Automated item picking systems and methods

Patent metadata

Field	Value
Publication number	US-12304755-B2
Application number	US-202217743002-A
Country	US
Kind code	B2
Filing date	May 12, 2022
Priority date	Jul 19, 2021
Publication date	May 20, 2025
Grant date	May 20, 2025

Abstract

This document describes systems and methods for enhancing the efficiencies of order fulfillment and inventory management processes. For example, this document describes automated robotic systems that can autonomously pick and place a particular quantity of desired items from a container that is storing the items. The autonomous robotic systems can thereby facilitate order fulfillment and inventory management processes in an efficient manner. In particular, the systems and methods described herein can greatly reduce the amount of time required for a human worker to pick orders. Accordingly, the efficiency of item picking processes, as measured by the number of line items picked per human labor hour for example, is greatly enhanced.

First claim

What is claimed is:

1. An item picking system, comprising:
a surface;
a first item manipulation apparatus including a first end effector, the first end effector configured to releasably couple with multiple items in a first item container, the first item manipulation apparatus configured to transfer and release the multiple items coupled to the first end effector onto the surface; and
a second item manipulation apparatus including a second end effector, the second end effector configured to engage with a single item of the multiple items on the surface and to transfer the single item into a second item container.

2. The item picking system of claim 1 , wherein the second end effector is configured to lift the single item off of the surface.

3. The item picking system of claim 1 , wherein the second end effector is configured to slide the single item across the surface.

4. The item picking system of claim 1 , wherein at least a portion of the surface onto which the first item manipulation apparatus releases the multiple items is inclined.

5. The item picking system of claim 1 , further comprising a mechanism configured to vibrate the surface to cause separation of the multiple items on the surface.

6. The item picking system of claim 1 , further comprising a mechanism configured to vibrate the first item container.

7. The item picking system of claim 1 , wherein the first item manipulation apparatus includes a first vision system configured to visualize the multiple items in the first item container.

8. The item picking system of claim 1 , wherein the second item manipulation apparatus includes a second vision system configured to visualize the single item of the multiple items on the surface.

9. The item picking system of claim 1 , wherein the first item manipulation apparatus comprises a first robot, and wherein the second item manipulation apparatus comprises a second robot.

10. The item picking system of claim 1 , wherein the first end effector is a vacuum end effector with multiple suction cups and level compensators.

11. A method of item picking, the method comprising:
releasably coupling a first end effector of a first item manipulation apparatus to multiple items in a first item container;
transferring, by the first item manipulation apparatus, the multiple items coupled to the first end effector onto a surface;
engaging a second end effector of a second item manipulation apparatus with a single item of the multiple items on the surface; and
transferring, by the second manipulation apparatus, the single item engaged with the second end effector into a second item container.

12. The method of claim 11 , further comprising:
after transferring the single item engaged with the second end effector into the second item container, transferring, by the second manipulation apparatus, all remaining items of the multiple items on the surface to the first item container.

13. The method of claim 11 , wherein the transferring the single item engaged with the second end effector into the second item container comprises lifting the single item off of the surface by the second end effector.

14. The method of claim 11 , wherein the transferring the single item engaged with the second end effector into the second item container comprises sliding the single item across the surface by the second end effector.

15. The method of claim 11 , further comprising vibrating the surface to cause separation of the multiple items on the surface.

16. The method of claim 11 , further comprising vibrating the first item container prior to the releasably coupling the first end effector of the first item manipulation apparatus to multiple items in the first item container.

17. The method of claim 11 , wherein at least a portion of the surface onto which the first item manipulation apparatus transfers the multiple items is inclined.

18. The method of claim 11 , further comprising using a first vision system, by the first item manipulation apparatus, to visualize the multiple items in the first item container.

19. The method of claim 11 , further comprising using a second vision system, by the second item manipulation apparatus, to visualize the single item of the multiple items on the surface.

20. The method of claim 11 , wherein the first item manipulation apparatus is a first robot, wherein the second item manipulation apparatus is a second robot, and wherein the first end effector is a vacuum end effector with multiple suction cups and level compensators.

Assignees

• Target Brands Inc

Inventors

• Mutarelli Gervasio
• Saldana Pena Ernesto
• Loza Carlos
• Feider Justin

Classifications

• B25J9/0084 Primary

  comprising a plurality of manipulators · CPC title

• G05B2219/45063

  Pick and place manipulator · CPC title

• B25J15/0666

  Other types, e.g. pins or springs · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J15/0616

  with vacuum · CPC title