公开(公告)号：US12241969B2

公开(公告)日：2025-03-04

申请号：US17985681

申请日：2022-11-11

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Aaron Hoy ,  Derek King ,  Steffen Fuchs ,  Vishnu Sudheer Menon ,  David Dymesich ,  Robert Isaiah Chatman, III ,  Jenna Guergah ,  Brian Richard Cairi ,  Melonee Wise ,  Alison Cheng ,  Katrin Beauchaud

IPC: G01S13/89 ,  G05D1/00

Abstract: A method includes: capturing, via a navigational sensor of a mobile automation apparatus, three-dimensional point cloud data depicting a portion of an aisle containing a support structure, the support structure having a forward plane facing into the aisle; generating, from the point cloud data, a two-dimensional projection in a facility coordinate system; retrieving, from a stored map, an expected location of the forward plane of the support structure in the facility coordinate system; selecting, from the projection, a subset of regions satisfying a positional criterion relative to the location of the forward plane; determining, based on the selected subset of regions from the projection, an actual location of the forward plane of the support structure in the facility coordinate system; and providing the actual location of the forward plane to a navigational controller of the mobile automation apparatus.

公开(公告)号：US20240231390A9

公开(公告)日：2024-07-11

申请号：US17971322

申请日：2022-10-21

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Melonee Wise ,  Derek King ,  Jenna Guergah

IPC: G05D1/02 ,  B60L53/36

CPC classification number: G05D1/0225 ,  B60L53/36 ,  G05D1/0276 ,  G05D2201/0216

Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.

公开(公告)号：US20240134378A1

公开(公告)日：2024-04-25

申请号：US17971322

申请日：2022-10-20

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Melonee Wise ,  Derek King ,  Jenna Guergah

IPC: G05D1/02 ,  B60L53/36

CPC classification number: G05D1/0225 ,  B60L53/36 ,  G05D1/0276 ,  G05D2201/0216

Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.

公开(公告)号：US20230375697A1

公开(公告)日：2023-11-23

申请号：US17985681

申请日：2022-11-11

Applicant: ZEBRA TECHNOLOGIES CORPORATION

Inventor： Aaron Hoy ,  Derek King ,  Steffen Fuchs ,  Vishnu Sudheer Menon ,  David Dymesich ,  Robert Isaiah Chatman III ,  Jenna Guergah ,  Brian Richard Cairi ,  Melonee Wise ,  Alison Cheng ,  Katrin Beauchaud

IPC: G01S13/89 ,  G05D1/02

CPC classification number: G01S13/89 ,  G05D1/0212 ,  G05D1/0274 ,  G05D2201/0216

Abstract: A method includes: capturing, via a navigational sensor of a mobile automation apparatus, three-dimensional point cloud data depicting a portion of an aisle containing a support structure, the support structure having a forward plane facing into the aisle; generating, from the point cloud data, a two-dimensional projection in a facility coordinate system; retrieving, from a stored map, an expected location of the forward plane of the support structure in the facility coordinate system; selecting, from the projection, a subset of regions satisfying a positional criterion relative to the location of the forward plane; determining, based on the selected subset of regions from the projection, an actual location of the forward plane of the support structure in the facility coordinate system; and providing the actual location of the forward plane to a navigational controller of the mobile automation apparatus.