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Identification and planning system and method for fulfillment of orders

  • US 10,399,778 B1
  • Filed: 10/25/2018
  • Issued: 09/03/2019
  • Est. Priority Date: 10/25/2018
  • Status: Expired due to Fees
First Claim
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1. An identification and planning system, comprising:

  • a scanner assembly that comprises one or more image sensors;

    a robotic manipulator that comprises a robotic arm and an end effector detachably attached to the robotic arm; and

    a control server comprising control circuitry, wherein the control circuitry is configured to;

    detect, by the one or more image sensors, a first plurality of inventory items in a first inventory storage system;

    determine a first set of position parameters for a first inventory item from the detected first plurality of inventory items, the first set of position parameters are determined with respect to a position of an image sensor of the one or more image sensors in the scanner assembly;

    generate a plurality of pick-path plans for the first inventory item, wherein each pick-path plan of the plurality of pick-path plans corresponds to a transformation of the determined first set of position parameters to a second set of position parameters with respect to a spatial differentiation caused by a difference in position of the scanner assembly and the robotic manipulator;

    select a first pick-path plan from the plurality of pick-path plans, wherein the first pick-path plan is selected before a pick operation is executed on the first inventory item, and the selection of the first pick-path plan is based on a success of the pick operation in a test computer-simulation, the success of the pick operation occurs when the second set of position parameters corresponding to the selected first pick-path plan allow the robotic manipulator to reach and hold the first inventory item; and

    in the pick operation, control, based on the first pick-path plan, the robotic arm and the end effector to pick the first inventory item from the first inventory storage system.

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