Self-identifying overpackage for robotic retrieval

Patent metadata

Field	Value
Publication number	US-11200531-B1
Application number	US-201815978762-A
Country	US
Kind code	B1
Filing date	May 14, 2018
Priority date	May 14, 2018
Publication date	Dec 14, 2021
Grant date	Dec 14, 2021

Abstract

Features are disclosed for an overpackage that can contain an object and provide for automated identification and handling of the object by a robotic retrieval system. The automated identification and handling are enabled through self-identifying marks on the overpackage that indicate the identity of the overpackage as well as the relative location of the mark on the overpackage. Using the location information, a robot or other autonomous actor of the robotic retrieval system can identify a path to a pick point and detect whether the proper pick point is engaged through additional identifiers on the overpackage or a pick point.

First claim

What is claimed is:

1. A robotic retrieval system comprising:
an overpackage including:
(i) an envelope that defines an inner recess configured to contain an object, wherein an outer surface of the envelope includes a scannable identifier identifying the overpackage and relative location of the scannable identifier on the overpackage;
(ii) a pick point including a scannable pick point identifier identifying the overpackage and a grasp type for attaching to the pick point; and

a sensor configured to detect the scannable identifier and the scannable pick point identifier;
an end effector configured to engage the pick point based at least in part on the grasp type for attaching to the pick point detected by the sensor from the scannable pick point identifier; and
a motor configured to position the end effector based at least on part on the relative location detected by the sensor from the scannable identifier.

2. The robotic retrieval system of claim 1 , wherein the envelope includes an orientation identifier configured to indicate the orientation of the overpackage.

3. The robotic retrieval system of claim 1 , wherein the scannable identifier comprises a passive wireless circuit configured to receive a wireless signal and generate a response signal including: (i) a unique identifier for the overpackage, and (ii) the relative location for the scannable identifier.

4. The robotic retrieval system of claim 1 , wherein the pick point includes a magnetically attractive material, and wherein the grasp type identified by the scannable pick point identifier is magnetic.

5. The robotic retrieval system of claim 1 , wherein the overpackage includes a flexible tether having a first end coupled to the envelope and a second end coupled to the pick point.

6. An apparatus comprising:
an envelope that defines an inner recess configured to contain an object, wherein an outer surface of the envelope includes a scannable identifier identifying: (i) the apparatus and (ii) relative location of the scannable identifier on the apparatus; and
a pick point physically connected to the envelope, wherein the pick point includes a scannable pick point identifier identifying: (i) the apparatus and (ii) a grasp type for attaching to the pick point.

7. The apparatus of claim 6 , wherein the envelope is at least partially formed from a transparent material such that at least a portion of the object contained by the apparatus is visible.

8. The apparatus of claim 6 , wherein the scannable identifier comprises an optical code encoding: (i) a unique identifier for the apparatus and (ii) the relative location of the scannable identifier.

9. The apparatus of claim 6 , wherein the scannable identifier comprises a passive wireless circuit configured to:
a receive wireless signal; and
generate a response signal including: (i) a unique identifier for the apparatus and (ii) the relative location of the scannable identifier.

10. The apparatus of claim 6 , wherein the envelope comprises an orientation identifier, wherein the orientation identifier indicates the orientation of the apparatus based on a visual property of the orientation identifier.

11. The apparatus of claim 6 , wherein the pick point includes a magnetically attractive material, and wherein the grasp type identified by the scannable pick point identifier is magnetic.

12. The apparatus of claim 6 , wherein the pick point is physically connected to the envelope by a flexible tether having a first end coupled to the envelope and a second end coupled to the pick point.

13. The apparatus of claim 12 , wherein the flexible tether comprises a stiffener, wherein the stiffener restrains flexing of the flexible tether to a predetermined angle relative to the envelope.

14. The apparatus of claim 6 , further comprising a grommet having a hollow center by which the apparatus may be grasped or held.

15. The apparatus of claim 14 , wherein scannable identifier indicates a location of the grommet on the envelope.

16. The apparatus of claim 6 , wherein the pick point includes a non-porous material, and wherein the grasp type identified by the scannable pick point identifier is suction.

17. A method comprising:
under control of one or more processing devices:
receiving an object to be moved from a first physical location to a second physical location;
detecting a first identifier to uniquely identify the object;
detecting a second identifier to uniquely identify an overpackage for storing the object;
depositing the object into the overpackage;
transmitting a message to an end effector, the message including the second identifier for the overpackage and an identifier for the second physical location;
identifying the overpackage based at least in part on a scannable identifier upon the overpackage;
engaging a pick point of the overpackage based at least in part on the scannable identifier; and
moving the overpackage to the second physical location.

18. The method of claim 17 , further comprising:
determining that a distance between the end effector and the pick point corresponds to an attraction threshold;
detecting a pick point identifier included on the pick point, wherein the pick point identifier indicates the identifier for the overpackage and a grasp type for attaching to the pick point; and
activating a receiving body included in the end effector to attract the pick point to the end effector, wherein the receiving body is activated based at least in part on the grasp type detected.

19. The method of claim 17 , further comprising:
receiving a model of the overpackage, wherein the model indicates relative locations of identifiers and the pick point;
generating a path to move the end effector from a first location associated with the scannable identifier to the pick point based at least in part on the model and the first location; and
activating a motor to adjust a position of the end effector from the first location to the pick point based at least in part according to the path.

20. The method of claim 17 , further comprising:
receiving a model of the overpackage, wherein the model indicates a relative location of a scannable identifier and the pick point;
determining a location of the end effector based at least in part on the model and the scannable identifier;
estimating a location of the pick point based at least in part the location of the end effector and the model; and
activating a driver to adjust a position of the end effector from the location of the end effector to the location of the pick point.

Assignees

• Amazon Tech Inc

Inventors

• Brady Tye Michael
• Longtine John Gregory
• Stallman Timothy

Classifications

• G05B2219/40538

  Barcode reader to detect position · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J19/027

  Electromagnetic sensing devices · CPC title

• B25J15/0608

  with magnetic holding means · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title