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公开(公告)号：US11507103B2
公开(公告)日：2022-11-22
申请号：US16703117
申请日：2019-12-04
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Peter Arandorenko , Sadegh Tajeddin , Zi Cong Guo
Abstract: A method of obstacle handling for a mobile automation apparatus includes: obtaining an initial localization of the mobile automation apparatus in a frame of reference; detecting an obstacle by one or more sensors disposed on the mobile automation apparatus; generating and storing an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus; obtaining a correction to the initial localization of the mobile automation apparatus; and applying a positional adjustment, based on the correction, to the initial position of the obstacle to generate and store an updated position of the obstacle.
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公开(公告)号：US20240139968A1
公开(公告)日：2024-05-02
申请号：US17976410
申请日：2022-10-28
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Peter Arandorenko , Benjamin Narin , Achal Arvind
CPC classification number: B25J13/089 , B25J13/006 , B25J9/1676
Abstract: A method includes: obtaining a pose of a mobile computing device associated with a worker in a facility; detecting a trigger event to initiate presentation, at the mobile computing device, of visual guidance corresponding to one of a plurality of mobile robots in the facility; in response to detecting the trigger event, selecting one of the mobile robots; determining, based on the pose of the mobile computing device and a map of the facility, whether the selected one of the mobile robots is visually obstructed from the pose of the mobile computing device; and when the selected one of the mobile robots is visually obstructed, providing visual guidance via the mobile computing device, the visual guidance indicating a current location of the selected mobile robot behind an obstruction.
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公开(公告)号：US11003188B2
公开(公告)日：2021-05-11
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：US20240135755A1
公开(公告)日：2024-04-25
申请号：US17971345
申请日：2022-10-20
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Annelise Pruitt , Peter Arandorenko , Benjamin Narin , Aoran Jiao , Achal Arvind
CPC classification number: G07C5/008 , G07C5/0808 , G07C5/085
Abstract: A method includes: maintaining data handling settings at a mobile robot; generating operational data at the mobile robot, the operational data defining a current state of the mobile robot; storing the operational data in a memory of the mobile robot; selecting, based on the data handling settings, a portion of the operational data; transmitting the selected portion of the operational data; in response to a determination that the operational data meets a condition, obtaining updated data handling settings; and selecting a subsequent portion of the operational data for transmission according to the updated data handling settings.
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公开(公告)号：US20240142984A1
公开(公告)日：2024-05-02
申请号：US17975378
申请日：2022-10-27
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Annelise Pruitt , Benjamin Narin , Aoran Jiao , Peter Arandorenko , Tori Fujinami , Vishnu Sudheer Menon
CPC classification number: G05D1/0274 , G05D1/0061 , G05D1/0238 , G05D2201/0216
Abstract: A method in a computing device includes: storing an initial map representing objects within a facility; receiving sensor data from a mobile robot deployed in the facility, the sensor data representing a portion of the facility within a field of view of the mobile robot; determining, based on the received sensor data, whether a map update criterion is satisfied; in response to determining that the map update criterion is satisfied, generating a map update representing updated objects within the facility; applying the map update to the initial map to generate an updated map; and storing the updated map.
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Patent Agency Ranking
公开(公告)号：US11847832B2
公开(公告)日：2023-12-19
申请号：US17094951
申请日：2020-11-11
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Peter Arandorenko , Sadegh Tajeddin , Asma Azim , Vaibhav K. Bhilare
CPC classification number: G06V20/58 , G01C21/32 , G01C21/3415 , G06N7/01 , G06T7/50 , G06T2207/10028 , G06V2201/07
Abstract: A navigational control method for a mobile automation apparatus includes: controlling a depth sensor to capture depth data representing a portion of a facility containing an obstacle; identifying the obstacle from the depth data; determining a probability that the obstacle is static; based on the probability, assigning the obstacle one of a dynamic class, a static class, and at least one intermediate class; updating a map to include a position of the obstacle, and the assigned class; and selecting, based on the assigned class, a navigational control action from a first action type associated with the dynamic class and the intermediate class, and a second action type associated with the static class.
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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：US20240233449A9
公开(公告)日：2024-07-11
申请号：US17971345
申请日：2022-10-21
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Annelise Pruitt , Peter Arandorenko , Benjamin Narin , Aoran Jiao , Achal Arvind
CPC classification number: G07C5/008 , G07C5/0808 , G07C5/085
Abstract: A method includes: maintaining data handling settings at a mobile robot; generating operational data at the mobile robot, the operational data defining a current state of the mobile robot; storing the operational data in a memory of the mobile robot; selecting, based on the data handling settings, a portion of the operational data; transmitting the selected portion of the operational data; in response to a determination that the operational data meets a condition, obtaining updated data handling settings; and selecting a subsequent portion of the operational data for transmission according to the updated data handling settings.
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公开(公告)号：US20230236600A1
公开(公告)日：2023-07-27
申请号：US17971359
申请日：2022-10-21
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Peter Arandorenko , Asma Azim , Achal Arvind , Jenna Stephanie Guergah , Aoran Jiao
CPC classification number: G05D1/0214 , G06V40/10 , G06V20/58 , G06V10/764
Abstract: A method includes: capturing, using a sensor of a mobile robot, sensor data representing a physical environment of the mobile robot; detecting, from the sensor data, an obstacle in the physical environment; responsive to detecting the obstacle, determining from the sensor data whether the obstacle exhibits a predetermined attribute; assigning a first operational state or a second operational state to the obstacle, according to the determination; selecting a navigational constraint based on the assigned operational state; and controlling a locomotive assembly of the mobile robot to navigate the physical environment based on the selected navigational constraint.
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公开(公告)号：US20220147747A1
公开(公告)日：2022-05-12
申请号：US17094951
申请日：2020-11-11
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Peter Arandorenko , Sadegh Tajeddin , Asma Azim , Vaibhav K. Bhilare
Abstract: A navigational control method for a mobile automation apparatus includes: controlling a depth sensor to capture depth data representing a portion of a facility containing an obstacle; identifying the obstacle from the depth data; determining a probability that the obstacle is static; based on the probability, assigning the obstacle one of a dynamic class, a static class, and at least one intermediate class; updating a map to include a position of the obstacle, and the assigned class; and selecting, based on the assigned class, a navigational control action from a first action type associated with the dynamic class and the intermediate class, and a second action type associated with the static class.
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