US 12,220,813 B1
Calibration garage for automated calibration of depth sensors in mobile robots
Dincer Bozkaya, Andover, MA (US); Sara Jean Woo, Andover, MA (US); William Joseph Klein, Londonderry, NH (US); Jing Ma, Salt Lake City, UT (US); Gregory Cartagena, Boston, MA (US); Justin Croyle, Hampstead, NH (US); Gabriel Hebert, Wakefield, MA (US); Fahrudin Alagic, Lynn, MA (US); and Stephen A. Caldara, Falmouth, MA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Jun. 29, 2021, as Appl. No. 17/361,843.
Int. Cl. B25J 19/02 (2006.01); B25J 9/16 (2006.01); G01C 21/00 (2006.01); G01C 25/00 (2006.01); G06Q 10/087 (2023.01)
CPC B25J 19/02 (2013.01) [B25J 9/1694 (2013.01); G01C 21/3819 (2020.08); G01C 25/005 (2013.01); G06Q 10/087 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An inventory system comprising:
a structured field within an environment, the structured field comprising a plurality of fiducial markers, each disposed in a different cell location on a floor of the environment;
a calibration region disposed within the structured field, wherein the calibration region comprises;
a first cell location comprising a plurality of calibration targets, wherein the plurality of calibration targets comprises:
a first target at a first distance from a drive unit; and
a second target at a second distance from the drive unit;
wherein the second distance is greater than the first distance, and wherein the first target comprises a window portion such that the second target is viewable through the window portion; and
a light diffuser disposed along an upper surface of the plurality of calibration targets; and
at least one drive unit operable to autonomously move within the structured field, based on detecting one or more of the plurality of fiducial markers, wherein the at least one drive unit comprises:
a stereo camera configured to detect one or more obstacles within the structured field; and
a controller configured to:
instruct the at least one drive unit to move to the calibration region upon detecting at least one predetermined condition; and
perform a calibration test of the stereo camera at the calibration region using the plurality of calibration targets, wherein the calibration test comprises determining a fill ratio of the stereo camera based at least in part on a portion of the second target viewable through the window portion.