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

IPC: G05D1/02 ,  G05D1/00

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.

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

IPC: G05D1/02 ,  B25J9/16

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.

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

IPC: G05D1/02 ,  B25J9/16

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.

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.