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公开(公告)号：US20240227183A9
公开(公告)日：2024-07-11
申请号：US17971030
申请日：2022-10-21
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Aaron Hoy , Derek King , Micaela Angeli , Chinmay Shah
IPC: B25J9/16
CPC classification number: B25J9/1661 , B25J9/1653 , B25J9/1664 , B25J9/1692
Abstract: A method includes: storing, at a mobile robot, a local repository of self-assigned task definitions; determining, at a processor of the mobile robot, that a local activity metric associated with tasks assigned to the mobile robot by a central server meets an idle criterion; in response to determining that the local activity metric meets the idle criterion, selecting, by the processor, one of the self-assigned task definitions from the local repository; and initiating execution of a self-assigned task corresponding to the selected self-assigned task definition at the mobile robot.
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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
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.
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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
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.
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公开(公告)号：US20230324919A1
公开(公告)日：2023-10-12
申请号：US17714248
申请日：2022-04-06
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Aaron Hoy
CPC classification number: G05D1/0238 , G05D1/0088 , G05D2201/0216 , G05D1/0274 , G05D1/0219
Abstract: A method includes: maintaining a map of occupied regions of a facility; controlling a sensor of a mobile apparatus to capture sensor data within a field of view (FOV); based on a current location of the mobile apparatus in the facility, identifying an unobservable occupied region, located outside the FOV, in the map; selecting, from the map, a first reference occupied region having a first reference identifier, and a second reference occupied region having a second reference identifier; generating a first connection score associating the unobservable occupied region with the first reference occupied region, and a second connection score associating the unobservable occupied region with the second reference occupied region; selecting a handling operation for the unobservable occupied region, based on the first and second connection scores; updating the map according to the selected handling operation; and controlling a locomotive assembly of the mobile apparatus according to the updated map.
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Patent Agency Ranking
公开(公告)号：US12130631B2
公开(公告)日：2024-10-29
申请号：US17714248
申请日：2022-04-06
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Aaron Hoy
IPC: G05D1/00
CPC classification number: G05D1/0238 , G05D1/0088 , G05D1/0219 , G05D1/0274
Abstract: A method includes: maintaining a map of occupied regions of a facility; controlling a sensor of a mobile apparatus to capture sensor data within a field of view (FOV); based on a current location of the mobile apparatus in the facility, identifying an unobservable occupied region, located outside the FOV, in the map; selecting, from the map, a first reference occupied region having a first reference identifier, and a second reference occupied region having a second reference identifier; generating a first connection score associating the unobservable occupied region with the first reference occupied region, and a second connection score associating the unobservable occupied region with the second reference occupied region; selecting a handling operation for the unobservable occupied region, based on the first and second connection scores; updating the map according to the selected handling operation; and controlling a locomotive assembly of the mobile apparatus according to the updated map.
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公开(公告)号：US20240227215A9
公开(公告)日：2024-07-11
申请号：US17970366
申请日：2022-10-20
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Aaron Hoy , Derek King , Micaela Angeli , Chinmay Shah
CPC classification number: B25J19/023 , B25J5/007
Abstract: A method includes: at a mobile robot, travelling according to a current path; using a sensor of the mobile robot, capturing sensor data representing a vicinity of the mobile robot; detecting, based on the sensor data, an obstacle obstructing the current path; in response to detecting the obstacle, outputting a request for a status change corresponding to the obstacle; receiving at the mobile robot, in response to the request for a status change, data defining an updated status of the obstacle; selecting, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and executing the selected navigational action.
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公开(公告)号：US20240142985A1
公开(公告)日：2024-05-02
申请号：US17976469
申请日：2022-10-28
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Aaron Hoy , Derek King , Micaela Angeli , Chinmay Shah
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0214 , G05D1/0217 , G05D1/0238 , G05D2201/0216
Abstract: A method includes: storing an occupancy map for a facility, the occupancy map defining: for each of a plurality of regions in the facility, a current occupancy for a present time value, and for each of at least a subset of the regions, a future occupancy for a subsequent time value; generating a path from a current pose of a mobile robot in the facility to a target pose, based on the current and future occupancies; in response to execution of the path at the mobile robot, capturing sensor data representing a vicinity of the mobile robot; detecting an obstacle from the sensor data; and transmitting occupancy data for generating an updated occupancy map including an updated future occupancy for at least one of the subset of regions, the occupancy data including obstacle data indicating a location of the obstacle, and path data defining the path.
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公开(公告)号：US20240131735A1
公开(公告)日：2024-04-25
申请号：US17970366
申请日：2022-10-19
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Aaron Hoy , Derek King , Micaela Angeli , Chinmay Shah
CPC classification number: B25J19/023 , B25J5/007
Abstract: A method includes: at a mobile robot, travelling according to a current path; using a sensor of the mobile robot, capturing sensor data representing a vicinity of the mobile robot; detecting, based on the sensor data, an obstacle obstructing the current path; in response to detecting the obstacle, outputting a request for a status change corresponding to the obstacle; receiving at the mobile robot, in response to the request for a status change, data defining an updated status of the obstacle; selecting, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and executing the selected navigational action.
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公开(公告)号：US20240131703A1
公开(公告)日：2024-04-25
申请号：US17971030
申请日：2022-10-20
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Aaron Hoy , Derek King , Micaela Angeli , Chinmay Shah
IPC: B25J9/16
CPC classification number: B25J9/1661 , B25J9/1653 , B25J9/1664 , B25J9/1692
Abstract: A method includes: storing, at a mobile robot, a local repository of self-assigned task definitions; determining, at a processor of the mobile robot, that a local activity metric associated with tasks assigned to the mobile robot by a central server meets an idle criterion; in response to determining that the local activity metric meets the idle criterion, selecting, by the processor, one of the self-assigned task definitions from the local repository; and initiating execution of a self-assigned task corresponding to the selected self-assigned task definition at the mobile robot.
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