System and method for support structure detection
US12241969B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 11, 2022 |
| Grant date | Mar 4, 2025 |
| Priority date | — |
| Expiry date | Aug 30, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D2109/10
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.