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公开(公告)号：US11247347B2
公开(公告)日：2022-02-15
申请号：US16799600
申请日：2020-02-24
发明人： Parris S. Wellman , Beth A. Marcus , Gregory Coleman , Manikantan Nambi , Erica Aduh , Timothy G. Dietz , Leonard Thomas Lilliston, III , Margaret Jean Williams George , Jonas Eichenberger , Mathias Moser , Dominique Ernst , Ueli Schlaepfer
摘要： Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.
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公开(公告)号：US10395152B2
公开(公告)日：2019-08-27
申请号：US15268414
申请日：2016-09-16
发明人： Joseph W. Durham , Scott Dresser , John Gregory Longtine , Diane Grieselhuber Mills , Parris S. Wellman , Steven Augustine Wilson
摘要： A transfer rack on one floor of an inventory system can receive multiple containers each carrying an inventory item designated for an operation on a different floor of the inventory system. A vertical lift can move the transfer rack carrying the multiple containers from the one floor to the different floor. On the different floor, the multiple containers may be swapped for different multiple containers each carrying an inventory item designated for an operation on the one floor. The vertical lift may return the transfer rack carrying the different multiple containers to the one floor.
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公开(公告)号：US10366366B1
公开(公告)日：2019-07-30
申请号：US15450692
申请日：2017-03-06
发明人： Parris S. Wellman
IPC分类号： G06Q10/08 , G05B19/418 , G05D1/00 , G05D1/02
摘要： Techniques for providing an entity monitoring safety feature in an inventory management system may be described. For example, information that indicates respective locations for a plurality of mobile drive units within an inventory management system may be received. Tracking information may be received from a mobile location unit that is moving within a bounded area around a signal transmitter that is coupled to an entity. The tracking information may include an approximate location of the signal transmitter relative to the mobile location unit. Pathway information may be generated that indicates to the plurality of mobile drive units within the inventory management system to stay outside of a radius distance of the mobile location unit based on the received tracking information. The generated pathway information may be provided to the plurality of mobile drive units to enable safe passage for the entity within the inventory management system.
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公开(公告)号：US20170136931A1
公开(公告)日：2017-05-18
申请号：US15418540
申请日：2017-01-27
CPC分类号： B60P1/02 , A47F5/0018 , B66F9/065 , G05D1/021 , G06Q10/087
摘要： A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with a set of actuator assemblies to lift an holder structure and tilt the holder structure in at least one direction. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the holder structure relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the holder structure.
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公开(公告)号：US10272566B2
公开(公告)日：2019-04-30
申请号：US15865067
申请日：2018-01-08
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, Jr. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.
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公开(公告)号：US10029851B1
公开(公告)日：2018-07-24
申请号：US15268377
申请日：2016-09-16
发明人： Joseph W. Durham , Scott Dresser , John Gregory Longtine , Diane Grieselhuber Mills , Parris S. Wellman , Steven Augustine Wilson
摘要： Item information such as an identity or arrangement of a selected inventory item of an inventory system can be determined. A classification of the selected inventory item can be obtained based at least in part on the item information. The selected inventory item can be routed based at least in part on the classification of the selected inventory item. For example, the selected inventory item may be routed for manual handling if the classification of the selected inventory item indicates that the selected inventory item is designated for an operation to be performed relative to the selected inventory item by a human operator. Alternatively, the selected inventory item may be routed for automated handling if the classification of the selected inventory item indicates that the selected inventory item is designated for an operation to be performed relative to the selected inventory item by a robotic manipulator.
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公开(公告)号：US09688472B1
公开(公告)日：2017-06-27
申请号：US14965409
申请日：2015-12-10
发明人： Andrew Stubbs , John Gregory Longtine , Diane Grieselhuber Mills , Parris S. Wellman , Matthew David Verminski
CPC分类号： B65G1/1373 , B25J9/0096 , B25J9/162 , B25J9/1664 , B65G1/06 , G06Q10/08 , G06Q10/087 , G06Q50/28 , Y10S901/01
摘要： Embodiments are described for implementing a mobile inventory transfer station within a workspace of an inventory management system. In embodiments, inventory transfer instructions for moving inventory stored within container holders in a workspace may be received. A portion of container holders within the workspace may be identified based on characteristics associated with the items of the inventory transfer instructions and first information identifying the items stored in the portion of container holders. A mobile container unit and a mobile manipulator unit may be selected based on distances between the units and the identified portion of container holders within the workspace. Instructions may be transmitted to the mobile container unit and mobile manipulator unit for navigating to the identified portion of container holders in the workspace and transferring inventory between a particular container holder and a container associated with the mobile container unit by the mobile manipulator unit.
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公开(公告)号：US20170083020A1
公开(公告)日：2017-03-23
申请号：US14863263
申请日：2015-09-23
发明人： Oliver Christoph Purwin , Dragan Pajevic , David William Guerin , Robert Michael Shydo, JR. , Mark Anthony Messina , Parris S. Wellman , Kevin John Trenholme , Peter Thomas Colantonio , Peter K. Mansfield
CPC分类号： B60P1/02 , B25J5/007 , B65G63/002 , B66F9/063 , G05D1/0297 , G05D1/0891 , G05D2201/0216 , G06Q10/087
摘要： An inventory system includes an inventory holder and an actively balanced mobile drive unit. A control module of the mobile drive unit can receive sensing information about the inventory holder and/or the mobile drive unit and use the sensing information to control a drive module of the mobile drive unit so as to maintain the inventory holder and/or the mobile drive unit within a predetermined deviation amount from an equilibrium state.
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公开(公告)号：US10328836B2
公开(公告)日：2019-06-25
申请号：US14863263
申请日：2015-09-23
发明人： Oliver Christoph Purwin , Dragan Pajevic , David William Guerin , Robert Michael Shydo, Jr. , Mark Anthony Messina , Parris S. Wellman , Kevin John Trenholme , Peter Thomas Colantonio , Peter K. Mansfield
摘要： An inventory system includes an inventory holder and an actively balanced mobile drive unit. A control module of the mobile drive unit can receive sensing information about the inventory holder and/or the mobile drive unit and use the sensing information to control a drive module of the mobile drive unit so as to maintain the inventory holder and/or the mobile drive unit within a predetermined deviation amount from an equilibrium state.
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公开(公告)号：US20180082162A1
公开(公告)日：2018-03-22
申请号：US15268414
申请日：2016-09-16
发明人： Joseph W. Durham , Scott Dresser , John Gregory Longtine , Diane Grieselhuber Mills , Parris S. Wellman , Steven Augustine Wilson
CPC分类号： G06K17/0025 , B65G1/1375 , G05B19/41895 , G05D2201/0216 , G06K7/10009 , G06Q10/087 , G06Q50/28 , Y02P90/60
摘要： A transfer rack on one floor of an inventory system can receive multiple containers each carrying an inventory item designated for an operation on a different floor of the inventory system. A vertical lift can move the transfer rack carrying the multiple containers from the one floor to the different floor. On the different floor, the multiple containers may be swapped for different multiple containers each carrying an inventory item designated for an operation on the one floor. The vertical lift may return the transfer rack carrying the different multiple containers to the one floor.
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