Robotic navigation and mapping

• US 10,466,713 B2
• Filed: 03/05/2018
• Issued: 11/05/2019
• Est. Priority Date: 02/05/2016
• Status: Active Grant

• Current Assignee: InVia Robotics Inc.
• Original Assignee: InVia Robotics Inc.
• Inventors: Elazary, Lior, Voorhies, Randolph Charles, Parks, II, Daniel Frank
• Primary Examiner(s): Cumbess, Yolanda R
• Application Number:
  US15/911,996
• Publication Number:
  US 20190171220A1
• Time in Patent Office: 610 Days
• Field of Search: None
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: B65G 2203/041 Camera
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Some embodiments efficiently locate and map item locations in a distribution site using robots and a set of markers that the robots can scan without cessation of movement. Some embodiments optimally position a robot for item retrieval or placement. The optimal position is determined by affine transform computation or feature mapping. The robot first aligns itself according to the expected item position as indicated by one or more of the markers. The alignment is determined based on size and orientation of the markers in images obtained using the robot'"'"'s camera. The robot then aligns itself according to the actual item position. Here, the repositioning is determined based on size and orientation of the actual item in images obtained using the robot'"'"'s camera. Using the robot cameras and feature mapping, robots can traverse the shelves to identify and map item location therein.

Claims

1. A method for robotic navigation, the method comprising:

scanning a plurality of markers with a sensor of a robot as the robot moves by the plurality of markers;

detecting based on said scanning by the robot at a first position, a first marker of the plurality of markers;

detecting based on said scanning by the robot at a second position near the first position, a second marker of the plurality of markers;

formulating a message from different data decoded from a combination of at least the first marker and the second marker; and

modifying an operation of the robot based on the message.

2. The method of claim 1, wherein the first marker comprises a start message indicator and the second marker comprises an end message indicator, and wherein said formulating starts in response to the start message indicator of the first marker and ends in response to the end message indicator of the second marker.

3. The method of claim 2 further comprising detecting the start message indicator of the first marker based on a first orientation, coloring, or contrast of the first marker, and detecting the end message indicator of the second marker based on a second orientation, coloring, or contrast of the second marker that is different than the first orientation, coloring, or contrast of the first marker.

4. The method of claim 1, wherein said modifying comprises changing navigational direction of the robot in response to the message.

5. The method of claim 1, wherein said modifying comprises stopping the robot adjacent to the first and second markers, and retrieving an item from a structure about which the plurality of markers are physically distributed.

6. The method of claim 1, wherein the first marker is separated from the second marker by at least a third marker of the plurality of markers, and wherein said formulating comprises decoding different data from the first marker, the third marker, and the second marker in order, and deriving the message from decoding the different data from the first, third, and second markers in order.

7. The method of claim 1, wherein each marker of the plurality of markers represents a different value of a common alphabet, and wherein the message is defined with at least two of the values of the alphabet.

8. A method for robotic navigation, the method comprising:

moving a robot to a first position before an object;

scanning with a sensor of the robot, at least one particular marker on or adjacent to the object;

determining, based on said scanning, a size, orientation, or elevation of the particular marker, as captured by said sensor of the robot at the first position, that deviates from an expected size, orientation, or elevation; and

repositioning the robot from the first position to a different second position at which the size, orientation, or elevation of the particular marker in subsequent scans of the sensor aligns with the expected size, orientation, or elevation.

9. The method of claim 8 further comprising retrieving the object in response to repositioning the robot at the second position and the size, orientation, or elevation of the particular marker in subsequent scans of the sensor aligning with the expected size, orientation, or elevation.

10. The method of claim 8 further comprising determining a distance and angle of the robot at the first position to the object based on the orientation and the size of the object from said scanning.

11. The method of claim 8, wherein said sensor is a camera, and wherein said scanning comprises obtaining an image of the at least one particular marker with the camera and with the robot at the first position.

12. The method of claim 8, wherein said repositioning comprises activating at least one motor controlling the movement of the robot to cover a direction and distance at which the size or orientation of the particular marker in subsequent scans of the sensor aligns with the expected size or the expected orientation.

13. The method of claim 8, wherein said repositioning further comprises raising or lowering the robot to a height at which the elevation of the particular marker in subsequent scans of the sensor aligns with the expected elevation.

14. The method of claim 8 further comprising scanning at least one feature of the object with the sensor of the robot and with the robot at the second position.

15. The method of claim 14 further comprising repositioning the robot from the second position to a different third position in response to a size, orientation, or elevation of the at least one feature of the object with the robot at the second position deviating from an expected size, orientation, or elevation of the feature in said scanning, and the size, orientation, or elevation of the at least one feature at the third position aligns with the expected size, orientation, or elevation of the feature in subsequent scanning with the robot at the third position.

16. A method for robotic inventory management, the method comprising:

navigating a robot to a first marker within an object warehouse based on an object mapping indicating a first location of a particular object adjacent to the first marker, the object warehouse storing a plurality of objects;

scanning the first marker with a sensor of the robot upon the robot navigating to the first location;

retrieving the particular object with said robot in response to said scanning the first marker;

identifying from said object mapping, a second marker indicating an open second location within the object warehouse;

returning the particular object to said second location with said robot;

scanning with the sensor of the robot, the second marker at the second location to which the particular object is returned; and

updating the object mapping by changing a storage location of the particular object from the first marker to the second marker.

17. The method of claim 16, wherein said identifying comprises detecting an update to the object mapping by a different second robot scanning the second marker in response to retrieving an object from the second location.

18. The method of claim 16, wherein said updating comprising notifying at least one other robot operating in the object warehouse that the storage location of the particular object has changed from the first marker to the second marker.

19. The method of claim 16 further comprising delivering the particular object with the robot to a destination in said object warehouse after said retrieving.

20. The method of claim 19 further comprising selecting the open second location based on the second location having closer proximity to the destination than the first location.