Fiducial markers with a small set of values

• US 9,471,894 B2
• Filed: 08/31/2015
• Issued: 10/18/2016
• Est. Priority Date: 06/06/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Palamarchuk, Andriy, Brazeau, Jeremiah David
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US14/841,505
• Publication Number:
  US 20150371181A1
• Time in Patent Office: 414 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G06K 7/10861 sensing of data fields affixed to objects or articles, e.g. coded labels postal sorting B07C3/14, conveying articles B65G47/48
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A system for managing inventory items includes a portable inventory holder and an unmanned drive unit configured to move the inventory holder between locations in an inventory facility. The inventory facility includes a plurality of uniquely identifiable fiducial markers having a small set of values distributed in a pattern. The drive unit captures at least one image of a subset of the plurality of the fiducial markers. The at least one captured image is processed to determine a location of the drive unit within the facility. A path is determined along which the drive unit moves to an inventory holder and moves the inventory holder to another location. The pattern of fiducial markers can include one or more repeated instances of uniquely identifiable fiducial markers. A fiducial marker can encode information using a readable code and at least one attribute of the fiducial marker.

Claims

1. A system for managing inventory items, comprising:

a plurality of fiducial markers distributed in a pattern on a floor of an inventory facility, each of the plurality of fiducial markers encoding respective fiducial value information using a readable code and at least one attribute of the fiducial marker, the at least one attribute including at least one of;

(a) an orientation of the fiducial marker relative to a reference direction, (b) a color of the fiducial marker, (c) a size of the fiducial marker, or (d) a shape of the fiducial marker; and

a drive unit including an image capture device configured such that a respective subset of the plurality of the fiducial markers can be imaged by the image capture device for each of a plurality of respective locations of the drive unit on the floor, the drive unit being configured to;

(a) capture at least one image of a subset of the plurality of the fiducial markers, (b) determine or receive a location of the drive unit, the location being based on processing of the at least one captured image, and (c) move the drive unit based at least in part on the at least one captured image.

2. The system of claim 1, wherein the pattern of fiducial markers includes repeated instances of each of a plurality of uniquely identifiable fiducial markers.

3. The system of claim 2, wherein the pattern of fiducial markers includes 100 or fewer uniquely identifiable fiducial markers.

4. The system of claim 1, wherein the subset of the plurality of the fiducial markers captured in the at least one image includes at least two of the plurality of the fiducial markers.

5. The system of claim 1, wherein the readable code includes at least one of:

(a) bar code, (b) QR code, (c) MaxiCode, (d) Data Matrix, or (e) EZ Code.

6. The system of claim 1, wherein the at least one attribute includes at least two of:

(a) the orientation of the fiducial marker relative to the reference direction, (b) the color of the fiducial marker, (c) the size of the fiducial marker, or (d) the shape of the fiducial marker.

7. The system of claim 1, wherein the pattern is a random pattern distributed on the floor of the inventory facility including repeated instances of each of a plurality of uniquely identifiable fiducial markers.

8. The system of claim 1, wherein the drive unit is further configured to determine or receive control operations for the drive unit based at least in part on the at least one captured image, the control operations for the drive unit including at least one of stopping the drive unit, rotating the drive unit, redirecting the drive unit, or changing operations of the drive unit.

9. A method for managing inventory items, the method comprising:

instructing an unmanned drive unit to move about an inventory facility having a floor;

capturing at least one image of a subset of a plurality of fiducial markers, distributed in a pattern on the floor, using an image capture device mounted to the drive unit, each of the plurality of fiducial markers encoding respective fiducial value information using a readable code and at least one attribute of the fiducial marker, the at least one attribute including at least one of;

(a) an orientation of the fiducial marker relative to a reference direction, (b) a color of the fiducial marker, (c) a size of the fiducial marker, or (d) a shape of the fiducial marker;

processing the at least one captured image to locate the drive unit within the inventory facility; and

instructing the drive unit to move in the inventory facility based at least in part on the at least one captured image.

10. The method of claim 9, wherein the pattern of fiducial markers includes repeated instances of one or more uniquely identifiable fiducial markers.

11. The method of claim 9, further comprising distributing the fiducial markers in the pattern such that the at least one image captured by the image capture device can be processed without additional drive unit location information to determine a location of the drive unit in the inventory facility, wherein the subset of the plurality of fiducial markers captured in the at least one image includes at least two of the plurality of fiducial markers.

12. The method of claim 9, wherein the readable code includes at least one of:

(a) bar code, (b) QR code, (c) MaxiCode, (d) Data Matrix, or (e) EZ Code.

13. The method of claim 9, further comprising controlling operations of the drive unit based at least in part on the at least one captured image, wherein the operations include at least one of stopping the drive unit, rotating the drive unit, redirecting the drive unit, or changing operations of the drive unit.

14. A system for managing inventory items, comprising:

a plurality of fiducial markers distributed in a pattern on a floor of an inventory facility, each of the plurality of fiducial markers encoding respective fiducial value information using a readable code, the pattern of fiducial markers including repeated instances of one or more uniquely identifiable fiducial markers; and

a drive unit including an image capture device configured such that a respective subset of the plurality of the fiducial markers can be imaged by the image capture device for each of a plurality of respective locations of the drive unit on the floor, the drive unit being configured to;

(a) capture at least one image of a subset of the plurality of the fiducial markers, (b) determine or receive a location of the drive unit, the location being based on processing of the at least one captured image, and (c) move the drive unit based at least in part on the at least one captured image.

15. The system of claim 14, wherein the pattern of fiducial markers includes repeated instances of each of a plurality of uniquely identifiable fiducial markers.

16. The system of claim 15, wherein the pattern of fiducial markers includes 100 or fewer uniquely identifiable fiducial markers.

17. The system of claim 14, wherein the subset of the plurality of the fiducial markers captured in the at least one image includes at least two of the plurality of the fiducial markers.

18. The system of claim 14, wherein the readable code includes at least one of:

(a) bar code, (b) QR code, (c) MaxiCode, (d) Data Matrix, or (e) EZ Code.

19. The system of claim 14, wherein the pattern is a random pattern distributed on the floor of the inventory facility including the repeated instances of the one or more uniquely identifiable fiducial markers.

20. The system of claim 14, wherein the drive unit is further configured to determine or receive control operations for the drive unit based at least in part on the at least one captured image, the control operations for the drive unit including at least one of stopping the drive unit, rotating the drive unit, redirecting the drive unit, or changing operations of the drive unit.