公开(公告)号：US12115682B2

公开(公告)日：2024-10-15

申请号：US17563112

申请日：2021-12-28

申请人： 1MROBOTICS LTD.

发明人： Roee Tuval ,  Igor Levinsky ,  David Prive ,  Itai Price ,  Yadin Aharoni ,  Eyal Yair

IPC分类号： B25J11/00 ,  B25J9/16 ,  B65G1/137 ,  G07F11/16

CPC分类号： B25J9/1687 ,  B25J11/008 ,  B65G1/1378 ,  G07F11/165 ,  B65G2209/04

摘要： A fully autonomous delivery station, including a management unit for receiving orders for goods, and a housing including one or more storage devices containing goods to be delivered, a moving collector moving between the one or more storage devices for collecting the goods, and kiosk used by a user of the delivery station for receiving the goods outside the housing.

公开(公告)号：US20240025030A1

公开(公告)日：2024-01-25

申请号：US18375742

申请日：2023-10-02

申请人： Nimble Robotics, Inc.

发明人： Simon Kalouche

IPC分类号： B25J5/00 ,  B65G1/137 ,  B25J9/14 ,  B25J9/16 ,  B25J13/08 ,  B25J19/04 ,  B25J15/06 ,  B25J15/04 ,  B25J15/02 ,  B25J5/02 ,  B25J19/00 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02 ,  B65G1/04 ,  B65G1/06 ,  B25J9/04 ,  B25J17/02 ,  B60M1/30

CPC分类号： B25J5/007 ,  B65G1/1373 ,  B25J9/14 ,  B25J9/161 ,  B25J13/089 ,  B25J19/04 ,  B25J9/162 ,  B25J15/0625 ,  B25J15/0441 ,  B25J15/02 ,  B25J9/1689 ,  B25J5/02 ,  B25J19/0025 ,  B65G47/917 ,  B65G47/918 ,  B25J13/00 ,  B25J15/0061 ,  B25J15/0616 ,  B25J19/02 ,  B65G1/0464 ,  B65G1/065 ,  B65G1/1375 ,  B25J9/042 ,  B25J9/1612 ,  B25J9/163 ,  B25J9/1697 ,  B25J13/08 ,  B25J17/02 ,  B25J19/005 ,  B60M1/30 ,  B65G1/0478 ,  B25J13/006 ,  B25J19/021 ,  B65G2203/042 ,  B65G2203/041 ,  B65G2209/04

摘要： A robotic system including a storage structure provided with vertical members supporting a grid collectively defining grid spaces and a plurality of storage containers arranged in vertical stacks for storing inventory items, each one of the vertical stacks configured to be arranged within a respective one of the grid spaces. One or more load handling robots are installed upon the grid and include a lifting device extendable in a vertical direction to extract one or more storage containers from the vertical stacks and transport the extracted storage container to a station. The robotic system further includes one or more manipulator robots installed at the station and within a single grid space. The one or more manipulator robots include a picking arm provided with a pneumatic gripping tool arranged to pick an inventory item from the transported storage container and place the picked item into an order container.

公开(公告)号：US11814245B2

公开(公告)日：2023-11-14

申请号：US17832484

申请日：2022-06-03

申请人： Berkshire Grey Operating Company, Inc.

发明人： Thomas Wagner ,  Kevin Ahearn ,  John Richard Amend, Jr. ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  William Hartman Fort ,  Christopher Geyer ,  Jennifer Eileen King ,  Thomas Koletschka ,  Michael Cap Koval ,  Kyle Maroney ,  Matthew T. Mason ,  William Chu-Hyon McMahan ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC分类号： B65G1/02 ,  B65G65/00 ,  B65G1/137 ,  B65G1/04

CPC分类号： B65G1/02 ,  B65G1/0492 ,  B65G1/1378 ,  B65G65/005 ,  B65G2209/04

摘要： A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins is in communication with a bin conveyance system for moving selected storage bins to a storage bin processing location, a programmable motion device in communication with the bin processing location for receiving a selected storage bin from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and a plurality of destination bins in communication with the bin conveyance system for moving a selected destination bin from a destination bin processing location that is proximate the programmable motion device to the plurality of destination bins.

公开(公告)号：US20190188632A1

公开(公告)日：2019-06-20

申请号：US16207362

申请日：2018-12-03

申请人： IAM ROBOTICS, LLC

发明人： Thomas Galluzzo ,  Vladimir Altman ,  Jean-Sebastian Valois

IPC分类号： G06Q10/08 ,  B25J9/16 ,  G05D1/00 ,  B60P1/54 ,  B25J15/06 ,  B25J15/00 ,  B25J11/00 ,  B25J9/00 ,  B25J5/00 ,  G05D1/02 ,  B65G1/137 ,  B25J19/02

CPC分类号： G06Q10/087 ,  B25J5/007 ,  B25J9/0093 ,  B25J9/162 ,  B25J9/1692 ,  B25J11/00 ,  B25J15/0028 ,  B25J15/0085 ,  B25J15/06 ,  B25J15/0608 ,  B25J15/0616 ,  B25J19/021 ,  B60P1/5423 ,  B65G1/1373 ,  B65G1/1375 ,  B65G2209/04 ,  G05B2219/37008 ,  G05B2219/39441 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/40564 ,  G05B2219/45063 ,  G05D1/0011 ,  G05D1/0088 ,  G05D1/0248 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/31 ,  Y10S901/40 ,  Y10S901/47

摘要： A method and system for piece-picking or piece put-away within a logistics facility. The system includes a central server and at least one mobile manipulation robot. The central server is configured to communicate with the robots to send and receive piece-picking data which includes a unique identification for each piece to be picked, a location within the logistics facility of the pieces to be picked, and a route for the robot to take within the logistics facility. The robots can then autonomously navigate and position themselves within the logistics facility by recognition of landmarks by at least one of a plurality of sensors. The sensors also provide signals related to detection, identification, and location of a piece to be picked or put-away, and processors on the robots analyze the sensor information to generate movements of a unique articulated arm and end effector on the robot to pick or put-away the piece.

公开(公告)号：US20180085788A1

公开(公告)日：2018-03-29

申请号：US15713979

申请日：2017-09-25

申请人： Intelligrated Headquarters, LLC

发明人： Christopher Engel ,  David Huff ,  Christopher Clinton Arnold ,  Justin Leib ,  Ralf Buerkle

IPC分类号： B07C3/08 ,  B07C3/00 ,  B65G1/137 ,  B07C1/02

CPC分类号： B07C3/082 ,  B07C1/025 ,  B07C3/008 ,  B65G1/0485 ,  B65G1/1373 ,  B65G1/1378 ,  B65G17/345 ,  B65G47/96 ,  B65G2209/04 ,  B65H1/025

摘要： A material handling system reduces or eliminates human interaction with articles sorted and deposited into an order container to maintain validation and integrity of the order. Validated articles are inducted onto a sortation conveyor that selectively dispenses or deposits each article at a destination into a container. A shuttle vehicle moves along a first side of row of such containers to replace an empty container in place of any container that holds a completed order and moves the latter onto a transport conveyor.

公开(公告)号：US09852394B1

公开(公告)日：2017-12-26

申请号：US13828286

申请日：2013-03-14

申请人： Amazon Technologies, Inc.

发明人： Francois M. Rouaix ,  Felix F. Antony ,  Cynthia L. Elliott ,  Jeffrey P. Bezos

IPC分类号： G06Q10/08

CPC分类号： G06Q10/087 ,  B65G1/1373 ,  B65G2209/04 ,  Y02P90/845

摘要： A visible-light based display system may be used to project visual guidance to picking and/or stowing agents in a materials handling facility dependent on their current location. The system may comprise a plurality of fixed-location display devices and/or mobile display devices coupled to a control system. The control system may send messages to particular ones of the display devices for projection of visual guidance usable to direct an agent to a particular inventory area in which an item is to be stowed or from which an item is to be picked, to identify a particular position within an inventory area, and/or to identify a particular item stored within an inventory area. The messages may include location, position, and/or descriptive information associated with an item to be stowed or picked. The projected visual guidance may include light or laser beams, text, graphics and/or images, and may be agent-specific, item-specific, and/or order-specific.

公开(公告)号：US09771218B2

公开(公告)日：2017-09-26

申请号：US15241220

申请日：2016-08-19

申请人： Dematic GmbH

发明人： Hans Christoph Meurer

IPC分类号： B65G1/00 ,  B65G1/137

CPC分类号： B65G1/1378 ,  B65G2209/04

摘要： Disclosed is a method for picking items according to the goods-to-man principle a picking station in which items are placed in order load carriers that are conveyed through the picking station in a row, and the put place of the order load carriers in the row changes when a chronologically preceding order load carrier is loaded and conveyed away. This disclosure also relates to a corresponding order picking station.

公开(公告)号：US20170267461A1

公开(公告)日：2017-09-21

申请号：US15311864

申请日：2015-07-16

申请人： Panasonic Intellectual Property Management Co., Ltd.

发明人： KIMIAKI TOSHIKIYO ,  DAISUKE NISHIMURA

IPC分类号： B65G43/08 ,  G01B11/24 ,  G01S17/08 ,  B65G57/03

CPC分类号： B65G43/08 ,  B65G57/03 ,  B65G61/00 ,  B65G2209/04 ,  G01B11/00 ,  G01B11/24 ,  G01S17/08

摘要： An arrangement of loaded packages is estimated three-dimensionally. A loading position at which a target package is loaded next is determined based on the estimated arrangement. A position at which the target package is loaded is instructed by irradiation with an index light indicating the determined loading position. This method allows a package to be loaded in a limited space, for example, the package to be loaded optimally in a transport device or in a storehouse.

公开(公告)号：US20160300179A1

公开(公告)日：2016-10-13

申请号：US14970468

申请日：2015-12-15

申请人： Real Picking, LLC

发明人： Eduardo Aviles

IPC分类号： G06Q10/08 ,  G02B27/01 ,  G01C21/36 ,  G06K9/00 ,  G09G5/377 ,  G06T19/00

CPC分类号： G06Q10/087 ,  B65G1/1373 ,  B65G2209/04 ,  G01C21/365 ,  G02B27/017 ,  G02B27/0172 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0141 ,  G02B2027/0174 ,  G06F3/011 ,  G06F3/0484 ,  G06K9/00671 ,  G06T19/006 ,  G09G5/377 ,  G09G2340/12 ,  G09G2354/00

摘要： A holographic picking system directs a person wearing a visor capable of projecting holographic images through the process of finding items within a storage facility and placing them in a bin, cart, or pallet that is used to transport the items within the storage facility. The system uses holograms to display where the person should move, where the picking location is, how many items to pick, and the precise position where the items picked should be placed on the bin, cart, or pallet. The system uses image recognition technology for navigation; to validate that the picking location from where items are being retrieved is the correct one; to validate that the item picked is the desired one; to store information about the item picked for tracking purposes; and to ensure that the item is placed in the correct position and with the correct orientation within the bin, cart, or pallet.

摘要翻译： 全息拾取系统通过在存储设施内找到物品并将它们放置在用于运输存储设施内的物品的箱子，推车或托盘中的过程中引导穿戴能够投影全息图像的遮阳板的人。 系统使用全息图显示人物应该移动的位置，拾取位置在哪里，要选择的物品数量以及拾取的物品的精确位置应放置在垃圾桶，购物车或托盘上。 该系统采用图像识别技术进行导航; 验证从哪里检索物品的采摘位置是正确的; 验证所选择的项目是所需的项目; 存储有关为跟踪目的选择的物品的信息; 并确保物品放置在正确的位置，并以正确的方向放置在垃圾桶，推车或托盘中。

公开(公告)号：US20160297611A1

公开(公告)日：2016-10-13

申请号：US15077931

申请日：2016-03-23

申请人： Jeff Williams ,  Ravi Bhaskaran ,  Charlie Martin

发明人： Jeff Williams ,  Ravi Bhaskaran ,  Charlie Martin

IPC分类号： B65G1/137 ,  B25J9/16 ,  G05D1/00 ,  B25J13/02

CPC分类号： B65G1/137 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0087 ,  B25J9/1687 ,  B25J9/1689 ,  B25J13/006 ,  B25J13/025 ,  B65G2209/04 ,  G05B2219/39106 ,  G05B2219/40014 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40192 ,  G05D1/005 ,  G05D2201/0216

摘要： Disclosed are a system and/or a method of telepresence based inventory pick and place operations through actuator controlled robotic arms affixed to each row of a shelf. A method includes mounting a robotic arm at an end of a row of a shelf of inventory on a set of rails affixed to the row of a shelf. The robotic arm is permitted to move horizontally along the row of the shelf. The robotic arm is repositioned along the three axes using a set of actuators. A haptic motion of a human user is mirrored that is remotely using a positioning device (e.g., human may feel the feedback of the remote arm as it touches the objects). An item is placed on a counting platform in front of the robotic arm. The items are placed automatically in the designated location down through a transport means when a pick operation is completed.

摘要翻译： 公开了一种通过致动器控制的机器人手臂固定到搁架的每一行的基于远程呈现的库存拾取和放置操作的系统和/或方法。 一种方法包括将机架手臂放置在一列存放在货架上的一端的固定在货架行上的一组导轨上。 允许机器人手臂沿着货架的行水平移动。 使用一组致动器沿着三个轴重新定位机器臂。 人类用户的触觉运动被镜像，远程使用定位设备（例如，人可能感觉到远程臂在触摸物体时的反馈）。 一个物品放置在机器臂前面的计数平台上。 当拾取操作完成时，物品通过传送装置自动放置在指定位置。