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US 12,735,262 B1Granted
Robotic retrieval for dense storage
AssigneeAmazon Technologies, Inc.
InventorAlexandre Ormiga Galvao Barbosa
Life of this patent
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Abstract
In various examples, systems and methods for robotic retrieval are described. A storage block including a grid of a plurality of storage pods in a robot-controlled storage field may be determined. Each storage pod of the plurality of storage pods may include a plurality of items. The grid may include a plurality of cells, where each cell represents a position within the grid occupiable by a storage pod. A first storage pod located at a first cell of the grid may be determined. The first cell may be an interior cell of the grid. A second cell of the grid may be determined, where the second cell is unoccupied by a storage pod. At least one robotic drive may be controlled to shift storage pods toward the second cell.
Claims20
A method comprising:
- determining a storage block comprising a grid of a plurality of storage pods in a robot-controlled storage field, wherein each storage pod of the plurality of storage pods comprises a plurality of items, and wherein the grid comprises a plurality of cells, wherein each cell of the plurality of cells represents a position within the grid occupiable by a storage pod;
- determining an item disposed on a first storage pod of the plurality of storage pods;
- determining a target cell of the plurality of cells, wherein the target cell is a perimeter cell of the storage block;
- and
- performing a repeated pathway generation process, wherein each repetition of the repeated pathway generation process comprises:
- determining, based on a current location of the first storage pod and the target cell, a first pathway d as a shortest pathway from the current location of the first storage pod to the target cell,
- determining, based on the current location of the first storage pod, a first nearest unoccupied cell,
- determining, based on the first pathway d and the first nearest unoccupied cell, a second pathway l between a first cell adjacent to the current location of the first storage pod along the first pathway d and the first nearest unoccupied cell,
- controlling at least a first robotic drive to move a first set of the plurality of storage pods along the second pathway l, wherein movement of the first set of the plurality of storage pods results in the first cell adjacent to the current location being unoccupied,
- controlling the first robotic drive or a second robotic drive to move the first storage pod to the first cell adjacent to the current location,
- determining an updated location of the first storage pod,
- in an instance where the updated location of the first storage pod is not located at the target cell, performing another repetition of the repeated pathway generation process, and
- in an instance where the updated location of the first storage pod is located at the target cell, ending the repeated pathway generation process.
10 more elements
A method comprising:
- determining a storage block comprising a grid of a plurality of storage pods in a robot-controlled storage field, wherein each storage pod of the plurality of storage pods comprises a plurality of items, and wherein the grid comprises a plurality of cells, wherein each cell of the plurality of cells represents a position within the grid occupiable by a storage pod;
- determining a first storage pod located at a first cell of the grid, wherein the first cell is an interior cell of the grid;
- determining a target cell of the grid, wherein the target cell is an exterior cell of the grid;
- and
- determining a repeated pathway generation process, wherein each repetition of the repeated pathway generation process comprises:
- determining, based on the first cell and the target cell, a first pathway,
- determining, based on the first cell, a first unoccupied cell of the grid,
- determining, based on the first pathway and the first unoccupied cell, a second pathway,
- controlling at least a first robotic drive to move a first set of storage pods, wherein movement of the first set of storage pods along the second pathway results in a second unoccupied cell adjacent to the first cell along the first pathway,
- controlling a second robotic drive to move the first storage pod to the second unoccupied cell,
- determining if the first storage pod is located at the target cell,
- in an instance where the first storage pod is not located at the target cell, performing another repetition of the repeated pathway generation process, and
- in an instance where the first storage pod is located at the target cell, ending the repeated pathway generation process.
10 more elements
A system comprising:
- at least one processor;
- and
- non-transitory computer-readable memory storing instructions that, when executed by the at least one processor, are effective to:
- determine a storage block comprising a grid of a plurality of storage pods in a robot-controlled storage field, wherein each storage pod of the plurality of storage pods comprises a plurality of items, and wherein the grid comprises a plurality of cells, wherein each cell of the plurality of cells represents a position within the grid occupiable by a storage pod;
- determine a first storage pod located at a first cell of the grid, wherein the first cell is an interior cell of the grid;
- determine a target cell of the grid, wherein the target cell is an exterior cell of the grid;
- and
- determine a repeated pathway generation process, wherein each repetition of the repeated pathway generation process comprises:
- determine, based on the first cell and the target cell, a first pathway,
- determine, based on the first cell, a first unoccupied cell of the grid,
- determine, based on the first pathway and the first unoccupied cell, a second pathway,
- control at least a first robotic drive to shift a first subset of the plurality of storage pods toward the first unoccupied cell, wherein movement of the first subset of the plurality of storage pods along the second pathway results in a second unoccupied cell adjacent to the first cell along the first pathway,
- control a second robotic drive to move the first storage pod to the second unoccupied cell,
- determine if the first storage pod is located at the target cell,
- in an instance where the first storage pod is not located at the target cell, performing another repetition of the repeated pathway generation process, and
- in an instance where the first storage pod is located at the target cell, ending the repeated pathway generation process.
13 more elements
Dependencies are inferred from the claim text.