Collaborative inventory monitoring

• US 9,827,683 B1
• Filed: 07/28/2016
• Issued: 11/28/2017
• Est. Priority Date: 07/28/2016
• Status: Active Grant

• Current Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Hance, Christopher, Shaffer, Daniel
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/222,638
• Time in Patent Office: 488 Days
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: G05B 19/124 using tapes, cards or discs with optically sensed marks or codes G05B19/128, G05B19/14 take precedence
• CPC Class Codes: G05B 19/4183 characterised by data acquisition, e.g. workpiece identification
• CPC Class Codes: G05B 19/4189 characterised by the transport system
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/45056 Handling cases, boxes
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G06K 19/06028 using bar codes
• CPC Class Codes: G06K 19/06037 multi-dimensional coding
• 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 10/063 Operations research, analysis or management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: G06Q 10/0875 Itemisation or classification of parts, supplies or services, e.g. bill of materials
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes

Abstract

An example method is carried out in a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier. The method involves determining a target inventory item having a target on-item identifier. The method also involves determining that a first inventory item having a first on-item identifier is loaded onto a first robotic device. The method further involves transmitting a request to verify the first on-item identifier. The method still further involves receiving data captured by a sensor of the second robotic device. The method yet further involves (i) analyzing the received data to determine the first on-item identifier, (ii) comparing the first on-item identifier and the target on-item identifier, and (iii) responsive to comparing the first on-item identifier and the target on-item identifier, performing an action.

Claims

1. In a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier, a method comprising:

determining a first robotic device has a transport assignment to transport a target inventory item from the plurality of inventory items, the target inventory item having a target on-item identifier;

determining that a first inventory item has been loaded onto the first robotic device in response to the transport assignment;

receiving image data captured by an image sensor of a second robotic device, wherein the second robotic device is arranged for transport of inventory items, and wherein the first and second robotic devices are separately movable in the warehouse environment;

analyzing the received image data to;

(a) determine that at least a portion of the first robotic device is in a field of view of the image sensor of the second robotic device, and responsively (b) detect a first on-item identifier of the first inventory item loaded on the first robotic device;

based at least in part on a comparison of the first on-item identifier and the target on-item identifier, determining whether or not the target inventory item is loaded on the first robotic device; and

responsive to the determination as to whether or not the target inventory item is loaded on the first robotic device, performing an action.

2. The method of claim 1, wherein the first robotic device has an image sensor configured to capture image data of an environment of the first robotic device, and wherein the image sensor of the first robotic device is obstructed from capturing the first on-item identifier.

3. The method of claim 1, wherein each of the on-item identifiers is a barcode.

4. The method of claim 1, further comprising:

determining an expected weight of the target inventory item;

determining, by the first robotic device, a weight of the first inventory item;

comparing the expected weight of the target inventory item to the determined weight of the first inventory item; and

responsive to the comparison, transmitting a request to verify the first on-item identifier.

5. The method of claim 1, wherein the second robotic device stops movement to capture the image data.

6. The method of claim 1, wherein performing the action responsive to comparing the first on-item identifier and the target on-item identifier comprises causing the first robotic device to transport the first inventory item to a predetermined location in the warehouse environment.

7. The method of claim 1, further comprising:

determining an expected location of the target inventory item;

determining, a location of the first inventory item; and

determining that the expected location of the target inventory item and the location of the first inventory item correspond to each other,

wherein performing the action comprises performing the action responsive to (i) comparing the first on-item identifier and the target on-item identifier, and (ii) determining that the expected location of the target inventory item and location of the first inventory item correspond to each other.

8. The method of claim 1, further comprising instructing the first robotic device to transport the target inventory item from a first location to a second location.

9. The method of claim 8, wherein the performing the action comprises transporting the first inventory item to the second location.

10. A warehouse management system comprising:

a communication interface operable for communication with a plurality of robotic devices comprising at least a first robotic device and a second robotic device, wherein the first and second robotic devices are both arranged for transport of inventory items in a warehouse environment having a plurality of inventory items, wherein each inventor item has a corresponding on-item identifier, and wherein the first and second robotic devices are separately movable in the warehouse environment;

a processor; and

program instructions stored on a non-transitory computer readable medium and executable by the processor to;

determine the first robotic device has a transport assignment to transport a target inventory item from the plurality of inventory items, the target inventory item having a target on-item identifier;

determine that a first inventory item has been loaded onto the first robotic device in response to the transport assignment;

receive image data captured by an image sensor of the second robotic device;

analyze the received image data to;

(a) determine that at least a portion of the first robotic device is in a field of view of the image sensor of the second robotic device, and responsively (b) detect a first on-item identifier of the first inventory item loaded on the first robotic device;

based at least in part on a comparison of the first on-item identifier to the target on-item identifier, determine whether or not the target inventory item is loaded on the first robotic device; and

responsive to the determination as to whether or not the target inventory item is loaded on the first robotic device, perform an action.

11. The system of claim 10, wherein the first robotic device has an image sensor configured to capture image data of an environment of the first robotic device, and

wherein the image sensor of the first robotic device is obstructed from capturing the first on-item identifier.

12. The system of claim 10, wherein:

the first robotic device is further configured to determine a weight of the first inventory item; and

the program instructions are further executable to;

determine an expected weight of the target inventory item;

compare the expected weight of the target inventory item to the determined weight of the first inventory item; and

responsive to the comparison, transmit a request to verify the first on-item identifier.

13. The system of claim 10, wherein the second robotic device stops movement to capture the image data.

14. The system of claim 10, wherein each of the on-item identifiers is a barcode.

15. The system of claim 10, wherein performing the action responsive to comparing the first on-item identifier and the target on-item identifier comprises instructing the first robotic device to transport the first inventory item to a predetermined location in the warehouse environment.

16. The system of claim 10, wherein the program instructions are further executable to:

determine an expected location of the target inventory item;

determine a location of the first inventory item; and

determine that the expected location of the target inventory item and the location of the first inventory item correspond to each other,

wherein performing the action comprises performing the action responsive to (i) comparing the first on-item identifier and the target on-item identifier, and (ii) determining that the expected location of the target inventory item and location of the first inventory item correspond to each other.

17. In a warehouse environment having a plurality of inventory items located therein, each having a corresponding on-item identifier, a method comprising:

determining that a target inventory item from the plurality of inventory items should be located on a first robotic device arranged for transport of items, the target inventory item having a target on-item identifier;

receiving image data captured by an image sensor of a second robotic device, wherein the second robotic device is arranged for transport of inventory items, and wherein the first and second robotic devices are separately movable in the warehouse environment;

detecting the first robotic device in the received image data;

responsive to detecting the first robotic device in the received image data, searching the received image data for on-item identifiers, wherein the search detects a first on-item identifier;

comparing the first on-item identifier and the target on-item identifier to determine whether or not the target inventory item is loaded on the first robotic device; and

responsive to the determination as to whether or not the target inventory item is loaded on the first robotic device, performing an action.

18. The method of claim 17, wherein performing the action comprises transporting the first inventory item from a first location to a second location.

19. The method of claim 17, wherein the first robotic device has an image sensor configured to capture image data of an environment of the first robotic device, and wherein the image sensor of the first robotic device is obstructed from capturing the first on-item identifier.

20. The method of claim 17, further comprising:

determining an expected weight of the target inventory item;

determining a weight of the first inventory item;

comparing the expected weight of the target inventory item to the determined weight of the first inventory item; and

responsive to the comparison, transmitting a request to verify the first on-item identifier.