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US 12,710,756 B2Granted
Service module for warehouse traffic planning assistance
AssigneeDell Products L.P.
InventorsHerberth Birck Fröhlich, Werner Spolidoro Freund
Life of this patent
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Abstract
One example method includes receiving, by an integrating hub from each source in a group of sources, a signal and position information, so that multiple signals and respective position information for the signals is received, generating, by the integrating hub, a full risk map, and the full risk map is generated using the signals and their respective position information, and by the integrating hub, making the full risk map available to the sources, wherein the full risk map is usable by the sources to guide operations of the sources in an operating environment.
Claims20
A method comprising:
- receiving, by an integrating hub and from each source in a group of sources, a corresponding signal and corresponding position information, so that multiple signals and respective position information for the signals are received, wherein at least some of the multiple signals and position information are received in a form of a light detection and ranging (LiDAR) point cloud;
- transforming the LiDAR point cloud into a three-dimensional (3D) map model that yields a hierarchical discrete representation of a space using voxels, wherein said transforming includes:
- generating, from LiDAR data points obtained from the LiDAR point cloud, an octomap;
- determining an aisle width within the space by performing ray-casting laterally from an origin point on the octomap and sweeping vertically and horizontally to compute a Euclidean distance projected in an x-y plane;
- and
- classifying the aisle width using a threshold to produce a boolean narrowness flag for the position;
- generating, by the integrating hub, a full risk map, wherein the full risk map is generated using the signals and their respective position information and is generated using the 3D map model, which represents the space using the voxels, wherein the boolean narrowness flag is incorporated into the full risk map as a binary indication for a quadrant position, wherein the full risk map is also generated by (i) identifying two signals that are of a same type and that share common position information and (ii) averaging the two signals to create an average signal, and wherein the average signal is used in the full risk map and is used to represent signal information for the common position information;
- and
- making, by the integrating hub, the full risk map available to the sources, wherein the sources use the full risk map to guide operations in an operating environment, which includes said space.
6 more elements
A non-transitory storage medium having stored therein instructions that are executable by one or more hardware processors to perform operations comprising:
- receiving, by an integrating hub and from each source in a group of sources, a corresponding signal and corresponding position information, so that multiple signals and respective position information for the signals are received, wherein at least some of the multiple signals and position information are received in a form of a light detection and ranging (LiDAR) point cloud;
- transforming the LiDAR point cloud into a three-dimensional (3D) map model that yields a hierarchical discrete representation of a space using voxels, wherein said transforming includes:
- generating, from LiDAR data points obtained from the LiDAR point cloud, an octomap;
- determining an aisle width within the space by performing ray-casting laterally from an origin point on the octomap and sweeping vertically and horizontally to compute a Euclidean distance projected in an x-y plane;
- and
- classifying the aisle width using a threshold to produce a boolean narrowness flag for the position;
- generating, by the integrating hub, a full risk map, wherein the full risk map is generated using the signals and their respective position information and is generated using the 3D map model, which represents the space using the voxels, wherein the boolean narrowness flag is incorporated into the full risk map as a binary indication for a quadrant position, wherein the full risk map is also generated by (i) identifying two signals that are of a same type and that share common position information and (ii) averaging the two signals to create an average signal, and wherein the average signal is used in the full risk map and is used to represent signal information for the common position information;
- and
- making, by the integrating hub, the full risk map available to the sources, wherein the sources use the full risk map to guide operations in an operating environment, which includes said space.
6 more elements
Dependencies are inferred from the claim text.