Zone engine for providing context-augmented map layer

Patent metadata

Field	Value
Publication number	US-11256259-B2
Application number	US-201816135329-A
Country	US
Kind code	B2
Filing date	Sep 19, 2018
Priority date	Sep 19, 2018
Publication date	Feb 22, 2022
Grant date	Feb 22, 2022

Abstract

Systems and methods for contextually mapping zones within a space for regulating robotic navigation within the space include defining, by at least one fiducial marker positioned within the space, a zone within the space, associating a rule with the zone, the rule at least partially dictating operation of one or more robots within the zone, and operating the one or more robots within the zone consistent with the rule.

First claim

Having described the invention, and a preferred embodiment thereof, what is claimed as new and secured by Letters Patent is:

1. A method for contextually mapping zones within a space for regulating robotic navigation within the space, comprising:
defining, by a plurality of fiducial markers positioned within the space, a zone within the space;
associating a rule with the zone, the rule at least partially dictating operation of one or more robots within the zone;
operating the one or more robots within the zone consistent with the rule;
wherein each of the plurality of fiducial markers within the space is correlated with a pose having a relative position to the fiducial marker, the relative position represented by a set of coordinates of a coordinate system defined by the space; and wherein a boundary of the zone intersects the pose associated with each fiducial marker; and
in response to a detected repositioning and/or reorientation of at least one fiducial marker of the plurality of fiducial markers, automatically updating the pose associated with the repositioned and/or reorientated at least one fiducial marker and automatically redefining the boundary of the zone within the space based on the updated pose, such that the boundary intersects with the updated pose of the repositioned and/or reorientated at least one fiducial marker.

2. The method of claim 1 , wherein the rule dictates at least one of whether the zone is open or closed, a type of the zone, a maximum occupancy of the zone, a maximum speed of the zone, a traffic flow directionality of the zone, a stop and wait behavior when entering or exiting the zone, whether a definition of the zone has been dynamically updated, an expiration of the zone, or combinations thereof.

3. The method of claim 1 , wherein the step of associating further comprises generating a lookup table correlating the zone with the plurality of fiducial markers and the rule.

4. The method of claim 1 , further comprising:
associating one or more additional rules with the zone, the additional rules at least partially dictating operation of one or more robots within the zone; and
operating the one or more robots within the zone consistent with the additional rules.

5. The method of claim 4 , wherein the additional rules dictate at least one of whether the zone is open or closed, a type of the zone, a maximum occupancy of the zone, a maximum speed of the zone, a traffic flow directionality of the zone, a stop and wait behavior when entering or existing the zone, whether a definition of the zone has been dynamically updated, an expiration of the zone, or combinations thereof.

6. The method of claim 4 , wherein the step of associating one or more additional rules further comprises generating a lookup table correlating the zone with the plurality of fiducial markers, the rule, and the additional rules.

7. The method of claim 1 , further comprising:
detecting at least one of overlap or adjacency of the zone with respect to a second zone; identifying a conflict between a value of the rule and a corresponding value of a corresponding rule of the second zone;
generating a conflict-resolved rule for association with an overlap zone defined by one or more shared fiducial markers common to the zone and the second zone.

8. The method of claim 7 , wherein the step of generating the conflict-resolved rule further comprises selecting the higher or the lower of the value and the corresponding value.

9. The method of claim 7 , wherein the step of generating the conflict-resolved rule further comprises:
defining a target value between the value and the corresponding value; and
associating the target value with an accompanying value tolerance such that the accompanying value tolerance encompasses both the value and the corresponding value.

10. The method of claim 1 , further comprising at least one of automatically modifying the rule or automatically adding an additional rule in response to data received from one or more of the robots, a warehouse management system, a user, or an external data source.

11. The method of claim 1 , wherein the step of operating further comprises:
periodically reporting, from the one or more robots to a central controller, a position of the one or more robots within the space; and
instructing, by the central controller, in response to reported positioning of the one or more robots within the zone, the one or more robots to operate as dictated by the rule.

12. The method of claim 1 , wherein the position of the one or more robots within the space is not determined by reading the at least one fiducial marker.

13. The method of claim 1 , wherein the step of operating further comprises:
periodically detecting, by each respective one of the one or more robots, a position of the robot within the space; and
operating, in response to detecting positioning of the robot within the zone, the robot as dictated by the rule.

14. The method of claim 13 , wherein the position of the one or more robots within the space is not determined by reading any of the plurality of fiducial markers.

15. A system for contextually mapping zones within a space for regulating robotic navigation within the space comprising:
a processor; and
a memory storing instructions that, when executed by the processor, cause the system to:
define, by a plurality of fiducial markers positioned within the space, a zone within the space;
associate a rule with the zone, the rule at least partially dictating operation of one or more robots within the zone;
operate the one or more robots within the zone consistent with the rule;
wherein each of the plurality of fiducial markers within the space is correlated with a pose having a relative position to the fiducial marker, the relative position represented by a set of coordinates of a coordinate system defined by the space; and wherein a boundary of the zone intersects the pose associated with each fiducial marker; and
in response to a detected repositioning and/or reorientation of at least one fiducial marker of the plurality of fiducial markers, automatically updating the pose associated with the repositioned and/or reorientated at least one fiducial marker and automatically redefining the boundary of the zone within the space based on the updated pose, such that the boundary intersects with the updated pose of the repositioned and/or reorientated at least one fiducial marker.

16. The system of claim 15 , the memory further storing instructions that, when executed by the processor, cause the system to:
generate, in the memory, a lookup table correlating the zone with the plurality of fiducial markers and the rule.

17. The system of claim 15 , the memory further storing instructions that, when executed by the processor, cause the system to:
associate one or more additional rules with the zone, the additional rules at least partially dictating operation of one or more robots within the zone; and
operate the one or more robots within the zone consistent with the additional rules.

18. The system of claim 15 , the memory further storing instructions that, when executed by the processor, cause the system to:
generate, in the memory, a lookup table correlating the zone with the plurality of fiducial markers, the rule, and the additional rules.

19. The system of claim 15 , the memory further storing instructions that, when executed by the processor, cause the system to:
at least one of automatically modify the rule or automatically add an additional rule in response to data r

Assignees

• Locus Robotics Corp

Inventors

• Whitaker Matthew
• Powers Bradley
• Johnson Michael Charles
• Johnson Sean
• Moore Thomas

Classifications

• G05D2109/10

  Land vehicles · CPC title

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G05D1/6987

  by centralised control off-board any of the vehicles · CPC title

• G05D1/244

  using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title