System and method for order fulfillment using robots

Patent metadata

Field	Value
Publication number	US-11934181-B2
Application number	US-202117463350-A
Country	US
Kind code	B2
Filing date	Aug 31, 2021
Priority date	Feb 12, 2015
Publication date	Mar 19, 2024
Grant date	Mar 19, 2024

Abstract

A system for order fulfillment using one or more robots includes: a server configured to receive an order comprising an order item; inventory storage operably connected to the server, the inventory storage comprising order items; an actor robot operably connected to and selected by the server, the actor robot configured to perform one or more of picking the order item from inventory storage, moving the order item, and positioning the order item; and an order robot operably connected to the server, the order robot configured to collect the order item, wherein the order item is positioned by the actor robot so as to be accessible to the order robot, so as to perform order fulfillment using one or more robots.

First claim

What is claimed is:

1. A system for order fulfillment using one or more robots, comprising:
a server configured to receive an order comprising an order item;
inventory storage operably connected to the server, the inventory storage comprising at least one order item;
an actor robot operably connected to and selected by the server, the actor robot configured to perform one or more of picking the order item from inventory storage, moving the order item, and positioning the order item;
an order robot operably connected to the server, the order robot configured to collect the order item, wherein the order item is positioned by the actor robot on or inside the order robot so as to be accessible to the order robot to perform order fulfillment; and
at least one mobile packer robot configured to pack the order item into a container, wherein the container is configured to be mailed, and the mobile packer robot is further configured to traverse across a floor.

2. The system of claim 1 , wherein at least one robot communicates position information to the server.

3. The system of claim 2 , wherein using the position information, the server generates a currently planned path, wherein the server transmits the currently planned path to the communicating robot.

4. The system of claim 1 , wherein the inventory storage comprises one or more of an inventory robot, a box, a bin, a fixed shelf, a non-fixed shelf, a rack, a conveyor, and a warehouse.

5. The system of claim 4 , wherein the inventory robot is configured to perform one or more of carrying inventory on top of itself and carrying inventory inside itself.

6. The system of claim 1 , wherein the inventory storage comprises an inventory robot.

7. The system of claim 6 , wherein the inventory robot is mobile.

8. The system of claim 7 , wherein the mobile inventory robot moves between at least two actor robots.

9. The system of claim 8 , wherein at least one of the actor robots picks the order item from the mobile inventory robot.

10. The system of claim 1 , wherein the actor robot is configured to pick and move the order item.

11. The system of claim 1 , wherein the actor robot is stationary.

12. The system of claim 11 , wherein the stationary actor robot comprises one or more arms.

13. The system of claim 1 , wherein the actor robot is mobile.

14. The system of claim 13 , wherein the mobile actor robot is configured to perform one or more of receiving from the server a currently planned path for the mobile actor robot and generating the currently planned path for the mobile actor robot.

15. The system of claim 1 , wherein the order robot is configured to move from a first stationary actor robot to a second stationary actor robot.

16. The system of claim 1 , wherein the order robot is configured to position the order item so as to be accessible to the packer robot.

17. The system of claim 1 , wherein the server communicates wirelessly with at least one of the actor robot, the order robot, and the inventory storage.

18. The system of claim 1 , wherein at least one of the actor robot is configured to transfer inventory from one or more of a first robot and a first inventory storage to one or more of a second robot and a second inventory storage.

19. The system of claim 1 , wherein the actor robot stays within a predetermined distance from the inventory storage after the actor robot picks an order item from the inventory storage.

20. The system of claim 19 , wherein, after the actor robot picks the order item from the inventory storage, the actor robot picks a second order item from the inventory storage.

21. The system of claim 1 , wherein the order robot is configured to collect the order item and to drive itself to a packing station.

22. A method for order fulfillment using robots, comprising:
receiving, by a server, an order comprising an order item;
selecting, by the server, a task robot to perform a task relating to fulfillment of the order;
determining, by the server, a destination for the task robot;
receiving, by the server, position information from the task robot;
determining, by the server, using the position information, that the task robot is positioned so as to be ready to perform the task;
transmitting, by the server, in response to the determination that the task robot is positioned so as to be ready to perform the task, one or more of: the task and the destination to the task robot;
positioning the order item, by the task robot, directly onto a packer robot, the packer robot configured to pack the order item into a container, the packer robot further configured to traverse across a floor; and
receiving, by the server, from the task robot, a task confirmation confirming that the task has been completed.

23. The method of claim 22 , further comprising the steps, performed after the step of receiving the order and before the step of selecting, of:
computing, by the server, a currently planned path configured to enable the task robot to reach the destination while optimizing criteria of interest; and
transmitting, by the server, the currently planned path to the task robot.

24. The method of claim 23 , wherein the step of computing comprises computing an optimal path.

25. The method of claim 23 , wherein the step of computing comprises computing one or more of a time optimal path and a cost optimal path.

26. The method of claim 23 , wherein the server distributes one or more of the steps in the method among more than one task robot.

27. The method of claim 23 , wherein the step of computing comprises computing the currently planned path assuming an obstacle-free path to the destination.

28. The method of claim 23 , wherein the step of computing comprises computing the currently planned path assuming a path to the destination that is obstacle-free apart from one or more known obstacles.

29. The method of claim 22 , wherein the step of transmitting the task comprises transmitting a pick order.

30. The method of claim 22 , wherein the step of receiving the task confirmation comprises receiving a pick confirmation confirming that the ordered items have been picked.

Assignees

• Fetch Robotics Inc
• Zebra Tech Corp

Inventors

• Wise Melonee
• Ferguson Michael

Classifications

• G05B19/418 Primary

  Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title

• B65G61/00

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title

• B65G67/04

  Loading land vehicles {(loading or unloading boats to or from land vehicles B60P3/10)} · CPC title

• G06Q10/087

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · CPC title