Robotic navigation utilizing semantic mapping

• US 9,758,305 B2
• Filed: 07/31/2015
• Issued: 09/12/2017
• Est. Priority Date: 07/31/2015
• Status: Active Grant

• Current Assignee: Locus Robotics Corporation
• Original Assignee: Locus Robotics Corporation
• Inventors: Johnson, Mike, Powers, Bradley, Welty, Bruce, Johnson, Sean
• Primary Examiner(s): LOGAN, KYLE O
• Application Number:
  US14/815,246
• Publication Number:
  US 20170029213A1
• Time in Patent Office: 774 Days
• Field of Search: 700216
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

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.

Claims

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.