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：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.