Granted Patent B2

US 12,638,294 · App. 18/210,423 · Granted May 26, 2026

Inventors: Soon Hac Hong (San Jose, CA); Young Joon Kim (San Jose, CA)

Assignee: Brookhurst Garage, Inc.

G01C21/206B64U10/00B64U2101/30B64U2101/70

Abstract

Claims (96)

1 . A computer-implemented method for generating a topometric map according to a unified numbering system used to navigate an aerial inventory robot in a warehouse, the computer-implemented method comprising:

receiving, by a robotic control system from a warehouse operator, warehouse layout data of a warehouse, wherein the warehouse layout data includes a first set of location coordinates in a first format that is specific to the warehouse, the first format being one of a plurality of heterogeneous warehouse-specific coordinate systems used across different storage sites, the robotic control system is adapted to process different location coordinate formats of a plurality of warehouses, the first set of location coordinates including coordinates of racks and storage locations, and the coordinates of the racks and storage locations are arranged in a first particular order according to the first format;

analyzing the first particular order of the racks and the storage locations specified in the first format to determine a data position of a storage location relative to a data position of a rack;

selecting, from a plurality of candidate conversion algorithms, a conversion algorithm based on analyzing the first particular order, wherein selecting the conversion algorithm comprises:

matching the first particular order to one of a plurality of stored numbering system templates, and

selecting the conversion algorithm associated with the matched template;

translating, using the conversion algorithm, the first set of location coordinates into a second set of location coordinates, wherein the second set of location coordinates are in a second format according to a unified numbering system that is used in topometric navigation;

generating, by the robotic control system, a topometric map of the warehouse based on the second set of location coordinates, the topometric map comprising vertices corresponding to storage locations and edges representing navigable paths for the aerial inventory robot; and

causing, by the robotic control system, the aerial inventory robot to navigate along a path defined in the topometric map to a selected storage location in the warehouse.

2 . The computer-implemented method of claim 1 , wherein the second set of location coordinates in the second format based on the unified numbering system comprises rack, column, and row coordinate values.

3 . The computer-implemented method of claim 1 , the plurality of candidate conversion algorithms comprising a first conversion algorithm configured to translate the first set of location coordinates in a first format having rack, bay, level, and position coordinate values to a second set of location coordinates in the second format, the first conversion algorithm comprising:

converting the rack coordinate value of the first format to a rack coordinate value of the second format;

converting the bay and position coordinate values of the first format to a column coordinate value of the second format; and

converting the level value of the first format to a row value of the second format.

4 . The computer-implemented method of claim 1 , wherein the plurality of candidate conversion algorithms comprising a second conversion algorithm configured to convert a first set of location coordinates in a first format having aisle, rack, level, and position coordinate values to a second set of location coordinates in the second format, the second conversion algorithm comprising:

converting the aisle and rack coordinate values of the first format to a rack coordinate value of the second format;

converting the position coordinate value of the first format to a column coordinate value of the second format; and

converting the level coordinate value of the first format to a row coordinate value of the second format.

5 . The computer-implemented method of claim 1 , wherein the plurality of candidate conversion algorithms comprising a third conversion algorithm configured to convert a first set of location coordinates in a first set of location coordinates in a rack-bay-level-position format to a second set of location coordinates in a rack-column-row format, the third conversion algorithm comprising:

converting a rack coordinate value of the rack-bay-level-position format to a rack coordinate value of the rack-column-row format;

converting a level coordinate value of the rack-bay-level-position format to a row coordinate value of the rack-column-row format by assigning a numerical value to the level; and

converting bay and position coordinate values of the rack-bay-level-position format to a column coordinate value of the rack-column-row format.

6 . The computer-implemented method of claim 1 , wherein the plurality of candidate conversion algorithms comprising a fourth conversion algorithm configured to convert a first set of location coordinates in an aisle-rack-level-position format and position coordinate values to a second set of location coordinates in a rack-column-row format, the fourth conversion algorithm comprising:

converting aisle and rack side designations of the aisle-rack-level-position format to a rack coordinate value of the rack-column-row format;

converting the position coordinate value to a column coordinate value; and

converting a level coordinate value to a row coordinate value.

7 . The computer-implemented method of claim 1 , wherein the plurality of candidate conversion algorithms comprising a fifth conversion algorithm configured to convert a first set of location coordinates in an aisle-position-level format to a second set of location coordinates in a rack-column-row format, the fifth conversion algorithm comprising:

determining the rack coordinate in the second format using an aisle identifier and an assignment based on whether the position is on a left or right side of the aisle;

converting the position identifier in the first format to a column coordinate by grouping adjacent pallet positions along each aisle; and

converting a level identifier in the first format to a row coordinate by assigning a numerical value to a level designation.

8 . The computer-implemented method of claim 1 , wherein generating the topometric map comprises:

accessing, by the robotic control system, a second set of location coordinates and warehouse layout data corresponding to a warehouse;

generating vertices for pallet locations and structural locations based on warehouse layout data, wherein the vertices are labeled using the second set of location coordinates based on the unified numbering system;

generating edges between neighboring vertices based on warehouse layout data; and

moving the aerial inventory robot along a path around the warehouse;

measuring metric values within the warehouse; and

assigning metric values to vertices and edges of the topometric map.

9 . A non-transitory computer readable medium comprising stored instructions that, when executed by one or more processors, cause the one or more processors to:

receive, by a robotic control system from a warehouse operator, warehouse layout data of a warehouse, wherein the warehouse layout data includes a first set of location coordinates in a first format that is specific to the warehouse, the first format being one of a plurality of heterogeneous warehouse-specific coordinate systems used across different storage sites, the robotic control system is adapted to process different location coordinate formats of a plurality of warehouses, the first set of location coordinates including coordinates of racks and storage locations, and the coordinates of the racks and storage locations are arranged in a first particular order according to the first format;

analyze the first particular order of the racks and the storage locations specified in the first format to determine a data position of a storage location relative to a data position of a rack;

select, from a plurality of candidate conversion algorithms, a conversion algorithm based on analyzing the first particular order, wherein selecting the conversion algorithm comprises:

matching the first particular order to one of a plurality of stored numbering system templates, and

selecting the conversion algorithm associated with the matched template;

translate, using the conversion algorithm, the first set of location coordinates into a second set of location coordinates, wherein the second set of location coordinates are in a second format according to a unified numbering system that is used in topometric navigation;

generate, by the robotic control system, a topometric map of the warehouse based on the second set of location coordinates, the topometric map comprising vertices corresponding to storage locations and edges representing navigable paths for an aerial inventory robot; and

cause, by the robotic control system, the aerial inventory robot to navigate along a path defined in the topometric map to a selected storage location in the warehouse.

10 . The non-transitory computer readable medium of claim 9 , wherein the second set of location coordinates in the second format based on the unified numbering system comprises a rack, column, and row parameter values.

11 . The non-transitory computer readable medium of claim 9 , wherein the plurality of candidate conversion algorithms comprises a first conversion algorithm configured to translate a first set of location coordinates in a first format having rack, bay, level, and position coordinate values to a second set of location coordinates in the second format, the first conversion algorithm comprising instructions that when executed by the one or more processors, cause the computer processor to:

convert the rack coordinate value of the first format to a rack coordinate value of the second format;

convert the bay and position coordinate values of the first format to a column coordinate value of the second format; and

convert the level value of the first format to a row value of the second format.

12 . The non-transitory computer readable medium of claim 9 , wherein the plurality of candidate conversion algorithms comprises a second conversion algorithm configured to convert a first set of location coordinates in a first format having aisle, rack, level, and position coordinate values to a second set of location coordinates in the second format, the second conversion algorithm comprising instructions that when executed by the one or more processors, cause the computer processor to:

convert the aisle and rack coordinate values of the first format to a rack coordinate value of the second format;

convert the position coordinate value of the first format to a column coordinate value of the second format; and

convert the level coordinate value of the first format to a row coordinate value of the second format.

13 . The non-transitory computer readable medium of claim 9 , wherein the plurality of candidate conversion algorithms comprising a third conversion algorithm configured to convert a first set of location coordinates in a first set of location coordinates in a rack-bay-level-position format to a second set of location coordinates in a rack-column-row format, the third conversion algorithm comprising instructions that when executed by the one or more processors, cause the computer processor to:

convert a rack coordinate value of the rack-bay-level-position format to a rack coordinate value of the rack-column-row format;

convert a level coordinate value of the rack-bay-level-position format to a row coordinate value of the rack-column-row format by assigning a numerical value to the level; and

convert bay and position coordinate values of the rack-bay-level-position format to a column coordinate value of the rack-column-row format.

14 . The non-transitory computer readable medium of claim 9 , wherein the plurality of candidate conversion algorithms comprising a fourth conversion algorithm configured to convert a first set of location coordinates in an aisle-rack-level-position format and position coordinate values to a second set of location coordinates in a rack-column-row format, the fourth conversion algorithm comprising instructions that when executed by the one or more processors, cause the computer processor to:

convert aisle and rack side designations of the aisle-rack-level-position format to a rack coordinate value of the rack-column-row format;

convert the position coordinate value to a column coordinate value; and

convert a level coordinate value to a row coordinate value.

15 . The non-transitory computer readable medium of claim 9 , wherein the plurality of candidate conversion algorithms comprising a fifth conversion algorithm configured to convert a first set of location coordinates in an aisle-position-level format to a second set of location coordinates in a rack-column-row format, the fifth conversion algorithm comprising instructions that when executed by the one or more processors, cause the computer processor to:

determine the rack coordinate in the second format using an aisle identifier and an assignment based on whether the position is on a left or right side of the aisle;

convert the position identifier in the first format to a column coordinate by grouping adjacent pallet positions along each aisle; and

convert a level identifier in the first format to a row coordinate by assigning a numerical value to a level designation.

16 . The non-transitory computer readable medium of claim 9 , wherein the instructions to generate the topometric map further comprises stored instructions that when executed by the one or more processors, cause the computer processor to:

access, by the robotic control system, a second set of location coordinates and warehouse layout data corresponding to a warehouse;

generate vertices for pallet locations and structural locations based on warehouse layout data, wherein the vertices are labeled using the second set of location coordinates based on the unified numbering system;

generate edges between neighboring vertices based on warehouse layout data; and

move the aerial inventory robot along a path around the warehouse;

measure metric values within the warehouse; and

assign metric values to vertices and edges of the topometric map.

17 . A computer system comprising:

a robotic control system configured to:

receive, by a robotic control system from a warehouse operator, warehouse layout data of a warehouse, wherein the warehouse layout data includes a first set of location coordinates in a first format that is specific to the warehouse, the first format being one of a plurality of heterogeneous warehouse-specific coordinate systems used across different storage sites, the robotic control system is adapted to process different location coordinate formats of a plurality of warehouses, the first set of location coordinates including coordinates of racks and storage locations, and the coordinates of the racks and storage locations are arranged in a first particular order according to the first format;

analyze the first particular order of the racks and the storage locations specified in the first format to determine a data position of a storage location relative to a data position of a rack;

select, from a plurality of candidate conversion algorithms, a conversion algorithm based on analyzing the first particular order, wherein selecting the conversion algorithm comprises:

matching the first particular order to one of a plurality of stored numbering system templates, and

selecting the conversion algorithm associated with the matched template;

translate a first set of location coordinates to a second set of location coordinates using one of a plurality of candidate conversion algorithms, the second set of location coordinates having a second format according to a unified numbering system, wherein the second set of location coordinates are used to generate a topometric map used to navigate an aerial inventory robot within a warehouse; and

generate, by the robotic control system, a topometric map of the warehouse based on the second set of location coordinates, the topometric map comprising vertices corresponding to storage locations and edges representing navigable paths for the aerial inventory robot; and

the aerial inventory robot in communication with the robotic control system, the inventory robot configured to:

move along a path within the warehouse;

measure, with a camera module, metric values within the warehouse, wherein the metric values are associated with vertices and edges of the topometric map; and

assign metric values to vertices and edges of the topometric map.

18 . The computer system of claim 17 , wherein the second set of location coordinates in the second format based on the unified numbering system comprises rack, column, and row coordinate values.

19 . The computer system of claim 17 , wherein the plurality of candidate conversion algorithms comprises a first conversion algorithm configured to translate a first set of location coordinates in a first format having rack, bay, level, and position coordinate values to a second set of location coordinates in the second format, the first conversion algorithm comprising instructions to:

convert the rack coordinate value of the first format to a rack coordinate value of the second format;

convert the bay and position coordinate values of the first format to a column coordinate value of the second format; and

convert the level value of the first format to a row value of the second format.

20 . The computer system of claim 17 , wherein the plurality of candidate conversion algorithms comprising a third conversion algorithm configured to convert a first set of location coordinates in a first set of location coordinates in a rack-bay-level-position format to a second set of location coordinates in a rack-column-row format, the third conversion algorithm comprising instructions to:

convert a rack coordinate value of the rack-bay-level-position format to a rack coordinate value of the rack-column-row format;

convert a level coordinate value of the rack-bay-level-position format to a row coordinate value of the rack-column-row format by assigning a numerical value to the level; and

convert bay and position coordinate values of the rack-bay-level-position format to a column coordinate value of the rack-column-row format.

Assignments (1)

Continuity (1)

References Cited (28)