyframes and corresponding estimated mobile automation apparatus poses in a facility frame of reference during traversal of the trajectory, using a navigational sensor of the mobile automation apparatus; simultaneously with generating a target-associated one of the keyframes, detecting a target feature using an environmental sensor of the mobile automation apparatus; storing a relative target location of the target feature, defined relative to the estimated pose of the target-associated keyframe; generating a map of the facility based on the sequence of keyframes; and storing a final target location for the target feature, defined in the facility frame of reference.
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Patent Agency Ranking
公开(公告)号：US11592826B2
公开(公告)日：2023-02-28
申请号：US16719541
申请日：2019-12-18
Applicant: Zebra Technologies Corporation
Inventor： Ziehen Huang , Harsoveet Singh , Jonathan Kelly , Mahyar Vajedi
IPC: G05D1/02
Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.
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公开(公告)号：US11416000B2
公开(公告)日：2022-08-16
申请号：US16213571
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Feng Cao
Abstract: A method of navigational ray casting in a computing device includes: obtaining a distance map having a plurality of cells representing respective sub-regions of an environment containing obstacles; wherein each cell defines a minimum obstacle distance indicating a distance from the corresponding sub-region to a nearest one of the obstacles; selecting an origin cell from the plurality of cells, and setting the origin cell as a current cell; selecting a ray cast direction for a ray originating from the origin cell; retrieving the minimum obstacle distance defined by the current cell; selecting a test cell at the minimum obstacle distance from the current cell in the ray cast direction; determining whether the test cell indicates the presence of one of the obstacles; and when the determination is affirmative, determining a total distance between the origin cell and the test cell.
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公开(公告)号：US20200379477A1
公开(公告)日：2020-12-03
申请号：US16430096
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Dmitri Katsif , Sadegh Tajeddin , Harsoveet Singh
Abstract: A mobile automation apparatus includes: a chassis supporting a locomotive assembly and an illumination assembly configured to emit light over a field of illumination (FOI); a navigational controller connected to the locomotive assembly and the illumination assembly, the navigational controller configured to: obtain a task definition identifying a region in a facility; generate a data capture path traversing the region from an origin location to a destination location, the data capture path including: (i) an entry segment beginning at the origin location and defining a direction of travel angled away from a support structure in the region such that a lagging edge of the FOI intersects with the support structure; and (ii) an exit segment defining a direction of travel angled towards the support structure and terminating at the destination location such that a leading edge of the FOI intersects with the support structure.
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公开(公告)号：US20200183408A1
公开(公告)日：2020-06-11
申请号：US16213571
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Feng Cao
Abstract: A method of navigational ray casting in a computing device includes: obtaining a distance map having a plurality of cells representing respective sub-regions of an environment containing obstacles; wherein each cell defines a minimum obstacle distance indicating a distance from the corresponding sub-region to a nearest one of the obstacles; selecting an origin cell from the plurality of cells, and setting the origin cell as a current cell; selecting a ray cast direction for a ray originating from the origin cell; retrieving the minimum obstacle distance defined by the current cell; selecting a test cell at the minimum obstacle distance from the current cell in the ray cast direction; determining whether the test cell indicates the presence of one of the obstacles; and when the determination is affirmative, determining a total distance between the origin cell and the test cell.
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公开(公告)号：US11079240B2
公开(公告)日：2021-08-03
申请号：US16213553
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Jingxing Qian
Abstract: A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.
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