公开(公告)号：US10025304B1

公开(公告)日：2018-07-17

申请号：US15449066

申请日：2017-03-03

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  Jonathan Evan Cohn

IPC: G05D3/00 ,  G05D1/00 ,  G01S11/02 ,  B60W30/09

Abstract: Robotic units may operate in a workspace that is shared with human workers. In order to safeguard the workers, operation of a robotic unit may be inhibited when a worker is near the robotic unit. In order to determine the position of the worker and thereby determine the proximity of the worker and the robotic unit, a time-of-flight measurement is performed to determine the distance of the worker from each of multiple reference locations within or about the workspace. A circular bounding area is defined around each reference location based on the determined distances. A bounded position area is identified as the intersection of the circular bounding areas. The worker is then indicated as being within the bounded position area.

公开(公告)号：US20180170676A1

公开(公告)日：2018-06-21

申请号：US15387408

申请日：2016-12-21

Applicant: Amazon Technologies, Inc.

Inventor： Ennio Claretti ,  Andrew D. Marchese ,  Andrew Stubbs ,  Ying Xu

IPC: B65G1/137 ,  B65G1/04 ,  B25J9/00 ,  B25J15/08

CPC classification number: B23P19/007 ,  B25J9/0093 ,  B25J9/10 ,  B25J15/0009 ,  B25J15/0028 ,  B25J15/0052 ,  B25J15/0206 ,  B25J15/08 ,  B25J19/0075 ,  B65B69/00 ,  B65G1/0464 ,  B65G1/1378

Abstract: An example system includes a moveable arm, a pick tool connected to the arm, and a controller. The pick tool includes a first finger, a second finger disposed opposite the first finger, a first handler disposed at a first end of the first finger, and a second handler disposed at a first end of the second finger. Rotation of the first and second handlers while first and second forces are applied to an item by the first and second handlers, respectively, causes movement of the item.

公开(公告)号：US20180141211A1

公开(公告)日：2018-05-24

申请号：US15865067

申请日：2018-01-08

Applicant: Amazon Technologies, Inc.

Inventor： Parris S. Wellman ,  Matthew David Verminski ,  Andrew Stubbs ,  Robert Michael Shydo, JR. ,  Ennio Claretti ,  Boris Aronchik ,  John Gregory Longtine

IPC: B25J9/16 ,  G06Q10/08 ,  B65G1/10 ,  B65G1/137 ,  B25J9/00 ,  B65G1/04

CPC classification number: B25J9/1602 ,  B25J9/0084 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1697 ,  B65G1/0492 ,  B65G1/10 ,  B65G1/1378 ,  G05B2219/39468 ,  G05B2219/39473 ,  G05B2219/39536 ,  G05B2219/39543 ,  G05B2219/39546 ,  G06Q10/08 ,  G06Q10/087 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/31 ,  Y10S901/47

Abstract: 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.

公开(公告)号：US09868207B2

公开(公告)日：2018-01-16

申请号：US15289864

申请日：2016-10-10

Applicant: Amazon Technologies, Inc.

Inventor： Parris S. Wellman ,  Matthew David Verminski ,  Andrew Stubbs ,  Robert Michael Shydo, Jr. ,  Ennio Claretti ,  Boris Aronchik ,  John Gregory Longtine

IPC: B25J9/16 ,  G06Q10/08 ,  B65G1/137 ,  B25J9/00 ,  B65G1/04 ,  B65G1/10

CPC classification number: B25J9/1602 ,  B25J9/0084 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1697 ,  B65G1/0492 ,  B65G1/10 ,  B65G1/1378 ,  G05B2219/39468 ,  G05B2219/39473 ,  G05B2219/39536 ,  G05B2219/39543 ,  G05B2219/39546 ,  G06Q10/08 ,  G06Q10/087 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/31 ,  Y10S901/47

Abstract: Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.

公开(公告)号：US09669543B1

公开(公告)日：2017-06-06

申请号：US14966958

申请日：2015-12-11

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  Andrew D. Marchese ,  John Gregory Longtine ,  Sarath Krishnaswamy ,  Moses Theodore Ort ,  Russell Charles Toris ,  Jacob Taylor Wachlin

IPC: G05B15/00 ,  B25J9/16

CPC classification number: B25J9/1612 ,  G05B2219/39476 ,  G05B2219/40386 ,  Y10S901/32 ,  Y10S901/46

Abstract: A grasp management system and corresponding method are described. In some examples, it is determined whether an end of arm tool of a robotic manipulator is capable of grasping an item in a first orientation and a second orientation. Information regarding success of the attempts may be retained in a database. A richness measure for each of the first orientation and the second orientation may be determined based upon a spatial variation of successful attempted grasps in the respective orientation.

公开(公告)号：US09649766B2

公开(公告)日：2017-05-16

申请号：US14660161

申请日：2015-03-17

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  Matthew David Verminski ,  Stephen Caldara ,  Robert Michael Shydo, Jr.

IPC: G05B19/18 ,  B25J9/16 ,  G06K7/10 ,  G05D1/02

CPC classification number: B25J9/1666 ,  B25J9/1676 ,  G05B2219/40202 ,  G05D1/0214 ,  G05D1/0234 ,  G05D1/0261 ,  G05D2201/0216 ,  G06K7/10366 ,  G06K7/10376 ,  Y10S901/01

Abstract: Short range transmissions are used to identify potential interactions between warehouse workers and warehouse robots in automated warehouses. The robot can be equipped with one or more short range transmission tags, such as radio frequency identification (RFID) tags, while the warehouse worker can be equipped with a short range transmission reader, such as an RFID reader. The robot can detect a warehouse worker that is within range when the RFID tags on the robot are written to by the RFID reader. The warehouse robots and warehouse workers can also be equipped with one or more cameras to identify fiducials in the automated warehouse and to report their positions. A central control or interaction server can ensure that warehouse robots and warehouse workers are routed appropriately to avoid incidents.

公开(公告)号：US20160167227A1

公开(公告)日：2016-06-16

申请号：US14572332

申请日：2014-12-16

Applicant: Amazon Technologies, Inc.

Inventor： Parris S. Wellman ,  Matthew David Verminski ,  Andrew Stubbs ,  Robert Michael Shydo, JR. ,  Ennio Claretti ,  Boris Aronchik ,  John Gregory Longtine

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1602 ,  B25J9/0084 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1697 ,  B65G1/0492 ,  B65G1/10 ,  B65G1/1378 ,  G05B2219/39468 ,  G05B2219/39473 ,  G05B2219/39536 ,  G05B2219/39543 ,  G05B2219/39546 ,  G06Q10/08 ,  G06Q10/087 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/30 ,  Y10S901/31 ,  Y10S901/47

Abstract: Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information about an item to be grasped can be detected and/or accessed from one or more databases to determine a grasping strategy for grasping the item with a robotic arm or manipulator. For example, one or more accessed databases can contain information about the item, characteristics of the item, and/or similar items, such as information indicating grasping strategies that have been successful or unsuccessful for such items in the past.

Abstract translation: 机器人手臂或机械手可用于掌握库存系统中的库存物品。 可以从一个或多个数据库检测和/或访问关于待抓取的物品的信息，以确定用机器人手臂或操纵器抓取物品的抓取策略。 例如，一个或多个被访问的数据库可以包含关于该项目的信息，该项目的特征和/或类似的项目，诸如指示过去已经成功或不成功的抓取策略的信息。

公开(公告)号：US09346619B1

公开(公告)日：2016-05-24

申请号：US14968797

申请日：2015-12-14

Applicant: Amazon Technologies, Inc.

Inventor： Barry James O'Brien ,  James Christopher Curlander ,  Robert Alexander Colburn ,  Andrew Stubbs

IPC: G06F7/00 ,  B65G1/137 ,  G05B15/02

CPC classification number: B65G1/1371 ,  G05B15/02 ,  G06Q10/08 ,  G06Q50/28

Abstract: An inventory system has inventory pods that are freely and independently moved about a facility and include inventory holders having dynamically reconfigurable storage bins. For various operating scenarios, the components of the inventory system are directed to dynamically reconfigure the storage bins, thereby maintaining efficient product density amongst the inventory holders and permitting the use of automated equipment to manipulate inventory items stored in the inventory pods. One or more inventory pods may be used with lifting modules and picking modules to dynamically reconfigure the storage bins as inventory items are added to and removed from the inventory holders.

Abstract translation: 库存系统具有可自由和独立地移动设施的库存盒，并且包括具有动态可重新配置的存储箱的库存持有者。 对于各种操作场景，库存系统的组件被定向以动态地重新配置存储箱，从而在库存持有者之间保持有效的产品密度，并且允许使用自动化设备来操纵存储在库存盒中的库存项目。 当库存物品被添加到库存持有者并从库存持有者中移除时，一个或多个清单仓可以用于提升模块和拾取模块以动态地重新配置存储仓。

公开(公告)号：US12013686B1

公开(公告)日：2024-06-18

申请号：US17541778

申请日：2021-12-03

Applicant: Amazon Technologies, Inc.

Inventor： Aaron Joseph Parness ,  Sisir Babu Karumanchi ,  Joshua Rosenberg Hooks ,  Parker Owan ,  Rahul Balakrishna Warrier ,  Andres Camilo Cortes Lopez ,  Jeongseok Lee ,  Curt Salisbury ,  Andrew Stubbs

IPC: G05B19/418 ,  B25J9/16

CPC classification number: G05B19/41815 ,  B25J9/1615 ,  B25J9/1664 ,  B25J9/1682 ,  B25J9/1687 ,  G05B2219/34348

Abstract: Techniques and apparatus describe a robotic workcell for performing a robotic stowing operation. The robotic workcell includes a mechanism system, which includes a first robotic gantry, a second robotic gantry, and a controller. The first robotic gantry includes a first mount and a robotic end effector(s) attached to the first mount. The second robotic gantry includes a second mount and at least one end effector attached to the second mount. The controller controls movement of the first mount, the second mount, and the robotic end effector(s), based in part on an analysis of an environment with one or more perception sensors.

公开(公告)号：US11912503B1

公开(公告)日：2024-02-27

申请号：US17037068

申请日：2020-09-29

Applicant: Amazon Technologies, Inc.

Inventor： Aaron Joseph Parness ,  Ennio Claretti ,  Emily Dunne ,  Parker Owan ,  Andrew Stubbs ,  Benjamin Bedard

IPC: G06F7/00 ,  B65G1/137 ,  B25J13/08 ,  B25J9/04 ,  B25J9/16

CPC classification number: B65G1/1373 ,  B25J9/042 ,  B25J9/1669 ,  B25J13/08

Abstract: Embodiments herein describe a pick or stow system that uses a mechanical system to stow an item into a container, retrieve an item from the container, or both. In one embodiment, the mechanical system includes a gantry or a robotic arm that permits various sensors, tools, or end effectors to interact with a plurality of containers. For example, the plurality of containers may be supported by a rack where each container may have any number of types of items. The gantry or robotic arm can move the sensors, tools, or end effectors to a particular container to either stow an item into the container or pick an item from the container.