# US 10,311,634 B2 · Three dimensional scanning and data extraction systems and processes for supply chain piece automation

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- Number: US 10,311,634 B2
- Document ID: US10311634B2
- Status: Granted
- Kind: B2
- Application number: 15/205,519
- Filed: 2016-07-08
- Published: 2017-01-26
- Granted: 2019-06-04
- Earliest claimed: 2015-07-21
- Assignees: IAM Robotics, LLC
- Applicants: IAM Robotics, LLC
- Inventors: Ricky Alan Houghton; Thomas Galluzzo; Vladimir Altman
- Web page: https://patentgrep.com/patent/US10311634B2

## CPC

- G06T 17/10: Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
- G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders
- G06Q 10/08741: {by picking of items from inventory for fulfillment}
- G06Q 10/0877: {by inventory control or reporting using inventory tracking or counting}
- G06T 7/66: of image moments or centre of gravity
- G06T 17/00: Three-dimensional [3D] modelling for computer graphics
- H04N 13/243: using three or more two-dimensional [2D] image sensors
- G06T 2200/04: involving 3D image data
- G06T 2200/08: involving all processing steps from image acquisition to 3D model generation
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A system and method for managing supply chain inventory which includes a product model to direct inventory management operations such as piece picking and restocking. The system includes a scanner configured to measure the dimensions and weight of a product, and to obtain a plurality of images of the product. The system further includes a computing device having at least one processor and a memory, and configured to use the measured weight and dimensions, and the plurality of images, to determine any of a shape of the outer surface of the product, a center of gravity of the product, and a three dimensional representation of a shape of a configuration of the product which may be included in the product model. Configurations can include single product, packaged product, and bundled configurations. The product model may be stored in memory or on a remote database for future use.

## Claims

### Claim 1

A system for generating a product model, the system comprising:
a scanner having a scanner housing comprising:
a plurality of sensors configured to measure dimensions and a weight of a product, and to obtain one or more images of the product, and
lighting configured to provide optimal lighting conditions for the plurality of sensors; and
a computing device including:
at least one processor configured to execute computer-executable instructions,
a memory storing the computer-executable instructions and data collected by the plurality of sensors, wherein the data includes the weight of the product, the dimensions of the product, and the one or more images of the product, and
a remote communication interface configured to transfer the data and a product model to a remote database,
wherein the computer-executable instructions generate the product model based on the data collected by the plurality of sensors, wherein the product model includes at least an estimated center of gravity location of the product, the weight of the product, and the dimensions of the product,
wherein the estimated center of gravity location of the product is generated based on at least the weight of the product and the dimensions of the product.

### Claim 2 (depends on 1)

The system as set forth in claim 1, wherein the plurality of sensors comprises at least one first sensor for measuring the dimensions of the product, at least one second sensor for measuring the weight of the product, and at least one third sensor for obtaining the one or more images of the product.

### Claim 3 (depends on 1)

The system as set forth in claim 1, wherein the memory further stores computer-executable instructions configured to identify at least one landmark on an outer surface of the product and associate the at least one landmark with the product model.

### Claim 4 (depends on 3)

The system as set forth in claim 3, wherein the at least one landmark comprises a barcode selected from a group consisting of a UPC code, an EAN code, and a GTIN code.

### Claim 5 (depends on 1)

The system as set forth in claim 1, wherein the product model includes multiple configurations selected from the group consisting of a single product configuration, a packaged product configuration, and a bundled product configuration.

### Claim 6

A method for managing supply chain inventory, the method comprising:
autonomously calibrating at least one of a plurality of sensors configured to measure dimensions of a product, a weight of the product, and obtain images of the product, wherein the calibrating includes automatic detection of an auto-calibration device having at least a defined weight and dimensions, wherein the automatic detection is of a code on the auto-calibration device that is readable by at least one of the plurality of sensors, the code providing details related to at least the weight of the calibration device and the dimensions of the calibration device;
measuring the dimensions of the product, the weight of the product, and obtaining a plurality of images of the product using the plurality of sensors;
determining a shape of an outer surface of the product based on data collected by at least the plurality of images of the product;
determining an estimated center of gravity location of the product based on the dimensions of the product and the weight of the product;
generating a product model comprising a three dimensional representation of a shape of a configuration of the product, the estimated center of gravity location of the product, and the weight of the product; and
storing the product model in a memory.

### Claim 7 (depends on 6)

The method as set forth in claim 6, further comprising:
identifying at least one landmark on the outer surface of the product; and
adding the at least one landmark to the product model.

### Claim 8 (depends on 7)

The method as set forth in claim 7, wherein the at least one landmark comprises a barcode selected from a group consisting of a UPC code, an EAN code, and a GTIN code.

### Claim 9 (depends on 6)

The method as set forth in claim 6, wherein the product model further comprises images of the product.

### Claim 10 (depends on 6)

The method as set forth in claim 6, wherein the product model includes multiple configurations selected from the group consisting of a single configuration of the product, a packaged configuration of the product, and a bundled configuration of the product.

### Claim 11

A supply chain management system comprising:
a scanner comprising a plurality of sensors configured to measure dimensions of a product, a weight of the product, and obtain a plurality of images of the product; and
a calibration device having a defined weight and defined dimensions, and comprising at least one code readable by at least one of the plurality of sensors, wherein the code provides details related to the weight of the calibration device and the dimensions of the calibration device; and
a computing device including at least one processor configured to execute computer-executable instructions for generating a model of the product based on the weight of the product, the dimensions of the product, and the images of the product, wherein the computer-executable instructions include a first module for determining a shape of an outer surface of the product, a second module for building a product model that includes a three dimensional representation of a shape of a configuration of the product, and a third module for calculating an estimated center of gravity location of the product,
wherein the system automatically detects the calibration device and autonomously calibrates one or more of the plurality of sensors.

### Claim 12 (depends on 11)

The supply chain management system of claim 11, further comprising:
a database for storing the model of the product.

### Claim 13 (depends on 12)

The supply chain management system of claim 12, wherein the computing device is connected to the database over a network.

### Claim 14 (depends on 12)

The supply chain management system of claim 12, wherein the database is connected to at least one of an inventory management component and a website over the network.

### Claim 15 (depends on 11)

The supply chain management system of claim 11, wherein the model of the product includes an estimated location of the center of gravity of the product, and at least one landmark on an outer surface of the product.

### Claim 16 (depends on 1)

The system as set forth in claim 1, wherein the memory further stores computer-executable instructions configured to perform optical character recognition (OCR) on the images of the product, and associate OCR information with the product model.

### Claim 17 (depends on 1)

The system as set forth in claim 1, wherein the scanner further comprises a calibration device having defined dimensions and weight to allow calibration of the plurality of sensors.

### Claim 18 (depends on 17)

The system of claim 17, wherein the calibration device comprises at least one code readable by at least one of the plurality of sensors which provides details related to at least one of the surface pattern on the calibration device, the weight of the calibration device, the dimensions of the calibration device, the color of the calibration device, or any combination thereof.

### Claim 19 (depends on 6)

The method as set forth in claim 6, further comprising:
determining the optimal lighting conditions for the plurality of sensors to produce the three dimensional representation of the shape of a configuration of the product.

### Claim 20 (depends on 1)

The system as set forth in claim 1, wherein the remote database is housed on a remote computer system, the remote computer system comprising a memory storing computer-executable instructions configured to generate the product model.

### Claim 21 (depends on 1)

The system as set forth in claim 1, wherein the remote database is a cloud based database accessible by third party data users.

### Claim 22 (depends on 1)

The system as set forth in claim 1, wherein the orientation of the product includes at least a top of the product.

### Claim 23 (depends on 17)

The system as set forth in claim 17, wherein the system automatically detects the calibration device and autonomously calibrates one or more of the plurality of sensors.

### Claim 24 (depends on 1)

The system of claim 1, wherein the product model further includes one or both of a three dimensional representation of a shape of a configuration of the product, and an orientation of the product.