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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：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：US20240142984A1
公开(公告)日：2024-05-02
申请号：US17975378
申请日：2022-10-27
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Annelise Pruitt , Benjamin Narin , Aoran Jiao , Peter Arandorenko , Tori Fujinami , Vishnu Sudheer Menon
CPC classification number: G05D1/0274 , G05D1/0061 , G05D1/0238 , G05D2201/0216
Abstract: A method in a computing device includes: storing an initial map representing objects within a facility; receiving sensor data from a mobile robot deployed in the facility, the sensor data representing a portion of the facility within a field of view of the mobile robot; determining, based on the received sensor data, whether a map update criterion is satisfied; in response to determining that the map update criterion is satisfied, generating a map update representing updated objects within the facility; applying the map update to the initial map to generate an updated map; and storing the updated map.
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