Abstract:
Described in detail herein are systems and methods for detecting absent like physical objects at a first facility and replenishing the like physical objects from the second facility to the first facility. The system includes an autonomous robot device configured to detect absent like physical objects at a first facility and transmit an identifier associated with the like physical objects to a first computing system. The first computing system determines the need for the addition of the like physical objects in the first facility and transmits the data associated with the like physical objects to the second computing system. The second computing system corrects a perpetual inventory error associated with the like physical objects based on the received data and transmits instructions to an autonomous robot picker disposed at a second facility to replenish the like physical objects at the first facility. The autonomous robot picker locates, picks up and carries the like physical objects at the second facility to a conveyer belt. The like physical objects are transported from the second facility to the first facility.

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS 
       [0001]    This application claims priority to U.S. Provisional Application No. 62/331,647 filed on May 4, 2016, the contents of the application is hereby incorporated by reference in its entirety 
     
    
     BACKGROUND 
       [0002]    Updating sets of physical objects and maintaining accurate data associated with the sets of physical object can be difficult, particularly where the status of the sets of physical objects are constantly changing. While some of the data can be updated and/or maintained through normal processes, errors can occur when elements from the sets of physical objects are not channeled through normal processes. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0003]    Illustrative embodiments are shown by way of example in the accompanying drawings and should not be considered as a limitation of the present disclosure: 
           [0004]      FIG. 1  illustrates an exemplary autonomous robot system in accordance with exemplary embodiments of the present disclosure; 
           [0005]      FIG. 2A  is a block diagram illustrating an autonomous robot device in an autonomous robot system according to exemplary embodiments of the present disclosure; 
           [0006]      FIGS. 2B-2C  depict images captured by an embodiment of the autonomous robot device in the storage units according to an exemplary embodiment of the present disclosure; 
           [0007]      FIG. 2D  illustrates an image rendered on a display of a mobile device including information associated with physical objects disposed on a shelving unit according to exemplary embodiments of the present disclosure; 
           [0008]      FIG. 3  is a block diagrams illustrating another autonomous robot device in an autonomous system according to exemplary embodiments of the present disclosure; 
           [0009]      FIG. 4  is a block diagram of an example computing device in an autonomous robot system according to exemplary embodiments of the present disclosure; 
           [0010]      FIG. 5  is a flowchart illustrating an exemplary process implemented by an exemplary autonomous robot system in accordance with exemplary embodiments of the present disclosure; and 
           [0011]      FIG. 6  a flowchart illustrating an exemplary process in an autonomous robot system in accordance with exemplary embodiments of the present disclosure. 
       
    
    
     DETAILED DESCRIPTION 
       [0012]    Described in detail herein are autonomous robot systems and methods. The autonomous robot systems and methods can include autonomous robot devices, and the autonomous robot devices associated with a first set of autonomous robot devices can each include a controller, a drive motor, and an image capturing device roaming autonomously through a first facility. The autonomous robot devices associated with the first set can autonomously roam or navigate through a first facility in response to operation of the drive motor by the controller. For example, the autonomous robot devices associated with the first set can include one or more wheels, tracks, propellers, rotor systems (including rotor blades), and the like. 
         [0013]    The autonomous robot devices associated with the first set can scan the environment within which they roam to detect and capture images of locations within the first facility at which sets of like physical objects are supposed to be disposed. Using the image capturing device, the autonomous robot devices can detect that the like physical objects of a set of like physical objects are absent from a first location based on the images captured by the image capturing devices. When one of the autonomous robot devices reads an identifier at the first location that is associated with the set of like physical objects, the autonomous robot device can wirelessly transmit the identifier to a first computing system that includes at least one server and a first database. In exemplary embodiments, the autonomous robot devices of the first set can detect the set of like physical objects are absent from the first location within the facility using machine vision and/or video analytics. In exemplary embodiments, the autonomous robot devices of the first set can include optical machine scanners, and the identifier can be an optical machine readable representation that is readable by the optical machine scanners. For example, when an autonomous robot device of the first set detect the absence of like physical objects using the image capturing device, the autonomous robot device can locate the identifier (e.g., using images from the image capturing device) and the controller of the autonomous robot device can control the optical machine scanner to read the identifier. 
         [0014]    The first computing system can store data in the first database in response to receipt of the identifier from the autonomous robot device. The data can indicate a need to add more of the like physical objects to the set at the first location in response to receipt of the identifier from the autonomous robot device. The first computing system can transmit the data associated with the like physical objects stored in the first database from the first computing system to a remotely located second computing system. 
         [0015]    The second computing system can receive the data associated with the like physical objects and, based. at least in part on the data, the second computing system can correct an error associated a quantity of the like physical objects at the first facility. After correcting the error, the second computing system can transmit the correction to the first computing system. 
         [0016]    In some instances, the correction of the error can trigger the second computing system to transmit instructions to autonomous robot devices associated with a second set of autonomous robot devices disposed in a second facility. In some embodiments, an intermediary computing system can provide an interface between the second computing system and the autonomous robot devices associated with the second set. The second computing system (e.g., via the intermediate computing system) can control an operation of a conveyer belt disposed in the second facility. At least one of the autonomous robot devices can autonomously navigate through the second facility to a storage location for the like physical objects in the second facility in response to the instructions from the second computing system. The autonomous robot device can include at least one picking unit and can autonomously control the picking unit to remove at least one of the like physical objects from the storage location and can autonomously control the picking unit to place the at least one of the like physical objects on the conveyer belt to transport the at least one of the like physical objects from the storage location to a distribution location in the second facility. 
         [0017]    In exemplary embodiments, the first and/or second computing systems can determine whether like physical objects associated with the set of like physical objects are present in a second location within the first facility based on data retrieved from one or more databases. 
         [0018]    In exemplary embodiments, the first computing system can determine whether the identifier, e.g., at the first location, has been read more than a specified quantity of times within a specified time period. The first computing system is configured to determine that the same identifier has been read by two of the plurality of autonomous robot devices within a specified time period. The first computing system deletes subsequent/redundant reads that occur within the specified time period. 
         [0019]      FIG. 1  illustrates an exemplary autonomous robot system in accordance with exemplary embodiments of the present disclosure. In exemplary embodiments, the system  100  includes a first computing system  150 , a second computing system  120 , autonomous robot devices  102 , autonomous robot pickers  105 , and a conveyor belt  195 . The system  100  can be geographically distributed such that at least the autonomous robot devices  102  and the autonomous robot devices  105  are located in separate facilities. In some embodiments, the autonomous robot device  102  and the first computing system can be located in a first facility, the autonomous robot pickers  105  can be located in a second facility, and the second computing device  120  can be located in a third facility. In exemplary embodiments, the autonomous robot devices  102  can autonomously roam or navigate through a first facility to detect and report issues associated with the first facility to the first computing system  150 . The first computing system can transmit data associated with the issues the second computing device  120 , which can trigger corrective actions to mitigate and/or eliminate the issues identified by the autonomous robot device  102 . In some instances, to mitigate and/or reduce the issues at the first facility, the second computing system  120  can transmit instructions to the autonomous robot pickers  105  in a second facility to trigger one or more autonomous actions by the autonomous robot pickers  105 , as described herein. 
         [0020]    The first computing system  150  can include a first server  160  and a first database  170 . The first database  170  may store data including, but not limited to, names of physical objects, locations of physical objects, quantities of physical objects, and a perpetual inventory value associated with physical objects. The first server  160  can be in communication with the autonomous robot devices  102  via one or more communication channels to receive data and/or instructions from the autonomous robot device  102  and/or to transmit data and/or instructions to the autonomous robot device  102 . The first server  160  can interact with the database  170  to store data in and retrieve data from the database  170 . The server  160  can also execute an automated batch file to transmit data stored in the database  170  to the second computing device  120  via a network  115 . 
         [0021]    The second computing system  120  may include a second database  110  and a second server  140 . The second database may include data associated with physical objects located at various facilities including names of physical objects, locations of physical objects, quantities of physical objects and a perpetual inventory value associated with physical objects at the first facility. The second server  140  can be in communication with the autonomous robot devices  105  and the conveyor belt  195  via one or more communication channels to receive data and/or instructions from the autonomous robot device  105  and/or to transmit data and/or instructions to the autonomous robot device  105  (e.g., via a network  130  and/or an intermediate computing system  197 ). The second server  140  can interact with the database  110  to store data in and/or retrieve data from the database  110 . The second server  140  can execute a correction application  145  to correct any error associated with the quantity of physical objects present at the first facility. 
         [0022]    In an example embodiment, one or more portions of first and second network  115  and  130  may be an ad hoc network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), a portion of the Internet, a portion of the Public Switched Telephone Network (PSTN), a cellular telephone network, a wireless network, a WiFi network, a WiMax network, any other type of network, or a combination of two or more such networks. 
         [0023]    The autonomous robot devices  102  and autonomous robot pickers  105  can be, but are not limited to, driverless vehicles, unmanned aerial vehicles (e.g., drones), and/or any other suitable autonomous robot configured to autonomously roam and/or navigate through a facility and to perform the functions, operations, and actions described herein. The autonomous robot device  102  can be programmed with a map of the facility and/or can generate a map of the first facility using simultaneous localization and mapping (SLAM). Likewise, the autonomous robot pickers  105  can be programmed with a map of the second facility and/or can generate a map of the second facility using simultaneous localization and mapping (SLAM). 
         [0024]    In operation of exemplary embodiments of the system  100 , the autonomous robot devices  102  can determine like physical objects absent from a first location in a first facility. For example, the autonomous robot device  102  can roam a first facility and capture images of physical objects disposed in the first facility using an image capturing device. For example, the autonomous robot device  102  can be programmed with a map of the facility and/or can generate a map of the facility using simultaneous localization and mapping (SLAM), and can roam or navigate through the facility based on the map where the current location of the autonomous robot device  102  can be determined by the autonomous robot device based on an inertial navigation system, a GPS receiver, triangulation of wireless transmission in the facility, e.g., via WiFi access points. The autonomous robot device  102  can detect from the captured images, like physical objects absent from a first location in the first facility at which the like physical objects are supposed to be disposed and can capture identifiers associated with the physical objects disposed at the first location, e.g., via the image capturing device and/or an optical scanner. For example, the autonomous robot device  102  can capture images of the physical objects throughout the first facility and detect absent physical objects and extract the identifier for the physical object from an image using machine vision. As a non-limiting example, the autonomous robot device  102  can retrieve an image of a physical object in the first facility stored in a database  170  of the first computing system  150 . The autonomous robot device  102  can compare an image of the absent physical object with the retrieved image of the physical object at the first facility and determine the physical object is absent from the first facility. The types of machine vision used by the autonomous robot device  120  can be but are not limited to: Stitching/Registration, Filtering, Thresholding, Pixel counting, Segmentation, Inpainting, Edge detection, Color Analysis, Blob discovery &amp; manipulation, Neural net processing, Pattern recognition, Barcode Data Matrix and “2D barcode” reading, Optical character recognition and Gauging/Metrology. The autonomous robot device  102  can transmit the identifier of the absent like physical objects to the first computing system  150 . 
         [0025]    The first computing system  150  can query the database  170  using the identifier to retrieve data corresponding to the expected quantity of the like physical objects in the first facility. In some embodiments, the first computing system  150  can determine that there is a need for more of the like physical objects in the first facility. The first computing system  150  can store the data associated with the like physical objects in the first database  170  indicating the need to add the like physical objects to the set of like physical objects disposed at the first location in the first facility. Upon the execution of the automated batch file in the first server  160 , the first computing system  150  can transmit the data associated with the identifier associated with the like physical objects as well as the identifier to the second computing system  120  via the first network  115 . The automated batch file can be executed periodically by the first server  160 . 
         [0026]    In some embodiments, the first computing system  150  can receive the same identifier associated with the same like physical objects a subsequent time from the same autonomous robot device  102 . The first computing system  150  can determine the identifier has previously been received within a predetermined period of time and can disregard the identifier received a subsequent time from the autonomous robot device  102 . 
         [0027]    In some embodiments, the first computing system  150  can receive the same identifier associated with the same like physical objects a subsequent time from a different autonomous robot device, such as the autonomous robot device  102 . The first computing system  150  can determine the identifier has previously been received within a predetermined period of time and can disregard the identifier received from the autonomous robot device  102 . 
         [0028]    In some embodiments, the first computing system  150  can determine there are like physical objects located at a second location within the first facility and there is no need for more like physical objects. 
         [0029]    The second server  140  can execute the Correction application  145  upon receiving the data associated with the identifier corresponding to the like physical objects. The Correction application  145  can query the second database  110  to retrieve the perpetual inventory value associated with the like physical objects for the first facility. The perpetual inventory value can be a numerical value indicating the expected inventory of physical objects available at the first facility. For example, if the perpetual inventory value associated with the like physical objects at the first facility indicates a perpetual inventory of 10 like physical objects, the Correction application  145  can determine that there is a perpetual inventory error of ten (10) in response to determining there are actually zero (0) like physical objects at the first facility. The Correction application  145  can correct the perpetual inventory error by changing the perpetual inventory value to zero (0) so that the perpetual inventory value indicates that the like physical objects are not present at the first facility. The Correction application  145  can transmit the corrected perpetual inventory value to the first computing system  150 . 
         [0030]    Upon correcting the perpetual inventory error, the second computing system  120  can transmit instructions to one or more autonomous robot pickers  105  and the conveyor belt  195  in the second facility, e.g., via the intermediate computing system  197 . The instructions can control the operation of the conveyer belt  195  disposed in the second facility the autonomous robot pickers  105  disposed in the second facility. For example, the instructions can control the conveyor belt  195  and one or more of the autonomous robot pickers  105  to autonomously retrieve the like physical objects from a storage location in the second facility. The instructions can include the data associated with the like physical objects including a name of the like physical objects, a description of the like physical objects, coordinates corresponding to a location at which the physical objects are stored within the second facility, an identifier associated with the like physical objects, and a quantity of like physical objects to be retrieved from the storage location. Upon receipt of the instructions, the autonomous robot picker  105  can autonomously navigate to the storage location in which the like physical objects are disposed using the coordinates included in the instructions. In some embodiments, the autonomous robot picker  105  can read identifiers associated with various physical objects within the second facility and determine the location of the like physical objects using the identifiers in conjunction with or instead of using the coordinates. Upon finding the like physical objects, the autonomous robot picker  105  can pick up the like physical objects, carry the like physical objects from the storage location to the conveyer belt  195  and place the like physical objects on the conveyer belt  195 . The like physical objects can be transported to the first facility from the second facility. 
         [0031]      FIG. 2A  is a block diagram illustrating an embodiment of the autonomous robot device  102 . The autonomous robot device  102  can be used to implement embodiments of the autonomous robot devices  102  shown in  FIG. 1 . In exemplary embodiments, the autonomous robot device  102  can be a driverless vehicle, an unmanned aerial craft, and/or the like. The autonomous robot device  102  can include an image capturing device  220 , motive assemblies  222 , a controller  224 , an optical scanner  234 , a drive motor  226 , a GPS receiver  228 , accelerometer  230  and a gyroscope  232 , and can be configured to roam autonomously through a first facility  200 . The autonomous robot device  102  can be and intelligent device capable of performing tasks without human control. The controller  224  can be programmed to control an operation of the image capturing device  220 , the optical scanner  234 , the drive motor  226 , the motive assemblies  222  (e.g., via the drive motor  226 ), in response to various inputs including inputs from the GPS receiver  228 , the accelerometer  230 , and the gyroscope  232 . The drive motor  226  can control the operation of the motive assemblies  222  directly and/or through one or more drive trains (e.g., gear assemblies and/or belts). In this non-limiting example, the motive assemblies  222  are wheels affixed to the bottom end of the autonomous robot device  102 . The motive assemblies  222  can be but are not limited to wheels, tracks, rotors, rotors with blades, and propellers. The motive assemblies  222  can facilitate 360 degree movement for the autonomous robot device  102 . The image capturing device  220  can be a still image camera or a moving image camera. 
         [0032]    The controller  224  of the autonomous robot device  102  can be configured to control the drive motor  226  to drive the motive assemblies  222  so that the autonomous robot device  102  can autonomously navigate through the first facility  200  based on inputs from the GPS receiver  228 , accelerometer  230  and gyroscope  232 . The GPS receiver  228  can be a L-band radio processor capable of solving the navigation equations in order to determine a position of the autonomous robot device  102 , determine a velocity and precise time (PVT) by processing the signal broadcasted by GPS satellites. The accelerometer  230  and gyroscope  232  can determine the direction, orientation, position, acceleration, velocity, tilt, pitch, yaw, and roll of the autonomous robot device  102 . In exemplary embodiments, the controller can implement one or more algorithms, such as a Kalman filter, for determining a position of the autonomous robot device 
         [0033]    The first facility  200  can have sets of physical objects  202 - 208  disposed around the facility in a first location  210 . The sets of physical objects  202 - 208  can have respective identifiers  212 - 218  associated with the sets physical objects  202 - 208 . The identifiers  212 - 218  can be optical machine readable representations such as bar codes or QR codes. Each set physical object of physical objects  202 - 208  can be different than the other sets of physical objects  202 - 108 . Each set of physical objects  202 - 208  can contain multiple like physical objects. 
         [0034]    The autonomous robot device  102  can roam in the first facility  200  using the motive assemblies  222  and the controller  224  can control the image capturing device  220  to capture images of the set of physical objects  202 - 208  and the respective identifiers  212 - 218 . As mentioned above the autonomous robot device  102  can programmed with a map of the first facility  200  and/or can generate a map of the first facility  200  using simultaneous localization and mapping (SLAM). The autonomous robot device  102  can navigate around the first facility  200  based on inputs from the GPS receiver  228 , the accelerometer  230 , and/or the gyroscope  232 . The autonomous robot device  102  can be configured to capture images after an amount of time that elapses between captures, a distance traveled within the first facility  200 , continuously, and/or the like. The autonomous robot device  102  can detect like physical objects from the set of physical objects are absent from a first location. For example, the autonomous robot device  102  can capture images of sets of physical objects  202 - 208 . The autonomous robot device  102  can determine from the captured image that the a set of like physical objects  204  is absent from the first location  210 . The autonomous robot device  102  can use machine vision to determine the set of like physical objects  204  is absent from the first location. Machine vision can be used to provide imaging-based automatic inspection and analysis of the first facility  200 . The autonomous robot device  102  can extract the identifier  214  of the absent set of like physical objects  204  from the captured image using machine vision. The autonomous robot device  102  can transmit the identifier  214  to the first computing system  150  (as shown in  FIG. 1 ). In another embodiment, the autonomous robot device  102  can use an optical scanner  234  to scan the identifier  214  of the absent set of like physical objects  204 . 
         [0035]    As non-limiting example of embodiments of the present disclosure, the system described above can be embodied as determining out of stock items in a retail store. For example, the first facility  200  can be a retail store and the sets of physical objects  202 - 208  can be set of items sold at the retail store, disposed at a first storage location. The autonomous robot device  102  can roam around the retail store  200  capturing images sets of items  202 - 208 . The autonomous robot device  102  can also capture images of the identifiers  212 - 218  associated with the items  202 - 208 . The autonomous robot device  102  can determine a set like of items  204  is not the first storage location by analyzing the captured images using machine vision. The autonomous robot device  102  can extract the identifier  214  of the out-of-stock set of items  104  and transmit the identifier to the first computing system. 
         [0036]    In another embodiment, a user can locate and identify out-of-stock items and can scan an identifier associated with the out-stock-items using a hand-held mobile scanner. For example, the user can identify an empty storage location within the retail store where an item is designated to be disposed. The user can scan the identifier associated with the out-of-stock item using a mobile scanner. The mobile scanner can include an optical scanner configured to read optical machine readable representations. The mobile scanner can transmit the identifier to the first computing system via a radiofrequency transmitter included in the mobile scanner. In other embodiments, the mobile scanner can include image capturing device configured to capture an image of the identifier. The mobile scanner can extract the identifier from the captured image and transmit the identifier to the first computing system. In another embodiment, the mobile scanner can transmit the captured image of the identifier to the first computing system. The mobile scanner can be a hand-held device, a wireless device, a portable device, a wearable computer, a cellular or mobile phone, a portable digital assistants (PDAs), a smart phone, a tablets, or an ultrabook. 
         [0037]      FIGS. 2B-2C  depict images captured by an embodiment of the autonomous robot device  102  and image analysis performed by the autonomous robot device  102  to detect absent physical objects in the storage units according to an exemplary embodiment of the present disclosure.  FIG. 2B  depicts image  260  and  FIG. 2C  depicts image  265 . As mentioned above, the autonomous robot device can navigate around the facility and detect absent physical objects. With reference to  FIG. 2B , for example, physical objects  202  and  206  can be disposed on a shelving unit. The physical object  204  can be absent from the designated location on the as indicated by the vacant space  240  in the image  260 . The autonomous robot device can detect the vacant space  240  and indicate the detection of the vacant space  240  in the image  260  by placing a box  242  around the vacant space  240 . As one example, the autonomous robot can define a boundary corresponding to an empty shelf space based on changes between adjacent pixels along an x-axis (e.g., horizontal) and a y-axis (e.g., vertical). 
         [0038]    With reference to  FIG. 2C , the autonomous robot device can also detect identifiers  212 - 216  associated with the physical objects  202 - 206  as shown in the image  265 . The autonomous robot device can correlate the identifiers to the physical objects. For example, the autonomous robot device can correlate the identifier  212  corresponds to physical object  202 , the identifier  216  corresponds to physical object  206  and the identifier  214  corresponds to the vacant space  240  in the image  265 . The autonomous robot device can determine the physical object  204  is designated to be disposed in the vacant space  240  based on the identifier  214 . Accordingly, the autonomous robot device can determine the physical object  204  is absent from the designated location based on the image  265 . The autonomous robot device can transmit the determination to the first computing system. 
         [0039]      FIG. 2D  an image  270  rendered on a display of a mobile device including information associated with physical objects disposed on a shelving unit. As a non-limiting example the autonomous robot device as can detect out of stock items in a retail store. In one embodiment, the mobile device of a retail store associate can display information associated with the out-of-stock items on the display  250  that have been detected by the autonomous robot device. For example, an box  252  can be superimposed over a location on a shelving unit in the image  270  rendered on the display  250 . The box  252  can indicate a “Down Stock” item (corresponding to the location), indicating the stock of the item is running low. A box  253  can be superimposed over a location on a shelving unit in the image  270  rendered on the display  250 . The box  253  can indicate a change in price of an item corresponding to the location. A box  254  can be superimposed over a location on a shelving unit in the image  270  rendered on the display  250 . The box  254  can indicate an out of stock item (corresponding to the location) that has a bin quantity in the backroom (another location within the retail store). A box  255  can be superimposed on a location on a shelving unit in the image  270  rendered on the display  250 . The box  255  can indicate the item (corresponding to the location) is in a space of another item (e.g., the label on the shelf does not match the item place on the shelf in the space corresponding to the label). An arrow  272  can indicate a direction to move the item. A box  256  can be can be superimposed on a location on a shelving unit in the image  270  rendered on the display  250 . The box  256  can indicate an out of stock item that is in a top shelf location. For example, a down stock item that needs to be moved to a down stock location as indicated by the arrow  274  A box  258  can be superimposed on a location on a shelving unit in the image  270  rendered on the display  250 . The box  258  can indicate an out of stock item. 
         [0040]    In some embodiments, the autonomous robot device and/or mobile device can scan a shelf using an image capturing device. The autonomous robot device and/or mobile device can identify aisle location within the facility. The autonomous robot device and/or mobile device can transmit an alert that the shelf location do not match and/or the shelf is not assigned. In some embodiments, autonomous robot device can transmit the alert to the mobile device. The shelf can be assigned to the aisle location. The autonomous robot device and/or mobile device can scan the shelf can identify shelf labels. The autonomous robot device and/or mobile device can determine the label sequencing is incorrect based on the image and identification of the shelf labels. 
         [0041]    The mobile device can display selectable item information overlaid and/or superimposed on locations of a shelving unit in an image rendered on the display associated with the items on the shelving unit, as described above. The image can be captured by the autonomous robot device or can be captured by the mobile device. For embodiments in which the autonomous robot captures the image, the autonomous robot device can transmit the image to the mobile device after the selectable items have been overlaid on the image by the autonomous robot device or before the selectable items have been overlaid on the image. For images that are sent to the mobile device before the selectable items have been overlaid on the image, the mobile device can be programmed to overlay the selectable items on the image. Based on the selectable item information, the mobile device can determine shelf labels are missing and/or an item is absent from the shelving unit. 
         [0042]    In the event an item is absent from the shelving unit the autonomous robot device and/or mobile device can transmit an alert indicating the item is absent, generate an request to retrieve the item from a different location within the facility and generate a request move the item from a top of the shelf (if located on the top of the shelf) to a different location on the shelf. The autonomous robot device and/or mobile device can also determine an item on the top of the shelf that should not be at the top of the shelf based on one more captured images. The autonomous robot device and/or mobile device can generate an request to move the item from the top of the shelf to a different location within the shelving unit. The request can include instructions to not to place the item above a specified height on the shelving unit. The autonomous robot device and/or mobile device can also determine the item on the top of the shelf does not meet a top shelf weight standard and needs to be moved to a different location on the shelving unit based on one or more captured images. The mobile device can also determine whether an item on the shelf should be moved to different areas of the shelving unit. 
         [0043]    In some embodiments, the autonomous robot device and/or mobile device can scan a label of bins storing physical objects located in a different location in the facility. The autonomous robot device and/or mobile device can scan items located in the different location and assign the items to bins. 
         [0044]      FIG. 3  is a block diagram illustrating an embodiment of the autonomous robot pickers  105  according to exemplary embodiments. The autonomous robot pickers  105  can implemented as shown in  FIG. 1 . In exemplary embodiments, the autonomous robot picker  105  can be a driverless vehicle, an unmanned aerial craft, and/or the like. As a non-limiting example, upon receiving instructions from the second computing system  120  (as shown in  FIG. 1 ) the autonomous robot picker  105  disposed in a second facility  300  can autonomously navigate through the second facility  300  and locate the like physical objects in the facility included in the instructions received from the second computing system. As shown in  FIG. 3 , the autonomous robot picker  105  can include an image capturing device  302 , motive assemblies  306 , a picking unit  304 , a controller  318 , an optical scanner  330 , a drive motor  320 , a GPS receiver  322 , accelerometer  324  and a gyroscope  326 , can navigate autonomously through a second facility  300 . The autonomous robot picker  105  can be and intelligent device capable of performing tasks without human control. The drive motor  320  can be operated by the controller  318 . The controller  318  can be programmed to control an operation of the image capturing device  302 , the optical scanner  330 , the drive motor  320 , the motive assemblies  306  (e.g., via the drive motor  320 ), in response to various inputs including inputs from the GPS receiver  322 , the accelerometer  324 , and the gyroscope  326 . The drive motor  320  can control the operation of the motive assemblies  306 . In this non-limiting example the motive assemblies  306  are wheels affixed to the bottom end of the autonomous robot picker  105 . The motive assemblies  306  can be but are not limited to: tracks, rotors, rotors with blades, and propellers. The motive assemblies  306  can facilitate 360 degree movement for the autonomous robot device  102 . The controller  318  can control the image capturing device  302 . The image capturing device  302  can be a still image camera or a moving image camera. 
         [0045]    The instructions received by the autonomous robot picker  105  can include the coordinates (GPS coordinates, facility-specific coordinates, etc.) at which the like physical objects are disposed in the second facility  300  and the quantity of like physical objects needed by the first facility. The autonomous robot picker  105  can autonomously navigate to the storage location  314  at which the like physical objects  204  are disposed. The autonomous robot picker  105  can navigate throughout the first facility using the GPS receiver  322 , accelerometer  334  and gyroscope  336 . The GPS receiver  228  can be a L-band radio processor capable of solving the navigation equations in order to determine a position of the autonomous robot device  102 , determine a velocity and precise time (PVT) by processing the signal broadcasted by GPS satellites. The accelerometer  230  and gyroscope  232  can determine the direction, orientation, position, acceleration, velocity, tilt, pitch, yaw, and roll of the autonomous robot device  102 . In exemplary embodiments, the controller can implement one or more algorithms, such as a Kalman filter, for determining a position of the autonomous robot picker  105 . 
         [0046]    Upon finding the like physical objects  204  in the storage location  314  in the second facility  300 , the autonomous robot picker  105  can use the picking unit  304  to pick up the like physical objects  204 . In some embodiments, the autonomous robot picker  105  can correlate the identifiers to the physical objects. For example, the autonomous robot picker  105  can correlate the identifier  214  to the physical object  204 . The autonomous robot picker  105  can pick up the number of like physical objects  204  as needed by the first facility. The autonomous robot picker  105  can carry the like physical objects  204  to the conveyer belt  195 , which can transport the like physical objects along the path  316 . 
         [0047]    In another embodiment, the autonomous robot picker  105  may include an optical scanner  330  coupled to the controller  318  configured to read the identifiers  212 - 218  associated with the sets of physical objects  202 - 208 . The autonomous robot picker  105  can receive the identifier  214  of the desired physical object  204  in the instructions received from the second computing system. The autonomous robot picker  105  can locate the like physical objects  204  by reading the corresponding identifier  214 . 
         [0048]    The conveyer belt  195  can be disposed on a belt carrier  310  which may also include rollers (e.g., friction and drive rollers) and a drive motor. The driver motor can control one or more of the rollers to rotate the belt to provide a transport for the like physical objects  204  from one end of the belt carrier  310  to an opposite end of the belt carrier  310 . A vehicle can be disposed at the distal end of the belt carrier  310  to receive the like physical objects  204  as they are transported by the conveyer belt  195 . The vehicle can transport the like physical objects from the second facility to the first facility. 
         [0049]    As a non-limiting example, embodiments of the system described above can be embodied as a retail store warehouse. For example, the second facility can be a warehouse or distribution center storing items sold at the retail store (e.g., the first facility as shown in  FIG. 2 ) and the physical objects can be items stored in the warehouse. The autonomous robot picker  105  can receive instructions associated with the need for replenishment of an out of stock item at a the retail store. The instructions can include the item description, the coordinates of the item in the warehouse, the identifier of the item  214  and the quantity of items needed by the first facility. The autonomous robot picker  105  can locate the items in the storage location using the coordinates or by reading the identifier, pick-up the number of items needed by the first facility using the picking unit  190  and load the items onto the conveyer belt  195 . In some embodiments A vehicle can be parked at the distal end of the conveyer belt  195  configured to receive the items. The vehicle can transport the items from the warehouse to the retail store. 
         [0050]    In another embodiment, a user in the warehouse can receive the data associated with the of the out-of-stock items  104  on a mobile scanner. The data may include the product name, description, identifier, coordinates (GPS coordinates, facility-specific coordinates, etc.) at which the like physical objects are disposed in the second facility and quantity of items needed by the retail store. The mobile scanner can include a GPS receiver, accelerometer and gyroscope. The user can locate the items using the mobile scanner. The mobile scanner can provide navigation throughout the second facility using the GPS receiver, accelerometer and gyroscope. The GPS receiver can be a L-band radio processor capable of solving the navigation equations in order to determine a position of the mobile scanner, determine a velocity and precise time (PVT) by processing the signal broadcasted by GPS satellites. The accelerometer and gyroscope can determine the direction, orientation, position, acceleration, velocity, tilt, pitch, yaw, and roll of the mobile scanner. Upon locating the items the user can pick up and place the items on the conveyer belt  195 . 
         [0051]    The mobile scanner can be a hand-held device, a wireless device, a portable device, a wearable computer, a cellular or mobile phone, a portable digital assistants (PDAs), a smart phone, a tablets, or an ultrabook. 
         [0052]      FIG. 4  is a block diagram of an example computing device for implementing exemplary embodiments of the present disclosure. Embodiments of the computing device  300  can implement embodiments of the first computing system  150 , the second computing system  120 , and/or the intermediate computing system  197 . The computing device  400  includes one or more non-transitory computer-readable media for storing one or more computer-executable instructions or software for implementing exemplary embodiments. The non-transitory computer-readable media may include, but are not limited to, one or more types of hardware memory, non-transitory tangible media (for example, one or more magnetic storage disks, one or more optical disks, one or more flash drives, one or more solid state disks), and the like. For example, memory  406  included in the computing device  400  may store computer-readable and computer-executable instructions or software (e.g., applications  430 ) for implementing exemplary operations of the computing device  400 . The computing device  400  also includes configurable and/or programmable processor  402  and associated core(s)  404 , and optionally, one or more additional configurable and/or programmable processor(s)  402 ′ and associated core(s)  404 ′ (for example, in the case of computer systems having multiple processors/cores), for executing computer-readable and computer-executable instructions or software stored in the memory  406  and other programs for implementing exemplary embodiments of the present disclosure. Processor  402  and processor(s)  402 ′ may each be a single core processor or multiple core ( 404  and  404 ′) processor. Either or both of processor  402  and processor(s)  402 ′ may be configured to execute one or more of the instructions described in connection with computing device  400 . 
         [0053]    Virtualization may be employed in the computing device  400  so that infrastructure and resources in the computing device  400  may be shared dynamically. A virtual machine  412  may be provided to handle a process running on multiple processors so that the process appears to be using only one computing resource rather than multiple computing resources. Multiple virtual machines may also be used with one processor. 
         [0054]    Memory  406  may include a computer system memory or random access memory, such as DRAM, SRAM, EDO RAM, and the like. Memory  406  may include other types of memory as well, or combinations thereof. 
         [0055]    A user may interact with the computing device  400  through a visual display device  414 , such as a computer monitor, which may display one or more graphical user interfaces  416 , multi touch interface  420 , an image capturing device  434 , a scanner  432  and a pointing device  418 . The scanner  432  may be a barcode reader or RFID reader configured to read optical machine readable representations such as barcodes, QR codes and RFID tags. 
         [0056]    The computing device  400  may also include one or more storage devices  426 , such as a hard-drive, CD-ROM, or other computer readable media, for storing data and computer-readable instructions and/or software that implement exemplary embodiments of the present disclosure (e.g., applications). For example, exemplary storage device  426  can include one or more databases  428  for storing information regarding the physical objects. The databases  428  may be updated manually or automatically at any suitable time to add, delete, and/or update one or more data items in the databases. 
         [0057]    The computing device  400  can include a network interface  408  configured to interface via one or more network devices  424  with one or more networks, for example, Local Area Network (LAN), Wide Area Network (WAN) or the Internet through a variety of connections including, but not limited to, standard telephone lines, LAN or WAN links (for example, 802.11, T1, T3, 56 kb, X.25), broadband connections (for example, ISDN, Frame Relay, ATM), wireless connections, controller area network (CAN), or some combination of any or all of the above. In exemplary embodiments, the computing system can include one or more antennas  422  to facilitate wireless communication (e.g., via the network interface) between the computing device  400  and a network and/or between the computing device  400  and other computing devices. The network interface  408  may include a built-in network adapter, network interface card, PCMCIA network card, card bus network adapter, wireless network adapter, USB network adapter, modem or any other device suitable for interfacing the computing device  400  to any type of network capable of communication and performing the operations described herein. 
         [0058]    The computing device  400  may run any operating system  410 , such as any of the versions of the Microsoft® Windows® operating systems, the different releases of the Unix and Linux operating systems, any version of the MacOS® for Macintosh computers, any embedded operating system, any real-time operating system, any open source operating system, any proprietary operating system, or any other operating system capable of running on the computing device  400  and performing the operations described herein. In exemplary embodiments, the operating system  410  may be run in native mode or emulated mode. In an exemplary embodiment, the operating system  410  may be run on one or more cloud machine instances. 
         [0059]    The processes described herein may be executed by one or more application(s)  430 . For example, for embodiments in which the computing device  400  correspond to the second computing system  120 , the computing device  400  may execute the applications  430  such as the Correction application  145  to correct the perpetual inventory error and transmit the corrected perpetual inventory to the first computing system  150 . 
         [0060]      FIG. 5  is a flowchart illustrating an exemplary process in an autonomous robot system in accordance with exemplary embodiments of the present disclosure. In exemplary embodiments, in operation  500 , at least one autonomous robot device (e.g., the autonomous robot  102  as shown in  FIGS. 1 and 2 ) autonomously roams through a first facility (e.g., the first facility  200  as shown in  FIG. 2 ). 
         [0061]    In operation  502  the autonomous robot device captures an image of a first location (e.g., the first location  210  as shown in  FIG. 2 ) within the first facility at which a set of like physical objects (e.g. physical objects  202 - 208  as shown in  FIG. 2 ) is supposed to be disposed. The autonomous robot device also captures images of the identifiers (e.g., the identifiers  212 - 218  as shown in  FIG. 2 ) associated with the like physical objects. 
         [0062]    In operation  504 , the autonomous robot device can detect that like physical objects of a set of like physical objects are absent from the first location based on the captured image(s). The autonomous robot device can use machine vision to determine that the like physical objects are absent from the set of like physical objects supposed to be disposed at the first location. In operation  506 , the autonomous robot device can reading an identifier at the first location that is associated with the set of like physical objects. The autonomous robot device can extract the identifier from the captured image. In operation  508 , the autonomous robot device can transmit the identifier to a first computing system (e.g., the first computing system  150  as shown in  FIG. 1 ). 
         [0063]    In operation  510 , the first computing system can store data in the first database that indicates a need to add more of the like physical objects to the set at the first location. The first computing system can determine the like physical objects are absent throughout the first facility. In another embodiment, the first computing system can determine the like physical objects are present at a second location within the first facility. 
         [0064]    In operation  512 , upon execution of an automated batch file, the first computing system can transmit the data associated with the like physical objects stored in the first database from the first computing system to a second computing system (e.g., the second computing system  120  as shown in  FIG. 1 ). 
         [0065]      FIG. 6  a flowchart illustrating an exemplary process in an autonomous robot system in accordance with exemplary embodiments of the present disclosure. In operation  600 , the second computing system can receive the data associated with the like physical objects at the second computing system and correct a perpetual inventory error associated with the first facility based at least in part on the data associated with the like physical objects received from the first computing system. The perpetual inventory can reflect the inventory of the like physical objects available at the first facility. The second computing system can calculate a perpetual inventory error and correct the perpetual inventory error to reflect the actual inventory of the like physical objects in the first facility. In operation  602  the second computing system can transmit a corrected perpetual inventory to the first computing system. 
         [0066]    In operation  604 , the second computing system transmit instructions to an autonomous robot picker (e.g., the autonomous robot picker  105  as shown in  FIGS. 1 and 3 ) disposed in a second facility (e.g., the second facility  300  as shown in  FIG. 3 ) in response to correction of the perpetual inventory error. The instructions can include data associated with the like physical objects such as a name of the like physical objects, a description of the like physical objects, coordinates at which the like physical objects are stored in the second facility, the identifier associated with the like physical objects, and a quantity of the like physical objects needed at the first facility. In operation  606 , the second computing system can control an operation of the conveyer belt (e.g., the conveyor belt  195  as shown in  FIGS. 1 and 3 ) disposed in the second facility. 
         [0067]    In operation  608 , the autonomous robot picker can autonomously navigate to a storage location (e.g., the storage location  314  as shown in  FIG. 3 ) of the like physical objects in response to the instructions. The autonomous robot picker can use the coordinates to locate the like physical objects or the autonomous robot picker can read the identifiers to locate the like physical objects. In operation  610 , the autonomous robot picker can autonomously pick up the like physical objects using the picking unit from the storage location. In operation  612 , the autonomous robot picker can carry the like physical objects to the conveyer belt and load the like physical objects on the conveyer belt. 
         [0068]    Exemplary flowcharts are provided herein for illustrative purposes and are non-limiting examples of methods. One of ordinary skill in the art will recognize that exemplary methods may include more or fewer steps than those illustrated in the exemplary flowcharts, and that the steps in the exemplary flowcharts may be performed in a different order than the order shown in the illustrative flowcharts.