Robotic grasping of items in inventory system

• US 9,873,199 B2
• Filed: 12/27/2016
• Issued: 01/23/2018
• 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:
  US15/391,692
• Publication Number:
  US 20170106532A1
• Time in Patent Office: 392 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 for transferring items between grasping locations and receiving locations, comprising:

a plurality of robotic end effectors for grasping items for transfer between grasping locations and receiving locations, the plurality of robotic end effectors including at least a first robotic end effector at a station and a second robotic end effector at the station; and

a management module configured to;

identify a particular item to be subject to a transfer process;

identify a particular grasping location from which the particular item is to be grasped for the transfer process;

identify a particular receiving location into which the particular item is to be placed for the transfer process;

determine constraint information about constraints of at least one of the particular grasping location, the particular receiving location, the first end effector, the second end effector, or a space for travel between the particular grasping location and the particular receiving location;

perform a first evaluation, based at least in part on the constraint information, of a first grasping strategy for performing the transfer process by the first end effector;

perform a second evaluation, based at least in part on the constraint information, of a second grasping strategy for performing the transfer process by the second end effector;

select, based at least in part on the first evaluation and the second evaluation, a selected grasping strategy so that the selected grasping strategy includes either the first grasping strategy for performing the transfer process by the first end effector or the second grasping strategy for performing the transfer process by the second end effector; and

generate instructions to cause either;

the first end effector to perform the first grasping strategy for performing the transfer process in response to the first grasping strategy being the selected grasping strategy;

or

the second end effector to perform the second grasping strategy for performing the transfer process in response to the second grasping strategy being the selected grasping strategy.

2. The inventory management system of claim 1, wherein the constraint information comprises information about a space restriction related to performance of the transfer process relative to at least one of the particular grasping location, the particular receiving location, the first end effector, the second end effector, or a space for travel between the particular grasping location and the particular receiving location.

3. The inventory management system of claim 1, wherein the constraint information comprises information about an amount of time related to performance of the transfer process relative to at least one of the particular grasping location, the particular receiving location, the first end effector, the second end effector, or a space for travel between the particular grasping location and the particular receiving location.

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

determine a set that includes at least some grasping strategies that the first robotic end effector is capable of performing and at least some grasping strategies that the second robotic end effector is capable of performing; and

eliminate grasping strategies from the set based on the constraint information so as to obtain the plurality of grasping strategies from which the selected grasping strategy is selected.

5. 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 perform operations comprising at least:

determining a plurality of grasping strategies that differ from one another for performing a transfer process by robotic end effector of an item from a grasping location to a receiving location;

determining constraint information relative to each grasping strategy of the plurality of grasping strategies;

evaluating each grasping strategy of the plurality of grasping strategies based on the constraint information;

selecting a selected grasping strategy from among the plurality of grasping strategies based at least in part on the evaluating and such that the selected grasping strategy includes a selected robotic end effector selected from among multiple available robotic end effectors based at least in part on the constraint information; and

generating instructions for causing the selected robotic end effector to perform the selected grasping strategy.

6. The non-transitory computer-readable storage medium of claim 5, wherein the plurality of grasping strategies differ from one another by at least one of type of robotic end effector utilized, a robotic end effector path of travel toward the grasping location, a robotic end effector path of travel toward the receiving location, a robotic end effector path of travel between the grasping location and the receiving location, or a portion of the item grasped by the robotic end effector.

7. The non-transitory computer-readable storage medium of claim 5, wherein the constraint information includes information about constraints of the grasping location.

8. The non-transitory computer-readable storage medium of claim 7, wherein the grasping location comprises a mobile inventory holder.

9. The non-transitory computer-readable storage medium of claim 5, wherein the constraint information includes information about constraints of the receiving location.

10. The non-transitory computer-readable storage medium of claim 7, wherein the constraint information includes information about packaging located at the receiving location and for receiving the item.

11. The non-transitory computer-readable storage medium of claim 7, wherein the constraint information includes information about an orientation in which the item is to be placed at the receiving location by the transfer process.

12. The non-transitory computer-readable storage medium of claim 5, wherein the constraint information includes information about constraints of the available paths of travel between the grasping location and the receiving location.

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

determining constraint information relative to a transfer process of an item from a grasping location to a receiving location;

evaluating, based at least in part on the constraint information, a plurality of grasping strategies for performing the transfer process by robotic end effector;

selecting, based at least in part on the evaluating, a selected grasping strategy from the plurality of grasping strategies such that the selected grasping strategy includes a selected robotic end effector selected from among multiple available robotic end effectors based at least in part on the constraint information; and

generating instructions for causing the selected robotic end effector to perform the selected grasping strategy.

14. The method of claim 13, wherein the constraint information comprises information about space restrictions of the grasping location.

15. The method of claim 13, wherein the constraint information comprises information about space restrictions of the receiving location.

16. The method of claim 13, wherein the constraint information comprises information about space restrictions of available paths of travel for the robotic end effector between the grasping location and the receiving location.

17. The method of claim 13, wherein the constraint information comprises information about time associated with performing the transfer process relative to at least one of the grasping location, the receiving location, a type of the robotic end effector, or available paths of travel for the robotic end effector between the grasping location and the receiving location.

18. The method of claim 13, wherein the selected grasping strategy differs from at least one other grasping strategy of the plurality of grasping strategies by at least a type of end effector utilized.

19. The method of claim 13, wherein the selected grasping strategy differs from at least one other grasping strategy of the plurality of grasping strategies by at least an amount of time for performing the transfer process.

20. The method of claim 13, wherein the selected grasping strategy differs from at least one other grasping strategy of the plurality of grasping strategies by at least an approach of the robotic end effector toward at least one of the grasping location or the receiving location.