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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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Patent Agency Ranking
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：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
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.
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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：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
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.
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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.
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