ROBOTIC ITEM HANDLING USING A VARIABLE AREA MANIPULATOR

• US 20190228371A1
• Filed: 01/24/2018
• Published: 07/25/2019
• Est. Priority Date: 01/24/2018
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Murphy, Sean, Stankiewicz, Mark, Wilkie, Matthew
• Granted Patent: US 10,902,377 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B25J 15/0683 Details of suction cup structure, e.g. grooves or ridges
• CPC Class Codes: B25J 9/0096 co-operating with a working support, e.g. work-table
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65G 2203/0258 Weight of the article
• CPC Class Codes: B65G 47/917 control arrangements
• CPC Class Codes: B65G 47/918 with at least two picking-up heads
• CPC Class Codes: G05B 19/124 using tapes, cards or discs with optically sensed marks or codes G05B19/128, G05B19/14 take precedence
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/40005 Vision, analyse image at one station during manipulation at next station
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• CPC Class Codes: G06K 17/0022 arrangements or provisions for transferring data to distant stations, e.g. from a sensing device "transfer between computer elements G06F13/00 "; data-transmission H04L
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/40 Vacuum or mangetic
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A manipulator can includes a frame, a first deployable support element configured to extend or retract with respect to the frame when acted on by an actuator, a static support element fixedly connected with the frame and comprising a second set of retention elements, and any suitable number of additional deployable support elements. Each support element can further include a respective set of retention elements configured to retain an item. In use, a manipulator can be used to move items by identifying an item contact area of an item to be moved, selectively deploying or retracting the deployable support elements based on the item contact area, and then contacting and retaining the item with the retention elements of the selected support elements.

Claims

1. A system for handling inventory in an inventory management facility, the system comprising:

a manipulator comprising;

a frame;

a first deployable support element connected with the frame by a first actuator, the first deployable support element comprising a first set of vacuum cup retention elements connected with a vacuum source and configured to retain an item; and

a static support element connected with the frame and comprising a second set of vacuum cup retention elements configured to retain an item, wherein the manipulator is configurable between a first configuration in which the first deployable support element can contact and retain the item without contact between the second set of vacuum cup retention elements and the item, and a second configuration in which the first and second sets of vacuum cup retention elements can contact and retain the item together;

a robotic actuator connected with the frame and configured to move the frame in order to cause the manipulator to contact the item; and

a controller comprising at least one processor and memory containing nontransitory executable instructions that, when executed by the processor, cause the controller to at least;

receive an instruction to contact and retain the item;

receive dimensional data of the item;

cause the manipulator to configure to one of the first or second configurations based on the dimensional data of the item;

cause the robotic actuator to displace the manipulator to bring at least one of the first or second subsets of vacuum cup retention elements into contact with the item; and

cause the manipulator to retain the item by the at least one of the first or second subsets of vacuum cup retention elements.

2. The system of claim 1, further comprising an imaging device that generates image data of the item and an environment surrounding the item, the controller being further configured to:

determine whether a contact area of the item is clear of obstructions based on the image data; and

cause displacement of the manipulator to bring the manipulator into contact with the item at the contact area without colliding with elements of the environment.

3. The system of claim 2, wherein the controller configures the manipulator to the first configuration in response to the controller determining, based on the image data, that the contact area is sufficiently clear of obstructions to accommodate the first deployable support element adjacent the item in the first configuration but not sufficiently clear of obstructions to accommodate the static support element adjacent the item in the second configuration.

4. The system of claim 2, wherein the controller is configured to:

determine, based in part on the image data, that a side surface of the item is available for contact by the manipulator;

cause displacement and rotation of the manipulator to bring the manipulator into contact with the item at the side surface of the item.

5. The system of claim 1, further comprising a force sensor connected with one of the frame or the robotic actuator near an interface between the frame and the robotic actuator;

wherein the controller is further configured to;

cause the robotic actuator to lift the item by the manipulator; and

determine a center of mass of the item based an output of the force sensor.

6. The system of claim 1, wherein the controller is further configured to:

cause the robotic actuator to displace the item from a first location to a second location while the item is retained by the manipulator; and

cause the manipulator to release the item at the second location.

7. A manipulator, comprising:

a frame;

a first deployable support element connected with the frame by a first actuator, the first deployable support element comprising a first set of unidirectional retention elements; and

a static support element connected with the frame and comprising a second set of unidirectional retention elements,

wherein the manipulator is configurable between;

a first configuration in which the first set of unidirectional retention elements is aligned in a first plane and the second set of unidirectional retention elements is aligned in a second plane separated from the first plane; and

a second configuration in which the first set of unidirectional retention elements and second set of unidirectional retention elements are both aligned in the second plane.

8. The manipulator of claim 7, further comprising:

a plurality of deployable support elements including the first deployable support element, each deployable support element being connected with the frame by a respective actuator of a plurality of actuators, and each deployable support element comprising a respective additional set of unidirectional retention elements, wherein the manipulator is further configurable to one or more intermediate configurations in which at least a subset of the additional sets of unidirectional retention elements is aligned in the first plane with the first set of unidirectional retention elements while the second set of unidirectional retention elements is aligned in the second plane.

9. The manipulator of claim 7, wherein the unidirectional retention elements comprise vacuum cups pneumatically connected with at least one vacuum source.

10. The manipulator of claim 9, wherein each element of the first set of unidirectional retention elements has a larger gripping area than each element of the second set of unidirectional retention elements.

11. The manipulator of claim 9, wherein the first and second sets of unidirectional retention elements are separately connected with the at least one vacuum source such that negative pressure from the vacuum source can be independently applied to each set of unidirectional retention elements.

12. The manipulator of claim 7, further comprising a robotic actuator connected with the frame and configured to reposition the frame, and at least one force sensor disposed at an interface between the robotic actuator and the frame for detecting at least one of load and torque on the manipulator at the interface.

13. The manipulator of claim 7, wherein the actuator comprises at least one articulating cylinder arranged to prevent tilting and rotation of the first deployable support element with respect to the frame when the first deployable support element is deployed.

14. The manipulator of claim 13, wherein the at least one articulating cylinder comprises one of a linear pneumatic actuator, linear hydraulic actuator, or linear servo motor.

15. A method, comprising:

receiving dimensional data of an item;

identifying an item contact area of the item based on the dimensional data;

selectively deploying or retracting one or more deployable support elements of a manipulator based on the item contact area, the manipulator comprising at least;

a frame;

a first deployable support element connected with the frame by a first actuator, the first deployable support element comprising a first set of retention elements configured to retain an item; and

a static support element connected with the frame and comprising a second set of retention elements configured to retain the item;

contacting the item to be moved by one or more of the first and second sets of retention elements corresponding to the selected manipulator contact area; and

retaining the item by the one or more of the first and second sets of retention elements.

16. The method of claim 15 further comprising:

comparing the item contact area to a boundary of the static support element;

selectively retracting the first deployable support element based on the item contact area matching or exceeding the boundary; and

contacting the item to be moved by a combination of the first and second sets of retention elements.

17. The method of claim 15, further comprising:

comparing the item contact area to a boundary of the static support element;

selectively deploying the first deployable support element based on the item contact area being less than an area of the boundary; and

contacting the item to be moved by the first set of retention elements without contacting the item by the second set of retention elements.

18. The method of claim 15, further comprising:

receiving approach path data indicative of available space in the vicinity of the item contact area;

determining, based on the approach path data, that the available space in the vicinity of the item contact area is sufficient to accommodate the first deployable support element adjacent the item but not sufficient to accommodate the static support element adjacent the item;

selectively deploying the first deployable support element based on the determining; and

contacting the item to be moved by the first set of retention elements without contacting the item by the second set of retention elements.

19. The method of claim 15, wherein the manipulator comprises a plurality of deployable support elements including the first deployable support element, each deployable support element being configured to extend or retract with respect to the frame, and each deployable support element comprising a respective set of additional retention elements;

and further comprising;

selecting a subset of the deployable support elements based on the item contact area such that a difference between the item contact area and a combined boundary of the selected deployable support elements is minimized;

selectively deploying the subset of deployable support elements; and

retaining the item by the one or more sets of retention elements corresponding to the selected subset of deployable support elements.

20. The method of claim 19, wherein the manipulator comprises a plurality of deployable support elements including the first deployable support element, each deployable support element being configured to extend or retract with respect to the frame, and each deployable support element comprising a respective set of additional retention elements;

and

further comprising;

selecting a subset of the deployable support elements based on an item weight, such that a combined load-bearing capacity of the subset of deployable support elements meets or exceeds the item weight;

selectively deploying the subset of deployable support elements; and

retaining the item by the one or more sets of retention elements corresponding to the selected subset of deployable support elements.