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公开(公告)号：US11960286B2
公开(公告)日：2024-04-16
申请号：US16429906
申请日：2019-06-03
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Bijan Sakhdari , Sadegh Tajeddin , Zi Cong Guo
CPC classification number: G05D1/0214 , G05D1/0238 , G05D2201/02 , G05D2201/0216
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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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：US20200182622A1
公开(公告)日：2020-06-11
申请号：US16213553
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Jingxing Qian
Abstract: A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.
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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：US20230043172A1
公开(公告)日：2023-02-09
申请号：US17396276
申请日：2021-08-06
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Sadegh Tajeddin , Paul D. Haist , Bradley M. Scott
Abstract: A method includes: selecting first control parameters for a perimeter intrusion detector of a mobile automation apparatus; controlling the perimeter intrusion detector according to the first control parameters, to monitor a first perimeter surrounding the mobile automation apparatus; determining that navigational data of the mobile automation apparatus defines a maneuver satisfying perimeter modification criteria; in response to determining that a likelihood of intrusion of the first perimeter associated with the maneuver exceeds a threshold, selecting second control parameters for the perimeter intrusion detector; modifying the first perimeter to a second perimeter according to the second control parameters; and controlling the perimeter intrusion detector to monitor the second perimeter.
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Patent Agency Ranking
公开(公告)号：US11079240B2
公开(公告)日：2021-08-03
申请号：US16213553
申请日：2018-12-07
Applicant: Zebra Technologies Corporation
Inventor： Sadegh Tajeddin , Harsoveet Singh , Jingxing Qian
Abstract: A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.
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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：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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公开(公告)号：US20210173405A1
公开(公告)日：2021-06-10
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：US10716177B2
公开(公告)日：2020-07-14
申请号：US16219691
申请日：2018-12-13
Applicant: Zebra Technologies Corporation
Inventor： Feng Cao , Harsoveet Singh , Sadegh Tajeddin
Abstract: A method of controlling light emitters of a mobile automation apparatus includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a support structure; obtaining a support structure plane definition; selecting a subset of the depth measurements; determining, based on the subset of depth measurements and the support structure plane, whether the subset of the depth measurements indicates the presence of a sensitive receptor; when the determination is affirmative, disabling the light emitters; and when the determination is negative, controlling (i) the light emitters to illuminate the support structure and (ii) a camera to capture an image of the support structure simultaneously with the illumination.
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