Visual guidance for locating obstructed mobile robots

Patent metadata

Field	Value
Publication number	US-12318915-B2
Application number	US-202217976410-A
Country	US
Kind code	B2
Filing date	Oct 28, 2022
Priority date	Oct 28, 2022
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

A method includes: obtaining a pose of a mobile computing device associated with a worker in a facility; detecting a trigger event to initiate presentation, at the mobile computing device, of visual guidance corresponding to one of a plurality of mobile robots in the facility; in response to detecting the trigger event, selecting one of the mobile robots; determining, based on the pose of the mobile computing device and a map of the facility, whether the selected one of the mobile robots is visually obstructed from the pose of the mobile computing device; and when the selected one of the mobile robots is visually obstructed, providing visual guidance via the mobile computing device, the visual guidance indicating a current location of the selected mobile robot behind an obstruction.

First claim

The invention claimed is:

1. A method, comprising:
obtaining a pose of a mobile computing device associated with a worker in a facility;
detecting a trigger event to initiate presentation, at the mobile computing device, of visual guidance corresponding to one of a plurality of mobile robots in the facility;
in response to detecting the trigger event, selecting one of the mobile robots;
determining, based on the pose of the mobile computing device and a map of the facility, whether the selected one of the mobile robots is visually obstructed from the pose of the mobile computing device; and
when the selected one of the mobile robots is visually obstructed, providing visual guidance via the mobile computing device, the visual guidance indicating a current location of the selected mobile robot behind an obstruction.

2. The method of claim 1 , wherein detecting the trigger event includes: receiving an item scan from a sensor of the mobile computing device.

3. The method of claim 2 , wherein selecting the mobile robot includes: selecting one of the mobile robots associated with the item scan.

4. The method of claim 1 , wherein selecting the mobile robot includes:
retrieving locations of each of the mobile robots; and
selecting the mobile robot having a location nearest to the pose of the mobile computing device.

5. The method of claim 1 , wherein determining whether the selected one of the mobile robots is visually obstructed includes:
determining whether the map defines an obstacle between the pose of the mobile computing device and the current location of the selected mobile robot.

6. The method of claim 5 , wherein determining whether the selected one of the mobile robots is visually obstructed further includes:
determining whether the current location of the selected mobile robot is within a field of view of the mobile computing device.

7. The method of claim 6 , wherein the mobile computing device includes a heads-up display.

8. The method of claim 1 , wherein detecting the trigger event includes:
determining that one of the mobile robots is in an error state;
wherein the selecting includes selecting the one of the mobile robots in the error state.

9. The method of claim 8 , wherein detecting the trigger event further includes:
determining that the pose of the mobile computing device is within a threshold distance of the current location of the mobile robot in the error state.

10. The method of claim 8 , wherein the visual guidance further includes the error state.

11. A computing device, comprising:
a communications interface; and
a processor configured to:
obtain a pose of a mobile computing device associated with a worker in a facility;
detect a trigger event to initiate presentation, at the mobile computing device, of visual guidance corresponding to one of a plurality of mobile robots in the facility;
in response to detecting the trigger event, select one of the mobile robots;
determine, based on the pose of the mobile computing device and a map of the facility, whether the selected one of the mobile robots is visually obstructed from the pose of the mobile computing device; and
when the selected one of the mobile robots is visually obstructed, provide visual guidance via the mobile computing device, the visual guidance indicating a current location of the selected mobile robot behind an obstruction.

12. The computing device of claim 11 , wherein the processor is configured to detect the trigger event by receiving an item scan from a sensor of the mobile computing device.

13. The computing device of claim 12 , wherein the processor is configured to select the mobile robot by selecting one of the mobile robots associated with the item scan.

14. The computing device of claim 11 , wherein the processor is configured to select the mobile robot by:
retrieving locations of each of the mobile robots; and
selecting the mobile robot having a location nearest to the pose of the mobile computing device.

15. The computing device of claim 11 , wherein the processor is configured to determine whether the selected one of the mobile robots is visually obstructed by:
determining whether the map defines an obstacle between the pose of the mobile computing device and the current location of the selected mobile robot.

16. The computing device of claim 15 , wherein the processor is configured to determine whether the selected one of the mobile robots is visually obstructed further by:
determining whether the current location of the selected mobile robot is within a field of view of the mobile computing device.

17. The computing device of claim 16 , wherein the mobile computing device includes a heads-up display.

18. The computing device of claim 11 , wherein the processor is configured to detecting the trigger event by:
determining that one of the mobile robots is in an error state;
wherein the selecting includes selecting the one of the mobile robots in the error state.

19. The computing device of claim 18 , wherein the processor is configured to detect the trigger event further by:
determining that the pose of the mobile computing device is within a threshold distance of the current location of the mobile robot in the error state.

20. The computing device of claim 18 , wherein the visual guidance further includes the error state.

Assignees

• Zebra Tech Corp

Inventors

• Wise Melonee
• Arandorenko Peter
• Narin Benjamin
• Arvind Achal

Classifications

• B25J13/006

  by means of a wireless system for controlling one or several manipulators · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• G05D1/633

  Dynamic obstacles · CPC title

• G05D1/6987

  by centralised control off-board any of the vehicles · CPC title

• G05D1/225

  operated by off-board computers · CPC title