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

IPC: G06K9/00 ,  G06V20/58 ,  G06T7/50 ,  G01C21/34 ,  G01C21/32 ,  G06N7/01

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.

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

IPC: G06K9/00 ,  G06T7/50 ,  G01C21/34 ,  G01C21/32 ,  G06N7/00

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.