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US 9,926,138 B1Granted
Determination of removal strategies
AssigneeAmazon Technologies, Inc.
InventorsJeremiah David Brazeau, Andrew M. Sweeney, Henry David Garcia, Fred Chen, Brian Michael Lusignan
Life of this patent
Estimating the term…
Abstract
An item that is moving along a moving surface of an inventory conveyance system may be identified. An orientation of the item with respect to the moving surface may be determined based on sensing information that describes the item and a portion of the moving surface surrounding the item. A removal strategy for operating a robotic arm to remove the item from the moving surface may be determined based at least in part on the item and the orientation. The removal strategy may include a trajectory for the robotic arm to follow as part of removing the item from the moving surface.
Claims23
A system, comprising:
- an inventory conveyance system configured to move a plurality of items along a moving surface, at least some items of the plurality of items differing from one another;
- a robotic manipulator configured to move in at least three dimensions and to grasp items of the plurality of items;
- an imaging device configured to at least capture images of one or more items of the plurality of items moving on the inventory conveyance system;
- and
- a management module configured to:
- receive at least one image from the imaging device, the at least one image depicting a portion of the plurality of items and a portion of the moving surface adjacent to the portion of the plurality of items, the portion of the moving surface comprising a marking pattern;
- identify, based at least in part on the at least one image, a particular item of the plurality of items moving on the inventory conveyance system;
- determine, based at least in part on the at least one image, an orientation of the particular item with respect to the inventory conveyance system;
- determine a movement rate corresponding to the inventory conveyance system;
- and
- determine, based at least in part on (i) the particular item, (ii) the orientation the particular item, and (iii) the movement rate, a removal strategy for operating the robotic manipulator to remove the particular item from the inventory conveyance system while the particular item is moving on the inventory conveyance system, the removal strategy identifying the particular item and including a trajectory for the robotic manipulator to follow as part of removing the particular item from the inventory conveyance system.
8 more elements
A computer-implemented method, comprising:
- identifying an item from among a plurality of items that is located on a moving surface of an inventory conveyance system, the item having one or more characteristics;
- receiving sensing information from a sensor disposed adjacent to the moving surface;
- determining, based at least in part on the sensing information, an orientation of the item with respect to the moving surface, the sensing information describing at least a portion of the item and a portion of the moving surface surrounding the item, the portion of the moving surface comprising a marking pattern;
- determining, based at least in part on the one or more characteristics and the orientation of the item, a removal strategy for operating a robotic arm to remove the item from the moving surface, the removal strategy comprising a trajectory for the robotic arm to follow as part of removing the item from the moving surface, the robotic arm disposed adjacent to the moving surface;
- in response to determining the removal strategy, generating instructions for the robotic arm to remove the item from the moving surface in accordance with the removal strategy;
- and
- providing the instructions to the robotic arm for execution by the robotic arm.
4 more elements
A system, comprising:
- an inventory conveyance system configured to move a plurality of items via a moving surface, a first item of the plurality of items having a first shape and a second item of the plurality of items having a second shape that is distinct from the first shape;
- a camera configured to capture one or more images of the plurality of items;
- a first robotic manipulator having at least two dimensions of freedom and configured to grasp at least the first item and the second item;
- and
- a management module configured to:
- receive an image from the camera, the image at least depicting, at a first time, (i) at least a portion of the first item, (ii) at least a portion of the second item, and (iii) an orientation of the first item with respect to the second item;
- identify, based at least in part on the image, the first item;
- and
- determine, based at least in part on (i) the identified first item, (ii) a movement rate corresponding to the moving surface, and (iii) the orientation of the first item with respect to the second item, a removal strategy for operating the first robotic manipulator to remove the first item from the moving surface without contacting the second item.
6 more elements
Dependencies are inferred from the claim text.