Multidirectional robotic shelf restocking system

Patent metadata

Field	Value
Publication number	US-12577044-B2
Application number	US-202318116402-A
Country	US
Kind code	B2
Filing date	Mar 2, 2023
Priority date	Mar 2, 2023
Publication date	Mar 17, 2026
Grant date	Mar 17, 2026

Abstract

Systems and methods of multidirectional robotic shelf restocking are performed. In one exemplary embodiment, a multidirectional robotic shelf restocking apparatus is configured to operate in first and second adjoining regions. The first region being above or below the second region defined by opposing stocked shelf structures. The apparatus includes a vertical motion mechanism and a corresponding vertical motion drive operable to move the vertical motion mechanism in a vertical direction. Further, the apparatus includes an arm member and a corresponding rotational motion drive operable to rotate the arm member between the stocked shelf structures and a corresponding linear motion drive operable to linearly extend and retract the arm member. In addition, the apparatus includes an end effector coupled to the arm member and configured to transfer an item from the first region to the second region by the motion of the vertical motion mechanism and the arm member.

First claim

What is claimed is:

1 . A method, comprising:
operating a multidirectional robotic shelf restocking apparatus configured to operate in first and second adjoining regions, with the first region being above or below the second region defined by opposing stocked shelf structures having sets of stocked items and the first region being associated with items to restock at least one of the sets of stocked items, with each stocked shelf structure having multiple shelves at various horizontal levels, with each shelf having one or more of the sets of stocked items, each set having the same stocked item linearly arranged on the shelf along a first longitudinal axis, the restocking apparatus having a controller device, a vertical motion mechanism and corresponding vertical motion drive operable to move the vertical motion mechanism in a vertical direction, an arm member and both a corresponding rotational motion drive operable to rotate the arm member between the stocked shelf structures and a corresponding first linear motion drive operable to linearly extend and retract the arm member, and an end effector coupled to the arm member and configured to transfer an item to restock from a first position associated with the first region to a second position associated with the second region by the motion of the vertical motion mechanism and the arm member, the end effector includes a coupling mechanism operable to releasably secure an item and a second linear motion mechanism coupled to the coupling mechanism and a corresponding second linear motion drive operable to extend and retract the coupling mechanism, controlling, by the controller device, the vertical motion drive, the rotational motion drive, or the first linear motion drive to transfer an item from the first position associated with the first region to the second position associated with the second region so as to restock the at least one of the sets of stocked items linearly arranged on the shelves of the stocked shelf structures.

2 . The method of claim 1 , further comprising:
obtaining, by the controller device, the first position of the item to restock based on a predetermined map of the items to restock positioned in the first region.

3 . The method of claim 1 , further comprising:
controlling, by the controller device, the vertical motion drive, the rotational motion drive, and the first linear motion drive to move the restocking apparatus horizontally adjacent the first position; and controlling, by the controller device, while the restocking apparatus is horizontally adjacent the first position, the first linear motion drive to linearly extend the arm member so as to position the end effector adjacent the first position.

4 . The method of claim 1 , further comprising:
controlling, by the controller device, while the end effector is adjacent the first position, the second linear motion drive and the coupling mechanism to releasably secure and transfer the item from the first position onto a support surface, wherein the end effector includes the second linear motion drive operable to extend and retract the coupling mechanism, the coupling mechanism operable to releasably secure an item and the support surface operable to support an item during the transfer between the first and second positions.

5 . The method of claim 1 , further comprising:
obtaining, by the controller device, the second position specific to a corresponding set having the same stocked item based on a predetermined map of the sets of stocked items positioned on the shelves of the opposing stocked shelf structures.

6 . The method of claim 1 , further comprising:
controlling, by the controller device, the vertical motion drive, the rotational motion drive, and the first linear motion drive to move the restocking apparatus horizontally adjacent the second position; and controlling, by the controller device, while the restocking apparatus is horizontally adjacent the second position, the first linear motion drive to linearly extend the arm member so as to position the end effector adjacent the second position.

7 . The method of claim 1 , further comprising:
controlling, by the controller device, while the end effector is adjacent the second position, the second linear motion drive and the coupling mechanism to releasably secure and transfer the item from a support surface to the second position, wherein the end effector includes the second linear motion drive operable to extend and retract the coupling mechanism, the coupling mechanism being operable to releasably secure the item, and the support surface being operable to support the item during the transfer between the first and second positions.

8 . The method of claim 7 , further comprising:
determining to obtain a measured distance between the end effector and a last stocked item of a corresponding set having the same stocked item linearly arranged on the shelf along the first longitudinal axis responsive to determining that the end effector is adjacent the second position; receiving, from a sensor of the end effector, an indication that includes a measurement of a distance between the end effector and the last stocked item, with the sensor being operable to sense a distance between the end effector and an obstacle; verifying or updating the second position of the item to restock based on the measured distance to the last stocked item; and controlling, by the controller device, while the end effector is adjacent the second position, the second linear motion drive and the coupling mechanism to releasably secure and transfer the item from a support surface of the end effector to the second position, with the support surface being configured to support an item during transfer between the first and second positions.

9 . The method of claim 1 , wherein the rotational motion drive is operable to rotate one hundred and eighty degrees on a horizontal plane between the stocked shelf structures.

10 . The method of claim 1 , wherein the first region is further associated with a first surface having the opposing stocked shelf structures positioned on the first surface and the second region is further associated with a second surface that is positioned above or below the first surface, with an aperture disposed in a portion of the first or second surface that adjoins the first and second regions, with the aperture being configured to enable the restocking apparatus to move between the first and second regions.

11 . A multidirectional robotic shelf restocking apparatus, comprising:
with the restocking apparatus being configured to operate in first and second adjoining regions, with the first region being above or below the second region defined by opposing stocked shelf structures having sets of stocked items and the first region being associated with items to restock at least one of the sets of stocked items, with each stocked shelf structure having multiple shelves at various horizontal levels, with each shelf having one or more of the sets of stocked items with each set having the same stocked item linearly arranged on the shelf along a first longitudinal axis, the restocking apparatus having a controller device, a vertical motion mechanism and corresponding vertical motion drive operable to move the vertical motion mechanism in a vertical direction, an arm member and a corresponding rotational motion drive operable to rotate the arm member between the stocked shelf structures and a corresponding first linear motion drive operable to linearly extend and retract the arm member, and an end effector coupled to the arm member and configured to transfer an item to restock from a first position associated with the first

Assignees

• Toshiba Global Commerce Solutions Inc

Inventors

• Johnson Brad M
• Pistone John
• Frank James

Classifications

• B25J11/00 Primary

  Manipulators not otherwise provided for · CPC title

• A47F1/125

  with an article-pushing device · CPC title

• B65G1/0421

  with control for stacker crane operations · CPC title

• B65G1/137

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title

• B65G1/0435 Primary

  with pulling or pushing means on either stacking crane or stacking area · CPC title