公开(公告)号：US09694494B1

公开(公告)日：2017-07-04

申请号：US14966912

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 methods are described. In some examples, information about a grasp by which an end of arm tool of a robotic manipulator successfully grasped an item is accessed. The grasp may be associated with contact points on the item. Other contact points may be simulated based on the contact points in order to define a set of grasping surfaces that include at least a portion of the other contact points. Information about the grasping surfaces may be accessed to determine a primitive shape that represents a feature of the item. The primitive shape may be used determine other features on the item or other features on other items that may also be graspable by the end of arm tool or other end of arm tools.

公开(公告)号：US09688472B1

公开(公告)日：2017-06-27

申请号：US14965409

申请日：2015-12-10

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  John Gregory Longtine ,  Diane Grieselhuber Mills ,  Parris S. Wellman ,  Matthew David Verminski

IPC: B65G1/137 ,  B25J9/16 ,  B25J9/00 ,  B65G1/06 ,  G06Q10/08

CPC classification number: B65G1/1373 ,  B25J9/0096 ,  B25J9/162 ,  B25J9/1664 ,  B65G1/06 ,  G06Q10/08 ,  G06Q10/087 ,  G06Q50/28 ,  Y10S901/01

Abstract: 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.

公开(公告)号：US09663296B1

公开(公告)日：2017-05-30

申请号：US15159917

申请日：2016-05-20

Applicant: Amazon Technologies, Inc.

Inventor： Patrick Ryan Dingle ,  Matthew David Verminski ,  Peter K. Mansfield ,  Andrew Stubbs ,  Sean Hugh Breheny ,  Peter R. Wurman

IPC: G06F7/00 ,  B65G1/137 ,  B60L11/18

CPC classification number: B65G1/1373 ,  B60L11/182 ,  B60L11/1837 ,  H02J7/0027 ,  H02J2007/005

Abstract: Some examples include charging an onboard power source of a mobile drive unit (MDU) of an inventory system while the MDU is operating in the inventory system, rather than removing the MDU from service for recharging. As an example, the MDU may receive instructions to retrieve an inventory holder, and an onboard power source of the MDU may be charged while the MDU and the inventory holder are located at the charging station.

公开(公告)号：US09623558B1

公开(公告)日：2017-04-18

申请号：US14574084

申请日：2014-12-17

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  Jonathan Evan Cohn

IPC: G06F17/00 ,  B25J9/16 ,  B25J5/00

CPC classification number: G05D1/0011 ,  B25J9/162 ,  B25J9/1666 ,  B60W30/09 ,  G01S11/026 ,  Y10S901/01

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：US20170080566A1

公开(公告)日：2017-03-23

申请号：US14860584

申请日：2015-09-21

Applicant: Amazon Technologies, Inc.

Inventor： Andrew Stubbs ,  Diane Grieselhuber Mills ,  John Gregory Longtine ,  Matthew David Verminski

IPC: B25J9/16

CPC classification number: B25J9/1679 ,  B25J9/163 ,  B25J9/1682 ,  G05B19/418 ,  G05B2219/39106 ,  G05B2219/39107 ,  G05B2219/40053 ,  G06Q10/087 ,  Y02P90/02 ,  Y10S901/02 ,  Y10S901/46

Abstract: Robotic manipulators may be used to manipulate objects. Manipulation data about manipulations performed on objects may be generated and accessed. This data may be analyzed to generate a profile indicating how an object may be manipulated. A portion of the profile may be transmitted to a particular robotic manipulator. For example, the portion may be based on a manipulation capability of the robotic manipulator. In turn, the robotic manipulator may use the portion of the profile to manipulate the object.

公开(公告)号：US09517899B2

公开(公告)日：2016-12-13

申请号：US13895810

申请日：2013-05-16

Applicant: Amazon Technologies, Inc.

Inventor： William James Watt ,  Timothy Aaron Bragg ,  Andrew Stubbs ,  Matthew David Verminski ,  John P. Dugan

IPC: B65G49/00 ,  B65G67/26 ,  B65G37/02

CPC classification number: B65G49/00 ,  B65G37/02 ,  B65G65/00 ,  B65G67/26

Abstract: A system for unloading inventory items includes an inventory holder, an unloading station, and a mobile drive unit. The inventory holder stores inventory items. The unloading station includes a barrier that is operable to prevent inventory items from moving past the barrier as the inventory holder moves past the barrier. The mobile drive unit is operable to move the inventory holder toward the unloading station and to move the inventory holder past the barrier.

Abstract translation: 用于卸载库存物品的系统包括库存持有人，卸货站和移动驱动单元。 库存持有人存储库存项目。 卸载站包括屏障，该屏障可操作以防止库存物品通过屏障移动超过屏障。 移动驱动单元可操作以将库存持有者移动到卸载站并使库存持有者移动通过障碍物。

公开(公告)号：US20130251480A1

公开(公告)日：2013-09-26

申请号：US13895810

申请日：2013-05-16

Applicant: Amazon Technologies, Inc.

Inventor： William James Watt ,  Timothy Bragg ,  Andrew Stubbs ,  Matthew D. Verminski ,  John P. Dugan

IPC: B65G49/00

CPC classification number: B65G49/00 ,  B65G37/02 ,  B65G65/00 ,  B65G67/26

Abstract: A system for unloading inventory items includes an inventory holder, an unloading station, and a mobile drive unit. The inventory holder stores inventory items. The unloading station includes a barrier that is operable to prevent inventory items from moving past the barrier as the inventory holder moves past the barrier. The mobile drive unit is operable to move the inventory holder toward the unloading station and to move the inventory holder past the barrier.

Abstract translation: 用于卸载库存物品的系统包括库存持有者，卸载站和移动驱动单元。 库存持有人存储库存项目。 卸载站包括屏障，该屏障可操作以防止库存物品通过屏障移动超过屏障。 移动驱动单元可操作以将库存持有者移动到卸载站并使库存持有者移动通过障碍物。