Secondary robotic catch apparatus and method

Patent metadata

Field	Value
Publication number	US-9604358-B1
Application number	US-201514965093-A
Country	US
Kind code	B1
Filing date	Dec 10, 2015
Priority date	Dec 10, 2015
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

Inventory management systems and related methods employ a catching member to selectively catch items dropped by a robotic manipulator. A related method includes controlling a robotic manipulator to move an inventory item from a first location to a second location. A catching member is selectively positioned to catch the inventory item if dropped by the robotic manipulator prior to the item reaching the second location. The catching member is moved to a suitable location for subsequent processing of one or more items dropped by the first robotic manipulator into the catching member.

First claim

What is claimed is:

1. An inventory management system, comprising:
a first robotic manipulator configured to grasp an item of a plurality of items, move the item from a first location to a second location and release the item at the second location; the plurality of items including at least some items that differ from one another;
a catching member that is moved in coordination with the movement of the item by the first robotic manipulator to position the catching member to catch the item if dropped by the first robotic manipulator prior to the item reaching the second location;
one of
a second robotic manipulator configured to move the catching member in coordination with the movement of the item by the first robotic manipulator; and
a mobile drive unit configured to dock with the catching member and operable to move the catching member in coordination with the movement of the item by the first robotic manipulator and move the catching member independent of the first robotic manipulator to move the catching member to another location for exception processing of dropped items in the catching member so that another mobile drive unit can move another catching member into position to catch an item dropped by the first robotic manipulator; and

a management module configured to:
generate instructions to cause the first robotic manipulator to grasp the item at the first location and move the item to the second location; and
generate instructions to cause the second robotic manipulator or the mobile drive unit to move the catching member in coordination with the movement of the item by the first robotic manipulator to position the catching member to catch the item if dropped by the first robotic manipulator prior to the item reaching the second location.

2. The inventory management system of claim 1 , comprising the second robotic manipulator.

3. The inventory management system of claim 1 , comprising the mobile drive unit.

4. The inventory management system of claim 1 , wherein the management module is configured to:
determine whether the item being moved from the first location towards the second location has been dropped by the first robotic manipulator based on input received by the management module indicative that the item has been dropped; and
in response to a determination that the item being moved from the first location towards the second location has been dropped by the first robotic manipulator, generate instructions to cause the dropped item to be moved from the catching member.

5. The inventory management system of claim 4 , further comprising at least one of:
a weight sensor coupled with the catching member and configured to generate a weight sensor signal indicative of an item being caught by the catching member, wherein the input received by the management module indicative of whether the item has been dropped is based on the weight sensor signal;
a light source and a light sensor, the light source generating a light beam incident on the light sensor, the light sensor generating a light sensor signal indicative of whether an item has been dropped by the first robotic manipulator and at least temporarily blocks at least a portion of the light beam from being incident upon the light sensor, wherein the input received by the management module indicative of whether the item has been dropped is based on the light sensor signal;
a vision sensor generating a vision sensor signal indicative of whether the item being moved from the first location to the second location by the first robotic manipulator has reached or not reached the second location, wherein the input received by the management module indicative of whether the item has been dropped is based on the vision sensor signal; or
a grasp sensor coupled with the first robotic manipulator and generating a signal indicative of whether the item is or is not being grasped by the first robotic manipulator, wherein the input received by the management module indicative of whether the item has been dropped is based on the vision sensor signal.

6. An inventory management system, comprising:
a first robotic manipulator configured to move an item from a first location to a second location;
a catching member configured to catch the item if dropped by the first robotic manipulator prior to the item reaching the second location, the catching member being configured to be moved to carry the dropped item to a suitable location for subsequent processing; and
a management module configured to:
generate instructions to cause the first robotic manipulator to grasp the item at the first location and move the item to the second location;
determine whether the item being moved from the first location towards the second location has been dropped by the first robotic manipulator based on input received by the management module indicative that the item has been dropped;
in response to determining that the item being moved by the first robotic manipulator has been dropped, generate instructions relating to subsequent processing of the dropped item; and
generate instructions to cause any items held by the catching member to be moved to a suitable location for subsequent processing.

7. The inventory management system of claim 6 , further comprising at least one of:
a first weight sensor coupled with the first robotic manipulator and configured to generate a first weight sensor signal indicative of an item being dropped by the first robotic manipulator;
a second weight sensor coupled with the catching member and configured to generate a second weight sensor signal indicative of an item being caught by the catching member;
a light source and a light sensor, the light source generating a light beam incident on the light sensor, the light sensor generating a light sensor signal indicative of whether an item has been dropped by the first robotic manipulator;
a vision sensor generating a vision sensor signal indicative of whether the item being moved by the first robotic manipulator has reached or not reached the second location; or
a grasp sensor generating a signal indicative of whether the item is or is not being grasped by the first robotic manipulator.

8. The inventory management system of claim 6 , further comprising a mobile drive unit configured to move the catching member to the suitable location for subsequent processing of any items held by the catching member.

9. The inventory management system of claim 6 , further comprising a mobile drive unit configured to move the catching member, and wherein the management module is configured to generate instructions to cause the mobile drive unit to move the catching member in coordination with the movement of the item by the first robotic manipulator to position the catching member to catch the item if dropped by the first robotic manipulator prior to the item reaching the second location.

10. The inventory management system of claim 6 , wherein the management module is configured to generate instructions to cause the first robotic manipulator to grasp an item held by the catching member, move the item to the second location, and release the item at the second location.

11. The inventory management system of claim 6 , wherein the catching member is included in a conveyance apparatus configured for continuous movement of any items dropped by the first robotic manipulator to the suitable location for subsequent processing.

12. The inventory management system of claim 6 , further comprising a second robotic manipulator configured to move the catching member, and wherein the management module is configured to:
determine, based on one or more parameters for an item to be moved

Assignees

• Amazon Tech Inc

Inventors

• Brazeau Jeremiah David

Classifications

• B65G1/04

  mechanical · CPC title

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title

• B65G65/02

  Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads · CPC title

• B65G59/00

  De-stacking of articles (B65G60/00 takes precedence) · CPC title

• B25J9/0096 Primary

  co-operating with a working support, e.g. work-table · CPC title