Granted Patent B2

US 10,265,871 · App. 16/121,899 · Granted Apr 23, 2019

Abstract

Claims (36)

1. A method comprising:

causing a robotic device to transport a load from a first location to a second location in an environment;

while the robotic device is transporting the load from the first location to the second location in the environment, making a determination to verify contents of the load using a sensor in the environment, wherein the sensor is separate from the robotic device;

in response to making the determination, causing the robotic device to transport the load within a field of view of the sensor before transporting the load to the second location; and

using sensor data from the sensor in the environment to verify the contents of the load.

2. The method of claim 1 , wherein the sensor is at a fixed location in the environment.

3. The method of claim 2 , wherein the sensor is mounted on a wall in the environment.

4. The method of claim 1 , wherein the robotic device is a first robotic device, and wherein the sensor is on a second robotic device.

5. The method of claim 4 , further comprising dispatching the second robotic device to a particular location in order to collect the sensor data used to verify the contents of the load.

6. The method of claim 4 , further comprising coordinating respective routes of the first robotic device and the second robotic device to cause the first robotic device and the second robotic device to pass each other to enable verification of the load transported by the first robotic device.

7. The method of claim 6 , further comprising using additional sensor data from a different sensor on the first robotic device to verify contents of a different load being transported by the second robotic device.

8. The method of claim 1 , further comprising:

determining a weight of the load transported by the robotic device; and

identifying a discrepancy between the weight of the load and an expected weight of the load, wherein the determination to verify the contents of the load is made in response to identifying the discrepancy.

9. The method of claim 8 , wherein determining the weight of the load transported by the robotic device is performed using a scale on the robotic device.

10. The method of claim 8 , wherein identifying the discrepancy comprises determining that the weight of the load is not within a margin of error of the expected weight of the load.

11. The method of claim 1 , wherein using the sensor data from the sensor in the environment to verify the contents of the load comprises detecting an on-item identifier on the load and comparing the on-item identifier to a target identifier.

12. The method of claim 11 , further comprising:

detecting a mismatch between the on-item identifier and the target identifier; and

performing an action based on the detected mismatch.

13. The method of claim 11 , wherein the on-item identifier is a barcode.

14. The method of claim 1 , wherein the environment is a warehouse, and wherein the load is a pallet.

15. The method of claim 1 , wherein the sensor is a camera, and wherein the sensor data is image data.

16. The method of claim 1 , further comprising based on results of using the sensor data from the sensor in the environment to verify the contents of the load, causing the robotic device to transport the load to a third location, wherein the third location is different from the second location.

17. The method of claim 1 , wherein using the sensor data from the sensor in the environment to verify the contents of the load comprises detecting a color of the load and comparing the color of the load to an expected color.

18. The method of claim 1 , further comprising updating inventory information in a database based on results of using the sensor data from the sensor in the environment to verify the contents of the load.

19. A robotic device, comprising a control system, wherein the control system is configured to:

cause the robotic device to transport a load from a first location to a second location in an environment;

while the robotic device is transporting the load from the first location to the second location in the environment, make a determination to verify contents of the load using a sensor in the environment, wherein the sensor is separate from the robotic device;

in response to making the determination, cause the robotic device to transport the load within a field of view of the sensor before transporting the load to the second location; and

use sensor data from the sensor in the environment to verify the contents of the load.

20. A non-transitory computer readable medium comprising program instructions executable by at least one processor to perform functions comprising:

causing a robotic device to transport a load from a first location to a second location in an environment;

while the robotic device is transporting the load from the first location to the second location in the environment, making a determination to verify contents of the load using a sensor in the environment, wherein the sensor is separate from the robotic device;

in response to making the determination, causing the robotic device to transport the load within a field of view of the sensor before transporting the load to the second location; and

using sensor data from the sensor in the environment to verify the contents of the load.

Assignments (3)

Cited By (10)

US 12,291,410 US 12,380,754 US 12,387,544 US 12,424,044 US 12,456,094 US 12,493,855 US 12,518,582 US 12,566,438 US 12,579,686 US 12,705,570