# US 11,308,689 B2 · Three dimensional scanning and data extraction systems and processes for supply chain piece automation

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- Number: US 11,308,689 B2
- Document ID: US11308689B2
- Status: Granted
- Kind: B2
- Application number: 16/385,168
- Filed: 2019-04-16
- Published: 2019-08-08
- Granted: 2022-04-19
- 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/US11308689B2

## 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

Managing supply chain inventory is accomplished by measuring the dimensions and the weight of a product. A plurality of images of the product is obtained. The shape of the outer surface of the product is determined. The center of gravity of the product can be calculated. A product model that includes a three dimensional representation of the shape of a configuration of the product and optionally the center of gravity of the product is generated. The product model is stored in memory for future use.

## Claims

### Claim 1

A supply chain management system comprising:
a scanner comprising:
a plurality of sensors configured to collect data about a product, wherein the data includes a weight of the product, dimensions of the product, and one or more images of the product,
a computing device including at least one processor configured to execute computer-executable instructions, and a memory storing the computer-executable instructions and the data collected by the plurality of sensors, and
a communication interface configured to transfer the data collected by the plurality of sensors;
an inventory management system; and
one or more inventory robots configured to travel within a supply chain facility and communicate with the inventory management system to obtain a product model for the product and to use the product model to retrieve the product from or deliver the product to a location within the supply chain facility,
wherein the product model is generated based on the data collected by the plurality of sensors of the scanner and 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

A method for supply chain management comprising:
obtaining data about a product using a scanner, wherein the data includes a weight of the product, dimensions of the product, and one or more images of the product;
generating a product model for the product based on the data from the scanner using computer-executable instructions of a computing device of the scanner;
sending the product model to an inventory management system comprising one or more inventory robots configured to travel within a supply chain facility; and
picking or putting-away the product within the supply chain facility using an end effector of one of the one or more inventory robots, wherein the inventory robot is configured to use the product model to pick the product,
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 3 (depends on 1)

The system of claim 1, wherein the plurality of sensors comprise a first sensor for measuring the dimensions of the product, a second sensor for measuring the weight of the product, and a third sensor for obtaining the one or more images of the product.

### Claim 4 (depends on 1)

The system of 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 5 (depends on 1)

The system of claim 1, wherein the computer-executable instructions of the computing device of the scanner generate the product model based on the data collected by the plurality of sensors.

### Claim 6 (depends on 1)

The system of claim 1, wherein the scanner comprises a lighting configured to provide optimal lighting conditions for the plurality of sensors.

### Claim 7 (depends on 1)

The system of claim 1, wherein the communication interface of the scanner is configured to transfer the data collected by the plurality of sensors, the product model, or both to the inventory management system.

### Claim 8 (depends on 1)

The system of claim 1, wherein the communication interface of the scanner is configured to transfer the data collected by the plurality of sensors, the product model, or both to a remote database housed on a remote computer system.

### Claim 9 (depends on 3)

The system of claim 3, wherein the remote database is a cloud-based database accessible by third party data users.

### Claim 10 (depends on 1)

The system of claim 1, wherein the computing device is configured to identify at least one landmark on the product based on the data collected by the plurality of sensors, wherein the at least one landmark provides orientation information about the product.

### Claim 11 (depends on 10)

The system of claim 10, wherein the at least one landmark comprises a barcode.

### Claim 12 (depends on 10)

The system of claim 10, wherein the one or more inventory robots use the product model to position the product on a shelf in a specific orientation.

### Claim 13 (depends on 2)

The method of claim 2, further comprising:
sending the product model to a cloud-based database accessible by third party data users.

### Claim 14 (depends on 2)

The method of claim 2, further comprising:
sending the data from the sensors to a remote database housed on a remote computer system, wherein the remote database is a cloud-based database accessible by third party data users.

### Claim 15 (depends on 2)

The method of claim 2, further comprising: after picking the product, determining a correct pick by the inventory robot based on the weight of the product.

### Claim 16 (depends on 2)

The method of claim 2, further comprising: before picking or put-away of the product, identify at least one landmark on the product based on the data collected by the plurality of sensors, wherein the at least one landmark provides orientation information about the product.

### Claim 17 (depends on 16)

The method of claim 16, wherein the at least one landmark comprises a barcode.

### Claim 18 (depends on 2)

The method of claim 2, wherein the product model includes a three-dimensional representation of a shape of a configuration of the product.

### Claim 19 (depends on 18)

The method of claim 18, wherein the configuration of the product includes a single product configuration, a packaged product configuration, or a bundled product configuration.