Robotic navigation utilizing semantic mapping

Patent metadata

Field	Value
Publication number	US-9758305-B2
Application number	US-201514815246-A
Country	US
Kind code	B2
Filing date	Jul 31, 2015
Priority date	Jul 31, 2015
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

Abstract

A method for performing tasks on items located in a space using a robot, the items being located proximate fiducial markers, each fiducial marker having a fiducial identification. The method includes receiving an order to perform a task on at least one item and determining the fiducial identification associated with the at least one item. The method also includes obtaining, using the fiducial identification of the at least one item, a set of coordinates representing a position of the fiducial marker with the determined fiducial identification, in a coordinate system defined by the space. The method further includes navigating the robot to the coordinates of the fiducial marker associated with said determined fiducial identification.

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 performing tasks on items located in a space using a robot, the items being located proximate fiducial markers, each fiducial marker having a fiducial identification, the method comprising:
Receiving an order to perform a task on at least one item;
Obtaining a SKU for the at least one item;
From the SKU for the at least one item, determining an address within the space associated with the SKU;
Determining from the address, a fiducial identification associated with the address;
Obtaining, using the fiducial identification, a set of coordinates representing a position of the fiducial marker having the determined fiducial identification, in a coordinate system defined by the space; and
Navigating the robot to the coordinates of the fiducial marker associated with the determined fiducial identification.

2. The method of claim 1 wherein the step of determining an address within the space associated with the SKU includes determining a bin address for a bin for storing the at least one item.

3. The method of claim 1 , further including communicating with a human operator to perform the task on the at least one item; wherein the task includes one of retrieving the at least one item and placing it on the robot or removing the at least one item from the robot and storing it proximate the fiducial marker.

4. The method of claim 3 , wherein the space is a warehouse containing a plurality of items stored in a plurality of containers dispersed throughout the warehouse.

5. The method of claim 4 , wherein each fiducial marker is associated with and located proximate to one or more of the containers.

6. The method of claim 5 , wherein the step of determining the fiducial identification includes establishing a fiducial identification system based on a physical layout of the containers dispersed throughout the warehouse and associating each container to a fiducial identification corresponding to the physical location of the container in the warehouse.

7. The method of claim 6 , wherein the step of associating each container to a fiducial identification further includes linking the fiducial identification of the container to the items.

8. The method of claim 7 , wherein the step of navigating further includes using a predetermined map of the warehouse including a pose for each fiducial marker to guide the robot to the fiducial marker.

9. A robot configured to perform tasks on items located in a space, the items being located proximate fiducial markers, each fiducial marker having a fiducial identification, the robot comprising:
A processor configured to:
Receive an order to perform a task on at least one item;
Obtain a SKU for the at least one item;
From the SKU for the at least one item, determine an address within the space associated with the SKU;
Determine from the address, a fiducial identification associated with the address; and
Obtain, using the fiducial identification, a set of coordinates representing a position of the fiducial marker having the determined fiducial identification, in a coordinate system defined by the space; and

A navigation system configured to navigate the robot to the coordinates of the fiducial marker associated with said determined fiducial identification.

10. The robot of claim 9 wherein the step to determine an address within the space associated with the SKU includes determining a bin address for a bin for storing the at least one item.

11. The robot of claim 9 , further including an interface device configured to communicate with a human operator to perform the task on the at least one item; wherein the task includes one of retrieving the at least one item and placing it on the robot or removing the at least one item from the robot and storing it proximate the fiducial marker.

12. The robot of claim 11 , wherein the space is a warehouse containing a plurality of items stored in a plurality of containers dispersed throughout the warehouse.

13. The robot of claim 12 , wherein each fiducial marker is associated with and located proximate to one or more of the containers.

14. The robot of claim 13 , wherein each container in the warehouse is associated to a fiducial identification corresponding to the physical location of the container in the warehouse.

15. The robot of claim 14 , wherein the fiducial identification of the container is linked to the items stored in the containers.

16. The robot of claim 15 , wherein the navigation system includes a map of the warehouse with a pose for each fiducial marker.

Assignees

• Locus Robotics Corp

Inventors

• Johnson Mike
• Powers Bradley
• Welty Bruce
• Johnson Sean

Classifications

• G05D2111/10

  Optical signals · CPC title

• G05D2111/50

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

• B25J11/008

  Manipulators for service tasks · CPC title

• B25J5/007

  mounted on wheels · CPC title

• G05D1/243

  Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) · CPC title