Arm-detecting overhead sensor for inventory system

• US 9,824,328 B2
• Filed: 06/10/2014
• Issued: 11/21/2017
• 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: Lecky, Ned, Mansfield, Peter K., Wurman, Peter R., Polic, Dennis
• Primary Examiner(s): Barbee, Manuel L
• Assistant Examiner(s): Nimox, Raymond
• Application Number:
  US14/301,157
• Publication Number:
  US 20150354949A1
• Time in Patent Office: 1,260 Days
• Field of Search: 702150
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

Inventory systems may include one or more sensors capable of detecting spatial positioning of inventory holders and an arm of a worker interacting with the inventory holder. Data can be received from a sensor, a gesture of the arm can be determined from the data, and a bin location or other information can be determined based on the gesture.

Claims

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

instructing a mobile drive unit to move an inventory holder having a plurality of bins into a receiving zone that is at least partly within a field of vision of a sensor;

receiving, at a computer system, an identification of an item for a storage operation, the storage operation including placement by a person of the item in the inventory holder;

receiving distance information from the sensor, the distance information including information about distances between the sensor and portions of objects within the field of vision of the sensor, the objects including the inventory holder and at least a portion of an arm of the person;

identifying distance information corresponding to the at least the portion of the arm of the person in association with the storage operation;

calculating a height of the at least the portion of the arm relative to the inventory holder based on the distance information corresponding to the at least the portion of the arm;

calculating a lateral position of the at least the portion of the arm relative to the inventory holder based on the distance information corresponding to the at least the portion of the arm; and

associating the item with a bin on the inventory holder based on the calculated height and the calculated lateral position of the at least the portion of the arm relative to the inventory holder.

2. The method of claim 1, wherein identifying distance information corresponding to the at least the portion of the arm of the person comprises identifying distance information at a time of interest.

3. The method of claim 2, further comprising determining the time of interest in response to a gesture detected by the sensor.

4. The method of claim 3, wherein the gesture comprises a portion of the arm passing a surface corresponding to a face of the inventory holder.

5. The method of claim 3, wherein the gesture comprises an arrangement of fingers of a hand of the arm.

6. The method of claim 3, wherein the gesture comprises a motion of the arm.

7. The method of claim 1, further comprising determining a bin geometry of the inventory holder based on at least one of the distance information or stored characteristics of the inventory holder.

8. 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:

instruct a mobile drive unit to move an inventory holder having a plurality of bins into at least partly within a field of vision of a sensor;

receive data from the sensor, the data including information about a spatial position of the inventory holder and at least a portion of an arm of a person in proximity to the inventory holder;

determine a spatial position of the at least the portion of the arm during an interaction with the inventory holder; and

identify a location on the inventory holder corresponding to the spatial position of the at least the portion of the arm during the interaction.

9. The non-transitory computer-readable storage medium of claim 8, wherein determining the spatial position of the at least the portion of the arm comprises determining a height of the at least the portion of the arm relative to the inventory holder, and wherein identifying the location on the inventory holder comprises identifying a shelf on the inventory holder corresponding to the height of the at least the portion of the arm.

10. The non-transitory computer-readable storage medium of claim 9, wherein determining the spatial position of the at least the portion of the arm comprises determining a lateral position of the at least the portion of the arm relative to the inventory holder, and wherein identifying the location on the inventory holder comprises identifying a bin on the shelf of the inventory holder corresponding to the height and the lateral position of the at least the portion of the arm.

11. The non-transitory computer-readable storage medium of claim 8, wherein the instructions further cause the computer system to associate the identified location on the inventory holder with a stowed inventory item.

12. The non-transitory computer-readable storage medium of claim 8, wherein the instructions further cause the computer system to associate the identified location on the inventory holder with an empty bin.

13. The non-transitory computer-readable storage medium of claim 8, wherein the instructions further cause the computer system to associate the identified location on the inventory holder with a bin containing damaged inventory.

14. The non-transitory computer-readable storage medium of claim 8, wherein the instructions further cause the computer system to associate the identified location on the inventory holder with a bin missing inventory.

15. An inventory management system comprising:

an inventory holder;

a mobile drive unit operable to move the inventory holder;

a station comprising;

a receiving zone configured to receive the inventory holder in response to movement of the inventory holder by the mobile drive unit;

a sensor aimed at the receiving zone; and

one or more processors configured to;

instruct the mobile drive unit to move the inventory holder into the receiving zone;

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

determine, based 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;

determine, based on the spatial representation, a subset of datapoints associated with at least a portion of an arm of a person;

determine a gesture based on the subset of datapoints associated with the at least the portion of the arm of the person; and

generate instructions for at least one of the person, the inventory holder, or the one or more processors based on the gesture.

16. The system of claim 15, wherein the station further comprises a second sensor, wherein the first sensor is aimed at the receiving zone from above and the second sensor is aimed at the receiving zone from below.

17. The system of claim 15, wherein the instructions comprise instructions to provide a confirmation or a negation of a condition or another gesture.

18. The system of claim 15, wherein the instructions comprise instructions to associate or disassociate the gesture or an item with a bin of the inventory holder.

19. The system of claim 15, wherein the instructions comprise instructions to allow or prevent movement of the inventory holder away from the receiving zone.

20. The system of claim 15, wherein the instructions comprise instructions to request another inventory holder responsive to a determination that the inventory holder contains insufficient space to stow an item in the inventory holder.