Abstract: A laundry treating appliance for treating laundry items according to an automatic cycle of operation can include a cabinet defining an interior and having an access opening providing access to the interior. A tub can be located within the interior and can at least partially define a liquid chamber. A drum is rotatably mounted within the liquid chamber and at least partially defines a treating chamber. A clothes mover is located within the treating chamber and rotatable about a vertical axis. The clothes mover can include a base and a barrel.

Abstract: A method includes: selecting first control parameters for a perimeter intrusion detector of a mobile automation apparatus; controlling the perimeter intrusion detector according to the first control parameters, to monitor a first perimeter surrounding the mobile automation apparatus; determining that navigational data of the mobile automation apparatus defines a maneuver satisfying perimeter modification criteria; in response to determining that a likelihood of intrusion of the first perimeter associated with the maneuver exceeds a threshold, selecting second control parameters for the perimeter intrusion detector; modifying the first perimeter to a second perimeter according to the second control parameters; and controlling the perimeter intrusion detector to monitor the second perimeter.

Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and contr

Abstract: A device and method for merging lidar data is provided. Point cloud data is combined, via a lidar imaging controller, into a common point cloud data set, each set of point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative to the region of a shelf. The respective angular lidar scans from each lidar device occur at a non-zero and non-perpendicular angle to a movement direction. Common point cloud data set points are binned into a plane perpendicular to the movement direction of a mobile automation apparatus and extending from a virtual lidar position. The lidar imaging controller combines points among multiple planes.

Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and contr

Abstract: A device and method for merging lidar data is provided. Point cloud data is combined, via a lidar imaging controller, into a common point cloud data set, each set of point cloud data representing respective angular lidar scans of a region as at least two lidar devices are moved relative to the region of a shelf. The respective angular lidar scans from each lidar device occur at a non-zero and non-perpendicular angle to a movement direction. Common point cloud data set points are binned into a plane perpendicular to the movement direction of a mobile automation apparatus and extending from a virtual lidar position. The lidar imaging controller combines points among multiple planes.

Abstract: A method and apparatus for activating a trigger mechanism at a data capture device having a touch display, and a data capture module is provided. In operation, a first region associated with a first application and an input region is provided on the touch display. An input is received at the device, including at least a touch sensor input from the touch display. Based on the input, an obtained input pattern may be identified. The identified input pattern may include at least one of a spatial pattern, a temporal pattern, a touch size and a hard-tap. When the identifying is successful, either an input may be provided to the first application or the trigger mechanism may be activated to initiate a data capture at the data capture module. Alternatively, when the identifying is successful, an operation associated with the first application may be performed or a mode of operation of the data capture device may be changed to a second mode.

Abstract: A method and apparatus for activating a trigger mechanism at a data capture device having a touch display, and a data capture module is provided. In operation, a first region associated with a first application and an input region is provided on the touch display. An input is received at the device, including at least a touch sensor input from the touch display. Based on the input, an obtained input pattern may be identified. The identified input pattern may include at least one of a spatial pattern, a temporal pattern, a touch size and a hard-tap. When the identifying is successful, either an input may be provided to the first application or the trigger mechanism may be activated to initiate a data capture at the data capture module. Alternatively, when the identifying is successful, an operation associated with the first application may be performed or a mode of operation of the data capture device may be changed to a second mode.