Item-detecting overhead sensor for inventory system

• US 9,580,245 B2
• Filed: 06/10/2014
• Issued: 02/28/2017
• Est. Priority Date: 06/10/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Mansfield, Peter K., Lecky, Ned, Wurman, Peter R., Polic, Dennis, Levy, David
• Primary Examiner(s): LOGAN, KYLE O
• Application Number:
  US14/301,135
• Publication Number:
  US 20150353282A1
• Time in Patent Office: 994 Days
• Field of Search: 700/214
• US Class Current: 1/1
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

Inventory systems may include one or more sensors capable of detecting spatial positioning of inventory holders and associated inventory items. Data can be received from a sensor, a boundary corresponding to a face of the inventory holder can be determined from the data, and items projecting across the boundary can be determined as items protruding from the inventory holder.

Claims

1. A method comprising operations performed under the control of one or more computer systems configured with executable instructions, the operations comprising:

receiving, at the one or more computer systems, distance information from a sensor, the distance information including information about distances between the sensor and portions of objects, the objects including a mobile inventory holder and items supported by the mobile inventory holder;

determining, based at least in part on the distance information, a plane corresponding to a face of the mobile inventory holder;

determining, based at least in part on the distance information, that one or more protruding items are protruding from the mobile inventory holder and at least partially through the plane corresponding to the face of the mobile inventory holder;

generating protruding information, the protruding information including information about the determined one or more protruding items; and

sending a signal based at least in part on the protruding information, the signal corresponding to at least one of;

a signal configured to cause a representation of the mobile inventory holder to be shown on a display for facilitating handling of a protruding condition by a human operator, the representation showing a position of a protruding item relative to the mobile inventory holder;

a signal configured to cause a laser pointer to point to a location on the mobile inventory holder for facilitating handling of a protruding condition by a human operator, the location corresponding to a position of a protruding item relative to the mobile inventory holder;

or

a signal configured to prevent movement of the mobile inventory holder in the presence of a protruding condition.

2. The method of claim 1, wherein the determining the plane corresponding to the face of the mobile inventory holder comprises determining the plane based at least in part on distance information corresponding to fiducial marks located on the face of the mobile inventory holder.

3. The method of claim 1, wherein the generating comprises generating information about at least one of a size or position of the determined one or more protruding items.

4. The method of claim 1, further comprising:

sending, based at least in part on a received indication that the protruding condition has been resolved, instructions to allow movement of the mobile inventory holder.

5. The method of claim 1, further comprising eliminating distance information corresponding to objects located outside of a volume of interest, the volume of interest based at least in part on an expected location of the mobile inventory holder and including at least a portion of the plane corresponding to the face of the mobile inventory holder.

6. The method of claim 5, wherein the determining the plane corresponding to the face of the mobile inventory holder comprises determining the plane based at least in part on distance information corresponding to objects located within the volume of interest, and creating a plane fit for the plane corresponding to the face of the mobile inventory holder.

7. A non-transitory computer-readable storage medium having stored therein instructions that, when executed by one or more processors of a computer system, cause the computer system to at least:

receive data from a sensor, the data including information about a spatial position of a mobile inventory holder and one or more items stored in the mobile inventory holder;

determine a boundary corresponding to at least a part of a face of the mobile inventory holder;

determine, based at least in part on the data from the sensor, that an item stored in the mobile inventory holder is projecting across the boundary; and

send a signal based at least in part on determining that the item stored in the mobile inventory holder is projecting across the boundary.

8. The non-transitory computer-readable storage medium of claim 7, wherein determining the boundary corresponding to at least the part of the face of the mobile inventory holder comprises determining a boundary that is at least one of an edge, a line, a plane, or a three-dimensional contoured surface.

9. The non-transitory computer-readable storage medium of claim 7, wherein determining the boundary corresponding to at least the part of the face of the mobile inventory holder comprises determining a boundary that is spaced apart from the face of the mobile inventory holder.

10. The non-transitory computer-readable storage medium of claim 7, wherein determining the boundary corresponding to at least the part of the face of the mobile inventory holder comprises selecting a boundary positioned at an expected position of the face of the mobile inventory holder.

11. The non-transitory computer-readable storage medium of claim 7, wherein the instructions further cause the computer system to at least display or present information about a location of the item that is projecting across the boundary.

12. The non-transitory computer-readable storage medium of claim 7, wherein the signal corresponds to at least one of:

a signal configured to cause a representation of the mobile inventory holder to be shown on a display for facilitating handling of a protruding condition by a human operator, the representation showing a position relative to the mobile inventory holder of the item determined to be projecting across the boundary;

a signal configured to cause a laser pointer to point to a location on the mobile inventory holder for facilitating handling of a protruding condition by a human operator, the location corresponding to a position relative to the mobile inventory holder of the item determined to be projecting across the boundary;

or

a signal configured to prevent movement of the mobile inventory holder in the presence of a protruding condition.

13. An inventory management system comprising:

a mobile inventory holder;

a station comprising;

a receiving zone configured to receive the mobile inventory holder;

a sensor aimed at the receiving zone; and

one or more processors configured to;

receive data from the sensor about objects in the receiving zone;

determine, based at least in part on the data, a spatial representation of datapoints in which each datapoint has a value indicative of a spatial position of an associated object detected by the sensor;

fit a surface based at least in part on the spatial representation, the surface corresponding to a face of the mobile inventory holder positioned in the receiving zone;

determine datapoints of at least one object protruding from the mobile inventory holder and having a spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder; and

send a signal based at least in part on the datapoints determined of the at least one object protruding from the mobile inventory holder and having a spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder.

14. The inventory management system of claim 13, further comprising a display, wherein the signal is configured to cause a representation of the mobile inventory holder to be shown on the display, the representation showing a position relative to the mobile inventory holder of the at least one protruding object associated with the datapoints determined as having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder.

15. The inventory management system of claim 13, further comprising a laser pointer, wherein the signal is configured to cause the laser pointer to point to a position on the mobile inventory holder, the position associated with the datapoints determined as having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder.

16. The inventory management system of claim 13, wherein the one or more processors are further configured to:

determine clusters of datapoints having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder;

compare the clusters to a size threshold; and

provide information about a location of items associated with any clusters exceeding the size threshold.

17. The inventory management system of claim 16, wherein the one or more processors are further configured to provide information about a size of the items associated with the clusters exceeding the size threshold.

18. The inventory management system of claim 13, further comprising a mobile drive unit configured to move the mobile inventory holder relative to the receiving zone in response to instructions from the one or more processors, wherein the one or more processors are further configured to trigger an overhanging item condition indicator when datapoints having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder are determined and to not trigger the overhanging item condition indicator when datapoints having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder are not determined, wherein the one or more processors are further configured to refrain from sending instructions to the mobile drive unit to move the mobile inventory holder when the overhang item condition indicator is triggered.

19. The inventory management system of claim 18, wherein the one or more processors are further configured to remove the overhanging item condition indicator when no datapoints having the spatial position that at least partially extends through the surface corresponding to the face of the mobile inventory holder are determined.

20. The inventory management system of claim 18, further comprising an operator interface, wherein the one or more processors are further configured to remove the overhanging item condition indicator in response to an input from the operator interface.