Identification information for warehouse navigation

Patent metadata

Field	Value
Publication number	US-10353395-B2
Application number	US-201615276193-A
Country	US
Kind code	B2
Filing date	Sep 26, 2016
Priority date	Sep 26, 2016
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

An example method includes receiving image data captured by a sensor on a robotic device. The robotic device is in a warehouse, including multiple inventory items stored at storage locations in the warehouse. Each inventory item has an on-item identifier that identifies it in a warehouse management system (WMS), each storage location has a storage-location identifier that identifies it in the WMS, and a first on-item identifier for a first inventory item is associated in the WMS with a first storage-location identifier for a first storage location. The method includes analyzing the received sensor data to detect an identifier captured by the sensor. The detected identifier includes one or both of the first on-item identifier and the first storage-location identifier. The method includes determining a warehouse location associated with the detected identifier and, based on the warehouse location, determining a location of the robotic device within the warehouse.

First claim

What is claimed is:

1. A method comprising:
receiving sensor data captured by a sensor coupled to a particular one of a plurality of robotic devices,
wherein the plurality of robotic devices are deployed in a warehouse environment,
wherein a plurality of inventory items are stored at a plurality of storage locations in the warehouse environment, the inventory items being moved to the storage locations by the plurality of robotic devices, each inventory item including a respective on-item identifier that identifies the inventory item in a warehouse management system (WMS), each storage location having a respective storage-location identifier that identifies the storage location in the WMS, and
wherein a particular one of the inventory items is stored at a first storage-location at a first time, the on-item identifier of the particular inventory item being associated in the WMS with a first storage-location identifier for the first storage location at the first time, and
the particular inventory item is stored, after a movement in the warehouse environment, at a second storage-location at a second time, the on-item identifier of the particular inventory item being associated in the WMS with a second storage-location identifier for the second storage location at the second time;
responsive to receiving the sensor data, performing an analysis of the sensor data;
detecting the on-item identifier of the particular inventory item captured by the sensor using the analysis of the received sensor data;
determining the first storage location before the movement of the particular inventory item based on the detected on-item identifier of the particular inventory item and the association between the detected on-item identifier of the particular inventory item and the first storage-location identifier in the WMS, or determining the second storage location after the movement of the particular inventory item based on the detected on-item identifier of the particular inventory item and the association between the detected on-item identifier of the particular inventory item and the second storage-location identifier in the WMS; and
based on the first storage location determined before the movement of the particular inventory item, determining a location of the particular robotic device in the warehouse environment relative to the first storage location, or based on the second storage location determined after the movement of the particular inventory item, determining the location of the particular robotic device in the warehouse environment relative to the second storage location.

2. The method of claim 1 , wherein the on-item identifier for each inventory item and the storage-location identifier for each storage location are barcodes,
wherein the sensor is a camera, and
wherein the sensor data is image data captured by the camera.

3. The method of claim 1 , further comprising:
determining a navigation instruction based on the determined location of the particular robotic device; and
moving the particular robotic device within the warehouse environment based on the navigation instruction.

4. The method of claim 3 , wherein determining the navigation instruction comprises:
determining a target inventory item at a target location in the warehouse environment; and
generating the navigation instruction for moving the particular robotic device from the determined location of the robotic device to the target location.

5. The method of claim 4 , further comprising:
receiving additional sensor data captured by the sensor coupled to the particular robotic device;
analyzing the received additional sensor data to detect another on-item identifier for the target inventory item; and
responsive to detecting the other on-item identifier, determining that the particular robotic device navigated to the target location.

6. The method of claim 1 , wherein determining the location of the particular robotic device comprises:
determining, based on the sensor data, one or both of a size and a shape of the on-item identifier of the particular inventory item;
comparing the determined one or both of the size and the shape of the on-item identifier of the particular inventory item to one or both of a reference size and a reference shape; and
based on the comparison, determining one or both a distance and an orientation of the particular robotic device relative to the on-item identifier of the particular inventory item; and
determining the location of the particular robotic device based on (i) the first storage location determined before the movement of the particular inventory item or the second storage location determined after the movement of the particular inventory item, and (ii) the determined one or both of the distance and the orientation of the particular robotic device relative to the on-item identifier of the particular inventory item.

7. The method of claim 1 , wherein the location of the particular robotic device is the first storage location determined before the movement of the particular inventory item or the second storage location determined after the movement of the particular inventory item.

8. The method of claim 1 , wherein the WMS comprises one or more components of the particular robotic device.

9. The method of claim 1 , wherein the WMS comprises a computing system communicatively coupled to the particular robotic device via a wireless connection.

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

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

12. A system comprising:
a plurality of robotic devices deployed in a warehouse environment,
wherein a plurality of inventory items are stored at a plurality of storage locations in the warehouse environment, the inventory items being moved to the storage locations by the plurality of robotic devices, each inventory item including a respective on-item identifier that identifies the inventory item in a warehouse management system (WMS), each storage location having a respective storage-location identifier that identifies the storage location in the WMS, and
wherein a particular one of the inventory items is stored at a first storage-location at a first time, the on-item identifier of the particular inventory item being associated in the WMS with a first storage-location identifier for the first storage location at the first time, and
the particular inventory item is stored, after a movement in the warehouse environment, at a second storage-location at a second time, the on-item identifier of the particular inventory item being associated in the WMS with a second storage-location identifier for the second storage location at the second time;
a sensor coupled to a particular one of the plurality of robotic devices, wherein the sensor is configured to capture sensor data; and
a computing system configured to:
receive the sensor data captured by the sensor,
responsive to receiving the sensor data, perform an analysis of the sensor data,
detect the on-item identifier of the particular inventory item captured by the sensor using the analysis of the sensor data,
determine the first storage location before the movement of the particular inventory item based on the detected on-item identifier of the particular inventory item and the association between the detected on-item identifier of the particular inventory item and the first storage-location identifier in the WMS, or determine the second storage location after the movement of the particular inventory item based on the detected on-item identifier of the particular inv

Assignees

• X Dev Llc

Inventors

• Hance Christopher
• Shaffer Daniel

Classifications

• G06Q10/0832

  Special goods or special handling procedures, e.g. handling of hazardous or fragile goods · CPC title

• G05D1/0236 Primary

  in combination with a laser (lasers per se H01S) · CPC title

• G05D2201/0216

  Physics · mapped topic

• G05D2111/50

  Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors · CPC title

• G05D2111/10

  Optical signals · CPC title