Control device and method for item verification

Patent metadata

Field	Value
Publication number	US-11891247-B2
Application number	US-201915734121-A
Country	US
Kind code	B2
Filing date	May 29, 2019
Priority date	Jun 1, 2018
Publication date	Feb 6, 2024
Grant date	Feb 6, 2024

Abstract

A control device is provided to more quickly and efficiently verify which item has been grasped by a robot system whilst also providing a solution which is scalable. Verification of the item which has been grasped is achieved by measuring a dynamics property of the item. A control unit for operation with a robot system a sensor unit, the robot system arranged to grasp an item from a container. The control unit includes a verification unit arranged to receive identifying information of an item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information.

First claim

The invention claimed is:

1. A control unit for operation with a robot system, the control unit comprising:
a sensor unit configured for the robot system arranged to grasp an item from a container; and
a verification unit arranged to receive identifying information of the item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information, wherein the information indicative of the dynamics property of the item comprises at least one of:
force information, torque information, shear-force information, acceleration information, sound information and pressure information.

2. The control unit according to claim 1 , wherein the verification unit is configured and arranged to identify whether the item is at least one or more of damaged, incomplete and/or includes a plurality of items based on the dynamics property of the item.

3. The control unit according to claim 1 , the control unit comprising:
a command unit arranged to command the robot system to move in a predetermined manner.

4. The control unit according to claim 3 , wherein the command unit is configured and arranged to command the robot system before the verification unit performs verification of the item.

5. The control unit according to claim 3 , wherein the command unit is configured and arranged to command the robot system when the verification unit fails to verify the item.

6. The control unit according to claim 1 , the control unit comprising:
a training unit configured and arranged to, when the verification unit determines that the items do not match, receive identifying information of the item from an imaging unit and information indicative of the dynamics property of the item and train a statistical model based on the identifying information of the item together with the information indicative of the dynamics property of the item.

7. The control unit according to claim 6 , the control unit comprising:
a command unit configured and arranged to command the robot system to move in a predetermined manner.

8. The control unit according to claim 7 , wherein the command unit is configured and arranged to command the robot system when the verification unit fails to verify the item.

9. The control unit according to claim 8 , wherein the information indicative of the dynamics property of the item comprises at least one or more of:
force information, torque information, shear-force information, acceleration information, sound information and pressure information.

10. The control unit according to claim 9 , wherein the verification unit is configured and arranged to identify whether the item is at least one or more damaged, incomplete and/or includes a plurality of items based on the dynamics property of the item.

11. A system comprising, in combination:
a robot system including a sensor unit, the robot system being configured and arranged to grasp an item; and
a control unit for operation with the robot system, the control unit comprising:
the sensor unit;
a verification unit arranged to receive identifying information of the item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information, the sensor unit including at least one of a force sensor, a torque sensor, a shear-force sensor, an acceleration sensor, a microphone and a pressure sensor.

12. The system according to claim 11 , the system comprising:
an imaging unit configured and arranged to receive identifying information of the item.

13. The system according to claim 11 , comprising:
a storage system including:
a first set of parallel rails or tracks extending in an X-direction, and a second set of parallel rails or tracks extending in a Y-direction transverse to the first set in a substantially horizontal plane to form a grid pattern including a plurality of grid spaces;
a plurality of stacks of containers located beneath the rails, and arranged such that each stack is located within a footprint of a single grid space;
at least one transporting device, the at least one transporting device being configured and arranged to selectively move laterally in the X and Y directions, above the stacks on the rails and arranged to transport a container; and
a picking station arranged to receive a container transported by the at least one transporting device.

14. The system according to claim 13 , wherein the at least one transporting device has a footprint that occupies only a single grid space in the storage system, such that a transporting device occupying one grid space will not obstruct a transporting device occupying or traversing adjacent grid spaces in the X and Y directions.

15. A method for operating a robot system having a sensor unit, the robot system being configured and arranged to grasp an item from a container, the method comprising:
receiving identifying information of an item expected to be in the container;
receiving information from the sensor unit indicative of a dynamics property of an item grasped by the robot system;
verifying that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information; and
receiving, when the verifying step determines that the items do not match, identifying information of the item and information indicative of the dynamics property of the item; and
training a statistical model based on the identifying information of the item together with the information indicative of the dynamics property of the item.

16. The method according to claim 15 , comprising:
commanding the robot system to move in a predetermined manner.

Assignees

• Ocado Innovation Ltd

Inventors

• Deacon Graham
• Pedro Osemwaro Jeremiah
• Makris Christos

Classifications

• B65G47/917

  control arrangements · CPC title

• B65G47/905

  Control arrangements · CPC title

• G06K17/0025 Primary

  the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B65G2203/042

  Sensors · CPC title