Inventory management

Patent metadata

Field	Value
Publication number	US-10071856-B2
Application number	US-201615222606-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Jul 28, 2016
Publication date	Sep 11, 2018
Grant date	Sep 11, 2018

Abstract

An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.

First claim

What is claimed is:

1. A method comprising:
during navigation of a robotic device through a warehouse environment, receiving image data captured by a camera coupled to the robotic device, wherein a plurality of inventory items are located within the warehouse environment;
based on the received image data, generating a navigation instruction for navigation of the robotic device within the warehouse environment;
analyzing the received image data to detect one or more on-item visual identifiers corresponding to one or more of the plurality of inventory items, wherein the generation of the navigation instruction is not dependent upon detection of the one or more on-item visual identifiers; and
for each detected visual identifier:
using the image data as a basis for determining a warehouse location of an inventory item corresponding to the detected visual identifier;
based on a comparison of the determined warehouse location of the inventory item to an expected location of the inventory item, detecting a difference between the expected location and the determined warehouse location; and
responsive to detecting the difference between the expected location and the determined warehouse location, initiating an action.

2. The method of claim 1 , wherein the camera coupled to the robotic device is a stereo camera.

3. The method of claim 1 wherein the robotic device is an autonomous guided vehicle (AGV).

4. The method of claim 1 , wherein generating the navigation instruction based on the received image data and analyzing the received image data to detect one or more on-item visual identifiers occur contemporaneously.

5. The method of claim 1 wherein the action comprises dispatching an operator to the determined warehouse location.

6. The method of claim 1 wherein the robotic device is a first robotic device, and wherein the action comprises dispatching a second robotic device to the determined warehouse location.

7. The method of claim 1 , further comprising:
determining a target inventory item having a target visual identifier corresponding to a target location, wherein generating the navigation instruction comprises generating an instruction to move the robotic device to the target location;
moving the robotic device to the target location; and
capturing, by the camera, the target visual identifier.

8. The method of claim 1 , wherein the camera mounted on the robotic device is positionable, and wherein a selected position of the camera is determined based on a value of one or more visual identifiers captured by the camera in the selected position.

9. The method of claim 1 , wherein the camera mounted on the robotic device is positionable, and wherein a selected position of the camera is determined based on an accuracy of navigation of the robotic device when the camera is in the selected position.

10. The method of claim 1 , wherein the navigation instruction comprises a first navigation instruction that causes the camera to capture image data including a first number of visual identifiers.

11. The method of claim 10 , wherein the method further comprises:
generating a second navigation instruction that causes the camera to capture image data including a second number of visual identifiers, wherein the second number of visual identifiers is greater than the first number of visual identifiers; and
carrying out the second navigation instruction.

12. A system comprising:
a robotic device deployed in a warehouse environment, wherein a plurality of inventory items are located within the warehouse environment;
a camera coupled to the robotic device, wherein the camera is configured to capture image data; and
a computing system configured to:
receive the captured image data;
based on the received image data, generate a navigation instruction for navigation of the robotic device within the warehouse environment;
analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more of the inventory items, wherein generation of the navigation instruction is not dependent upon detection of the one or more on-item visual identifiers; and
for each detected visual identifier:
determine a warehouse location of an inventory item corresponding to the detected visual identifier;
based on a comparison of the determined warehouse location of the inventory item to an expected location of the inventory item, detect a difference between the expected location and the determined warehouse location; and
responsive to detection of the difference between the expected location and the determined warehouse location, initiate an action.

13. The system of claim 12 , wherein the camera coupled to the robotic device is a stereo camera.

14. The system of claim 12 , wherein the robotic device is an autonomous guided vehicle (AGV).

15. The system of claim 12 , wherein the computing system is further configured to generate the navigation instruction based on the received image data and analyze the received image data to detect one or more on-item visual identifiers contemporaneously.

16. The system of claim 12 wherein the action comprises dispatching an operator to the determined warehouse location.

17. The system of claim 12 wherein the robotic device is a first robotic device, and wherein the action comprises dispatching a second robotic device to the determined warehouse location.

18. The system of claim 12 , wherein:
the computing system is further configured to determine a target inventory item having a target visual identifier corresponding to a target location, wherein generating the navigation instruction comprises generating an instruction to move the robotic device to the target location;
the robotic device is configured to move the target location; and
the camera is further configured to capture the target visual identifier.

19. The system of claim 12 , wherein the camera coupled to the robotic device is positionable, and wherein a selected position of the camera is determined based on a value of one or more visual identifiers captured by the camera in the selected position.

20. The system of claim 12 , wherein the camera coupled to the robotic device is positionable, and wherein a selected position of the camera is determined based on an accuracy of navigation of the robotic device when the camera is in the selected position.

21. The system of claim 12 , wherein the navigation instruction comprises a first navigation instruction that causes the camera to capture image data including a first number of visual identifiers.

22. The system of claim 21 wherein the computing system is further configured to generate a second navigation instruction that causes the camera to capture image data including a second number of visual identifiers, wherein the second number of visual identifiers is greater than the first number of visual identifiers; and
wherein the robotic device is configured to carry out the second navigation instructions.

23. A robotic device deployed in a warehouse environment, wherein a plurality of inventory items are located within the warehouse environment, the robotic device comprising:
a camera configured to capture image data; and
a computing system configured to:
receive the captured image data;
based on the received image data, generate a navigation instruction for navigation of the robotic device within the warehouse environment;
analyze the received image data to detect one or more on-item

Assignees

• X Dev Llc

Inventors

• Hance Christopher
• Shaffer Daniel

Classifications

• B65G2203/0216

  Codes or marks on the article · CPC title

• B65G2201/0267

  Pallets · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B25J5/007

  mounted on wheels · CPC title