Robotic grasping of items in inventory system

• US 10,272,566 B2
• Filed: 01/08/2018
• Issued: 04/30/2019
• Est. Priority Date: 12/16/2014
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Wellman, Parris S., Verminski, Matthew David, Stubbs, Andrew, Shydo, Jr., Robert Michael, Claretti, Ennio, Aronchik, Boris, Longtine, John Gregory
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/865,067
• Publication Number:
  US 20180141211A1
• Time in Patent Office: 477 Days
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/10 with relatively movable racks to facilitate insertion or removal of articles cabinets with means for moving compartments up and down A47B51/00; cabinet system, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets A47B53/02
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: G05B 2219/39468 Changeable hand, tool, code carrier, detector
• CPC Class Codes: G05B 2219/39473 Autonomous grasping, find, approach, grasp object, sensory motor coordination
• CPC Class Codes: G05B 2219/39536 Planning of hand motion, grasping
• CPC Class Codes: G05B 2219/39543 Recognize object and plan hand shapes in grasping movements
• CPC Class Codes: G05B 2219/39546 Map human grasps to manipulator grasps
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: Y10S 901/03 Teaching system
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10S 901/31 Gripping jaw
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.

Claims

1. An inventory management system comprising:

a robotic manipulator configured for grasping inventory items at a station;

a sensor set configured to detect one or more attributes of inventory items at the station; and

a management module configured to;

receive an order corresponding to a particular product code;

instruct accessing, at the station, of a first inventory item matching the particular product code;

access a record associated with the first inventory item and including a set of stored characteristics;

receive, from the sensor set, information about a detected set of characteristics of the first inventory item;

determine that the first inventory item is damaged based at least in part on differences between the set of stored characteristics and the detected set of characteristics; and

select a grasping strategy for causing the robotic manipulator to grasp, at the station, a second inventory item also matching the particular product code for fulfilling the order instead of the first inventory item based at least in part on the determination that the first inventory item is damaged.

2. The inventory management system of claim 1, wherein the management module is further configured to:

instruct accessing, at the station, of the second inventory item matching the particular product code;

access a second record associated with the second inventory item and including a second set of stored characteristics;

receive, from the sensor set, information about a second detected set of characteristics of the second inventory item; and

determine that the second inventory item is not damaged based on similarities between the second set of stored characteristics and the second detected set of characteristics.

3. The inventory management system of claim 1, wherein the management module is further configured to instruct a mobile drive unit to move at least one of the first inventory item or the second inventory item to the station.

4. The inventory management system of claim 1, wherein the management module is further configured to provide instructions to prevent the robotic manipulator from grasping the first inventory item based at least in part on the determination that the first inventory item is damaged.

5. The inventory management system of claim 1, wherein the management module is further configured to provide instructions to cause the robotic manipulator to perform the selected grasping strategy for grasping the second inventory item.

6. A non-transitory computer-readable storage medium having stored therein instructions that, when executed by one or more processors of a computer system, cause the computer system to:

access a set of stored characteristics associated with an inventory item;

receive information from one or more sensors about a detected set of characteristics of the inventory item;

perform a comparison between the set of stored characteristics and the detected set of characteristics;

determine that the inventory item is damaged based at least in part on the comparison performed between the set of stored characteristics and the detected set of characteristics; and

instruct a response based at least in part on the determining that the inventory item is damaged.

7. The non-transitory computer-readable storage medium of claim 6, wherein the instructions further cause the computer system to further:

determine an identity of the inventory item based at least in part on information received from at least one of a barcode scanner or an RIFID reader, wherein the set of stored characteristics is accessed from a record accessed based at least in part on the identity determined.

8. The non-transitory computer-readable storage medium of claim 6, wherein the response instructed comprises causing a robotic manipulator to refrain from grasping the inventory item.

9. The non-transitory computer-readable storage medium of claim 6, wherein the inventory item is a first inventory item;

and

wherein the response instructed comprises causing a second inventory item matching a product code of the first inventory item to be accessed in lieu of the first inventory item.

10. The non-transitory computer-readable storage medium of claim 6, wherein the response instructed comprises causing an adjustment to a grasping strategy for a robotic manipulator to grasp the inventory item based at least in part on the determining that the inventory item is damaged.

11. The non-transitory computer-readable storage medium of claim 10, wherein the adjustment to the grasping strategy comprises a change to an approach or direction of the grasping strategy based at least in part on the determining that the inventory item is damaged.

12. The non-transitory computer-readable storage medium of claim 10, wherein the adjustment to the grasping strategy comprises a change to which end effector of a plurality of available end effectors is selected for the grasping strategy based at least in part on the determining that the inventory item is damaged.

13. The non-transitory computer-readable storage medium of claim 10, wherein the adjustment to the grasping strategy comprises a change in an intensity with which an end effector is configured to grasp the inventory item according to the grasping strategy based at least in part on the determining that the inventory item is damaged.

14. A method comprising, under the control of one or more computer systems configured with executable instructions:

accessing a first set of characteristics associated with an inventory item with respect to a first state of the inventory item, the first state preceding execution of a grasping strategy by a robotic manipulator for grasping the inventory item;

receiving information from one or more sensors about a second set of characteristics detected about the inventory item with respect to a second state of the inventory item, the second state subsequent to execution of the grasping strategy by the robotic manipulator for grasping the inventory item;

performing a comparison between the accessed first set of characteristics and the detected second set of characteristics;

determining whether the inventory item was damaged due to the execution of the grasping strategy based at least in part on the comparison performed between the accessed first set of characteristics and the detected second set of characteristics; and

updating a database entry associated with at least one of the inventory item or the grasping strategy according to whether the inventory item was determined to be damaged due to the execution of the grasping strategy.

15. The method of claim 14, wherein the updating comprises updating the database entry to reflect that the grasping strategy is suitable for the inventory item based on determining that the inventory item was not damaged by execution of the grasping strategy.

16. The method of claim 14, wherein the updating comprises updating the database entry to reflect that the grasping strategy is not suitable for the inventory item based on determining that the inventory item was damaged by execution of the grasping strategy.

17. The method of claim 14, wherein the updating comprises updating the database entry to change a parameter of the grasping strategy for the inventory item based at least in part on determining that the inventory item was damaged by execution of the grasping strategy.

18. The method of claim 17, wherein updating the database entry to change the parameter includes changing at least one of:

an approach or direction of the robotic manipulator;

an end effector selected from a plurality of end effectors available for the robotic manipulator;

or

an intensity with which an end effector of the robotic manipulator is configured to grasp the inventory item.

19. The method of claim 14, wherein accessing the first set of characteristics includes accessing at least a portion of the first set of characteristics from a stored record associated with the inventory item and including a set of stored characteristics.

20. The method of claim 14, wherein accessing the first set of characteristics includes receiving information about the inventory item from the one or more sensors.