Inventory management

Patent metadata

Field	Value
Publication number	US-10759599-B2
Application number	US-201916688541-A
Country	US
Kind code	B2
Filing date	Nov 19, 2019
Priority date	Jul 28, 2016
Publication date	Sep 1, 2020
Grant date	Sep 1, 2020

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:
determining, for a robotic device, a first route through an environment, wherein the environment comprises a plurality of inventory items each having a respective on-item visual identifier;
determining, for each position of a plurality of selectable positions of a camera on the robotic device, a value of one or more on-item visual identifiers expected to be within a field of view of the camera while the camera is positioned at the position and the robotic device navigates along the first route through the environment;
selecting, from the plurality of selectable positions, a position for the camera on the robotic device based on the determined value of the one or more on-item visual identifiers expected to be within the field of view of the camera for each position of the plurality of selectable positions; and
causing the camera to capture image data while the camera is positioned at the selected position and the robotic device navigates along the first route through the environment.

2. The method of claim 1 , wherein the value of the one or more on-item visual identifiers expected to be within the field of view of the camera is based on how recently the one or more on-item visual identifiers have been scanned.

3. The method of claim 1 , wherein the value of the one or more on-item visual identifiers expected to be within the field of view of the camera is based on a priority of one or more inventory items associated with the one or more on-item visual identifiers.

4. The method of claim 1 , wherein the value of the one or more on-item visual identifiers expected to be within the field of view of the camera is based on a total number of the one or more on-item visual identifiers.

5. The method of claim 1 , further comprising based on the captured image data, generating a navigation instruction for navigation of the robotic device within the environment.

6. The method of claim 5 , wherein generating the navigation instruction based on the captured image data is performed contemporaneously with analyzing the captured image data to detect an on-item visual identifier.

7. The method of claim 5 , further comprising:
determining a target inventory item having a target on-item 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;
causing the robotic device to move to the target location; and
capturing, by the camera, the target on-item visual identifier.

8. The method of claim 5 , wherein the navigation instruction comprises a first navigation instruction that causes the camera to capture image data including a first number of on-item visual identifiers.

9. The method of claim 8 , wherein the method further comprises:
generating a second navigation instruction that causes the camera to capture image data including a second number of on-item visual identifiers, wherein the second number of on-item visual identifiers is greater than the first number of on-item visual identifiers; and
causing the robotic device to carry out the second navigation instruction.

10. The method of claim 1 , wherein the selected position of the camera is determined further based on an accuracy of navigation of the robotic device when the camera is in the selected position.

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

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

13. The method of claim 1 wherein the environment is a warehouse environment and wherein the plurality of inventory items comprises a plurality of pallets.

14. The method of claim 1 , wherein the on-item visual identifier is a barcode.

15. A non-transitory computer-readable medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:
determining, for a robotic device, a first route through an environment, wherein the environment comprises a plurality of inventory items each having a respective on-item visual identifier;
determining, for each position of a plurality of selectable positions of a camera on the robotic device, a value of one or more on-item visual identifiers expected to be within a field of view of the camera while the camera is positioned at the position and the robotic device navigates along the first route through the environment;
selecting, from the plurality of selectable positions, a position for the camera on the robotic device based on the determined value of the one or more on-item visual identifiers expected to be within the field of view of the camera for each position of the plurality of selectable positions; and
causing the camera to capture image data while the camera is positioned at the selected position and the robotic device navigates along the first route through the environment.

16. The non-transitory computer-readable medium of claim 15 , wherein the value of the one or more on-item visual identifiers expected to be within the field of view of the camera is based on at least one of how recently the one or more on-item visual identifiers have been scanned, a priority of one or more inventory items associated with the one or more on-item visual identifiers, or a total number of the one or more on-item visual identifiers.

17. A robotic device comprising:
a camera; and
a control system configured to:
determine a first route through an environment, wherein the environment comprises a plurality of inventory items each having a respective on-item visual identifier;
determine, for each position of a plurality of selectable positions of the camera, a value of one or more on-item visual identifiers expected to be within a field of view of the camera while the camera is positioned at the position and the robotic device navigates along the first route through the environment;
select, from the plurality of selectable positions, a position for the camera on the robotic device based on the determined value of the one or more on-item visual identifiers expected to be within the field of view of the camera for each position of the plurality of selectable positions; and
cause the camera to capture image data while the camera is positioned at the selected position and the robotic device navigates along the first route through the environment.

18. The robotic device of claim 17 , wherein the camera is a stereo camera.

19. The robotic device of claim 17 , wherein the robotic device is further configured to navigate within the environment based on the captured image data.

20. The robotic device of claim 17 , wherein the value of the one or more on-item visual identifiers expected to be within the field of view of the camera is based on at least one of how recently the one or more on-item visual identifiers have been scanned, a priority of one or more inventory items associated with the one or more on-item visual identifiers, or a total number of the one or more on-item visual identifiers.

Assignees

• Boston Dynamics Inc

Inventors

• Hance Christopher
• Shaffer Daniel

Classifications

• Y10S901/01

  Mobile robot · CPC title

• B65G2203/041

  Camera · CPC title

• B65G2203/0216

  Codes or marks on the article · CPC title

• B65G2201/0267

  Pallets · CPC title

• G05D2111/10

  Optical signals · CPC title