Monitoring one or more articles on a support surface

• US 10,216,865 B1
• Filed: 11/15/2012
• Issued: 02/26/2019
• Est. Priority Date: 03/06/2012
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Vecna Robotics, Inc.
• Inventors: Theobald, Daniel
• Primary Examiner(s): Cook, Brian S
• Application Number:
  US13/678,193
• Time in Patent Office: 2,294 Days
• Field of Search: 703 2, 705 22, 705 28, 31856811
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B60P 1/54 using cranes for self-loading or self-unloading vehicles for transporting cranes B60P3/28, mobile or traveling cranes B66C
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: G05B 19/4189 characterised by the transport system
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation
• CPC Class Codes: G05B 2219/40006 Placing, palletize, un palletize, paper roll placing, box stacking
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Devices, systems and methods are provided for monitoring a plurality of articles that are arranged on a support surface according to an article arrangement modeled with a first processing device. One of the methods includes receiving image data generated from the modeled article arrangement. The image data is received by a second processing device, and is indicative of an image of the arranged articles on the support surface. The received image data is used to inspect the arranged articles.

Claims

1. A method for autonomously determining potential tampering or damage of a shipment of a plurality of articles at a destination point without any human intervention, the method comprising:

providing a list of the plurality of articles to be shipped to a destination point, the list of plurality of articles comprising a first article having a rectangular shape and a second article having a non-rectangular shape and a third article having an amorphous shape, and a fourth article having a shape wherein the shape of the fourth article is rectangular, non-rectangular or amorphous;

modeling the plurality of articles provided on the list in an article arrangement for placement on a first support surface using a first processing device to yield a modeled article arrangement;

arranging the plurality of articles on the first support surface according to the modeled article arrangement using a fully autonomous mobile robot to yield a first article arrangement;

electronically generating a first set of digital image data from the modeled article arrangement, wherein the digital image data is indicative of a digital image of all of the first article arrangement on the first support surface at a first point in time at a first shipping point for the plurality of articles;

providing a second set of digital image data from a digital camera, the second set of digital image data being indicative of a second article arrangement on a second support surface at a second point in time at a second destination point for the second article arrangement, the second destination point being geographically remote from the first shipping point, wherein the first article arrangement on the first support surface are in a different configuration from the second article arrangement on the second support surface;

receiving the second set of digital image data by a second processing device; and

comparing autonomously and electronically, via the second processing device, the first set of digital image data generated from the modeled article arrangement at the first point in time at the first shipping point with the second set of digital image data of the second article arrangement at the second point in time at the destination point without any human intervention needed to compare the first set of digital image data and the second set of digital image date;

identifying a set of differences between the first set of digital image data and the second set of digital image data, the set of differences comprising at least one or more of a missing article, a reoriented article or damage to one or more articles to yield an identified set of differences between the first set of digital image data and the second set of digital image data; and

determining potential tampering or damage of the first article arrangement on the first support surface by a fully autonomous mobile robot classifying the identified set of differences between the first set of digital image data and the second set of digital image data wherein the classification is selected from the group consisting of potential tampering or damage.

2. The method as defined in claim 1, wherein the second processing device utilizes image and shape recognition software to compare the first set of digital image data and the second set of digital image data.

3. The method as defined in claim 1, wherein the modeled article arrangement includes a particular predetermined control volume, the particular predetermined control volume being variable depending upon a type of support surface being utilized both with and without pallets.

4. The method as defined in claim 3, wherein at least one of the first support surface or the second support surface is a floor of a shipping container and the particular predetermined control volume is adjusted to provide maximum efficiency in modeling the first article arrangement and the second article arrangement on the floor of the shipping container both with and without pallets.

5. The method as defined in claim 3, wherein at least one of the first support surface or the second support surface is a floor of a trailer in use with a tractor trailer truck and the particular predetermined control volume is adjusted to provide maximum efficiency in modeling the first article arrangement and the second article arrangement on the floor of the trailer both with and without pallets.

6. The method as defined in claim 1, wherein similar articles are loaded onto the first support surface prior to dissimilar items while still achieving a stable modeling of articles.

7. The method as defined in claim 1, including encasing the first article arrangement and the second article arrangement in shrink-wrap and autonomously determining without any human intervention if the shrink-wrap has been tampered with.

8. The method as defined in claim 1, wherein both the first set of digital image data and the second set of digital image data further identify a particular type of each of the articles arranged on the first support surface with a particular article description or identifier.