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公开(公告)号：US20240165802A1
公开(公告)日：2024-05-23
申请号：US17990229
申请日：2022-11-18
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Annelise Pruitt , Tori Fujinami , Agustin MacGregor Sevilla , Rahul Rao , Derek King , Daniel Rovner , Gilberto Marcon dos Santos , Achal Arvind , Melonee Wise , Jenna Stephanie Guergah
CPC classification number: B25J9/1661 , B25J5/007 , B25J9/0084 , B25J9/1689
Abstract: A server for scheduling mobile robots to perform tasks includes: a memory; and a processor configured to: obtain a planning period divided into a plurality of timeslots; obtain input constraints including (i) a number of mobile robots in a robot pool, (ii) a number of docks and (iii) a target number of active robots; obtain robot parameters and generate a robot agent based on the robot parameters for each mobile robot; define a work weight and a charge weight for each timeslot; determine, by each respective robot agent, a schedule portion based on the work weights, the charge weights and the robot parameters, the schedule portion selecting, for each timeslot for the mobile robot to work or to charge; and in response to determining that a finalization condition and the input constraints are satisfied by the schedule portions, send the schedule portions to each mobile robot.
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公开(公告)号：US20240131709A1
公开(公告)日：2024-04-25
申请号：US17970333
申请日：2022-10-19
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Achal Arvind , Benjamin Narin , Melonee Wise , Derek King
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/1694
Abstract: A mobile robot includes: a chassis supporting a locomotive assembly; a sensor; a processor configured, in a guided travel mode, to: detect an external force applied to the chassis in a first direction; control the sensor to capture sensor data corresponding to a physical environment of the mobile robot; detect, based on the sensor data, an operational constraint in the physical environment; determine, based on the detected operational constraint, a feedback force in a second direction opposite the first direction; and controlling the locomotive assembly according to the feedback force.
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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：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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Patent Agency Ranking
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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公开(公告)号：US20240231390A9
公开(公告)日：2024-07-11
申请号：US17971322
申请日：2022-10-21
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Derek King , Jenna Guergah
CPC classification number: G05D1/0225 , B60L53/36 , G05D1/0276 , G05D2201/0216
Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.
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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：US20240227187A9
公开(公告)日：2024-07-11
申请号：US17970333
申请日：2022-10-20
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Achal Arvind , Benjamin Narin , Melonee Wise , Derek King
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/1694
Abstract: A mobile robot includes: a chassis supporting a locomotive assembly; a sensor; a processor configured, in a guided travel mode, to: detect an external force applied to the chassis in a first direction; control the sensor to capture sensor data corresponding to a physical environment of the mobile robot; detect, based on the sensor data, an operational constraint in the physical environment; determine, based on the detected operational constraint, a feedback force in a second direction opposite the first direction; and controlling the locomotive assembly according to the feedback force.
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公开(公告)号：US20240134378A1
公开(公告)日：2024-04-25
申请号：US17971322
申请日：2022-10-20
Applicant: ZEBRA TECHNOLOGIES CORPORATION
Inventor： Melonee Wise , Derek King , Jenna Guergah
CPC classification number: G05D1/0225 , B60L53/36 , G05D1/0276 , G05D2201/0216
Abstract: A method includes: receiving, at a mobile robot from a central server, a rescue command including a rescue location corresponding to an incapacitated mobile robot; controlling a locomotive assembly of the mobile robot to travel towards the rescue location; capturing, using a sensor of the mobile robot, sensor data representing the rescue location; at the mobile robot, identifying the incapacitated mobile robot from the sensor data; controlling the locomotive assembly to position the mobile robot in a predetermined pose relative to the incapacitated robot; and controlling a charging interface of the mobile robot to transfer energy from a battery of the mobile robot to a battery of the incapacitated mobile robot.
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