公开(公告)号：US20180053275A1

公开(公告)日：2018-02-22

申请号：US15651693

申请日：2017-07-17

Applicant: Wal-Mart Stores, Inc.

Inventor： Nicholaus Adam Jones ,  Matthew Allen Jones

IPC: G06Q50/28 ,  G01C21/20 ,  G05D1/00 ,  B25J19/02 ,  G05D1/02 ,  G05B19/12

CPC classification number: G06Q50/28 ,  B25J19/021 ,  G01C21/206 ,  G05B19/124 ,  G05B2219/23363 ,  G05D1/0088 ,  G05D1/0231 ,  G05D1/027 ,  G05D2201/0216

Abstract: Described in detail herein are methods and systems for detecting absent physical objects using autonomous robot devices. In exemplary embodiments, the system includes shelving units disposed throughout a facility storing sets of physical objects. A first set of machine readable representations can be disposed on the front surface of the shelving unit and a second set of machine readable representations can be disposed on the back wall of the shelving unit. The first and second set of machine readable representations can be encoded with identifiers associated with the sets of physical objects. An autonomous robot device can be configured to detect and read a first set of machine-readable representations in response to successfully detecting and reading the second set of machine readable representations the autonomous robot device can determine the absence of a set of like physical objects.

公开(公告)号：US20180039277A1

公开(公告)日：2018-02-08

申请号：US15357954

申请日：2016-11-21

Applicant: HON HAI PRECISION INDUSTRY CO., LTD.

Inventor： TIEN-PING LIU

IPC: G05D1/02 ,  B05B12/12 ,  B05B12/14 ,  G06T7/00

CPC classification number: G05D1/0253 ,  B05B12/04 ,  B05B12/12 ,  B05B12/14 ,  G05B19/00 ,  G05D2201/0216 ,  G06T7/00 ,  G06T7/0042 ,  G06T7/33

Abstract: The disclosure relates to a self positioning system and an autonomously mobile device using the same. The self positioning system is installed on the autonomously mobile device at work. The self positioning system includes a controlling module, an image acquisition module configured to acquire an image of the surrounding environment of the autonomously mobile device, an image dealing module configured to deal the image of the surrounding environment by selecting the feature point, and a calculating module configured to calculate position information of the autonomously mobile device according to the position change of the same feature point in different images. The self positioning system further includes a spraying module configured to spray liquid or paste to form a feature point in the surrounding environment.

公开(公告)号：US09886035B1

公开(公告)日：2018-02-06

申请号：US14828445

申请日：2015-08-17

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Kurt Konolige

IPC: B25J9/16 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0088 ,  G01S17/88 ,  G05D1/0251 ,  G05D1/0276 ,  G05D2201/0216 ,  G06K9/00

Abstract: An example method includes determining a target area of a ground plane in an environment of a mobile robotic device, where the target area of the ground plane is in front of the mobile robotic device in a direction of travel of the mobile robotic device. The method further includes receiving depth data from a depth sensor on the mobile robotic device. The method also includes identifying a portion of the depth data representative of the target area. The method additionally includes determining that the portion of the depth data lacks information representing at least one section of the target area. The method further includes providing an output signal identifying at least one zone of non-traversable space for the mobile robotic device in the environment, where the at least one zone of non-traversable space corresponds to the at least one section of the target area.

公开(公告)号：US09875503B2

公开(公告)日：2018-01-23

申请号：US15061054

申请日：2016-03-04

Applicant: Wal-Mart Stores, Inc.

Inventor： Donald R. High ,  Michael D. Atchley ,  David C. Winkle

IPC: A47L11/40 ,  G06Q30/06 ,  G01C21/20 ,  G05D1/02 ,  G06Q10/02 ,  G06Q50/30 ,  G01S1/02 ,  G01S1/70 ,  G01S1/72 ,  G06Q10/08 ,  B62B5/00 ,  G06Q10/06 ,  G06Q30/02 ,  H04W4/04 ,  B60P3/06 ,  G05D1/00 ,  A47F3/08 ,  G06Q30/00 ,  H04N5/77 ,  G06Q50/28 ,  H04N7/18 ,  E01H5/06 ,  E01H5/12 ,  G06T7/73 ,  G06T7/593

CPC classification number: B66F9/063 ,  A47F3/08 ,  A47F10/04 ,  A47F13/00 ,  A47F2010/005 ,  A47F2010/025 ,  A47L11/4011 ,  A47L2201/04 ,  B07C5/28 ,  B07C5/3422 ,  B07C2501/0045 ,  B07C2501/0054 ,  B07C2501/0063 ,  B60L11/1833 ,  B60L11/1844 ,  B60P3/06 ,  B60Y2410/10 ,  B62B5/0026 ,  B62B5/0069 ,  B62B5/0076 ,  B65F3/00 ,  B65F2210/168 ,  E01H5/061 ,  E01H5/12 ,  G01C21/206 ,  G01S1/02 ,  G01S1/70 ,  G01S1/72 ,  G05B19/048 ,  G05B19/124 ,  G05B2219/23363 ,  G05B2219/39107 ,  G05D1/0011 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0027 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0276 ,  G05D1/028 ,  G05D1/0289 ,  G05D1/0291 ,  G05D1/0293 ,  G05D1/0297 ,  G05D1/04 ,  G05D2201/0203 ,  G05D2201/0216 ,  G06F3/017 ,  G06F17/30979 ,  G06K7/10297 ,  G06K7/10821 ,  G06K7/1413 ,  G06K9/00208 ,  G06K9/00671 ,  G06K9/00711 ,  G06K9/00771 ,  G06K9/00791 ,  G06K9/00805 ,  G06K9/18 ,  G06K9/3208 ,  G06K9/6256 ,  G06K9/78 ,  G06K2009/00738 ,  G06Q10/02 ,  G06Q10/06311 ,  G06Q10/06315 ,  G06Q10/083 ,  G06Q10/087 ,  G06Q10/1095 ,  G06Q10/30 ,  G06Q30/016 ,  G06Q30/0281 ,  G06Q30/0601 ,  G06Q30/0605 ,  G06Q30/0613 ,  G06Q30/0617 ,  G06Q30/0619 ,  G06Q30/0631 ,  G06Q30/0633 ,  G06Q30/0635 ,  G06Q30/0639 ,  G06Q30/0641 ,  G06Q50/28 ,  G06Q50/30 ,  G06T7/593 ,  G06T7/74 ,  G06T2207/10028 ,  G08G1/20 ,  G10L13/043 ,  G10L15/22 ,  G10L17/22 ,  G10L2015/223 ,  H02J7/0027 ,  H02J2007/0096 ,  H04B1/38 ,  H04B10/116 ,  H04L67/12 ,  H04L67/141 ,  H04L67/143 ,  H04N5/77 ,  H04N7/18 ,  H04N7/183 ,  H04N7/185 ,  H04N13/282 ,  H04W4/02 ,  H04W4/043 ,  H04W4/30 ,  H04W4/33 ,  H04W4/40 ,  H04W4/80 ,  Y02W30/82 ,  Y02W30/827 ,  Y02W90/20 ,  Y10S901/01

Abstract: A housing contains a plurality of motorized transport units in a stacked relationship to one another, with a bottom-most one of the plurality of motorized transport units serving as a locomotion mechanism that selectively causes movement of the housing with the plurality of motorized transport units contained therein. By one approach the aforementioned housing has a cylindrical form factor and includes a cylindrically-shaped chamber configured to receive the motorized transport units, By one approach, for example, this housing includes no lifting mechanism to lift any of the motorized transport units into itself and further has no integral locomotion mechanism by which the housing can move itself. The interior of the housing can include at least one track formed therein to receive a corresponding part of each of the plurality of motorized transport units which the motorized transport units can engage to thereby lift themselves into the interior of the housing.

公开(公告)号：US09857799B2

公开(公告)日：2018-01-02

申请号：US15191959

申请日：2016-06-24

Applicant: HON HAI PRECISION INDUSTRY CO., LTD.

Inventor： Tien-Ping Liu ,  Horng-Juing Lee ,  I-Hao Chung

IPC: G05D1/00 ,  G06K7/00 ,  G05D1/02 ,  G06K7/14 ,  G06K7/10

CPC classification number: G05D1/0234 ,  G05D2201/0216 ,  G06K7/10722 ,  G06K7/1417

Abstract: A computer vision positioning system for a computer-controlled autonomous mobile transportation device in a warehouse for example comprises an image collection module, an artificial marker identification module, a two-dimensional code identification module, a data storage module, and a control module. The image collection module collects images, and transmits the images to the artificial marker identification module and the two-dimensional code identification module. The artificial marker identification module reads an ID of the artificial marker. The two-dimensional code identification module reads a URL of the artificial marker. The data storage module stores a map, a map description file, and location and object-disposal information. The control module controls a autonomous mobile device to move and make a disposal.

公开(公告)号：US09856082B2

公开(公告)日：2018-01-02

申请号：US15411301

申请日：2017-01-20

Applicant: Jakob Hatteland Logistics AS

Inventor： Ingvar Hognaland

IPC: B65G1/04 ,  B66F9/07 ,  G05B19/418 ,  G06Q10/08 ,  B65G1/06 ,  B65G1/137 ,  G05D1/00

CPC classification number: B66F9/06 ,  B65G1/00 ,  B65G1/0407 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/06 ,  B65G1/137 ,  B65G1/1371 ,  B66F9/063 ,  B66F9/07 ,  G05B19/41895 ,  G05D1/0022 ,  G05D2201/0216 ,  G06K17/00 ,  G06Q10/00 ,  G06Q10/08 ,  G06Q10/087

Abstract: A storage system includes a remotely operated vehicle, a vehicle support, a bin storing structure and a bin lift device. The vehicle support is configured to guide movements of the remotely operated vehicle in first and second directions. The bin storing structure supports the vehicle support and includes storage columns, arranged to accommodate a vertical stack of storage bins. The bin lift device is arranged to convey a vehicle delivered storage bin in a direction perpendicular to the lateral plane of the vehicle support between the vehicle support and a delivery station. The remotely operated vehicle includes a vehicle body including a first section for storing vehicle driving means and a second section for receiving a storage bin, a vehicle lifting device for lifting the storage bin into the second section, and sets of vehicle rolling means allowing movement of the vehicle in the first and second directions.

公开(公告)号：US20170368684A1

公开(公告)日：2017-12-28

申请号：US15685500

申请日：2017-08-24

Applicant: X Development LLC

Inventor： John William Zevenbergen ,  Ethan Rublee

IPC: B25J9/16 ,  B25J5/00 ,  B25J19/00

CPC classification number: B25J9/1674 ,  B25J5/00 ,  B25J9/1664 ,  B25J19/005 ,  G05D1/0225 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/50

Abstract: An example method includes receiving, by a mobile robotic device, power from a battery of a first battery pack in order to operate within an environment. The method further includes establishing a first data channel between the mobile robotic device and the first battery pack. The method also includes using the first data channel to transfer sensor data acquired by the mobile robotic device during operation to a local data storage component of the first battery pack. The method additionally includes navigating, by the mobile robotic device, to a battery exchange station to transfer the first battery pack containing the battery and the local data storage component with the sensor data to the battery exchange station. The method further includes after transferring the first battery pack to the battery exchange station, receiving a second battery pack from the battery exchange station to continue operation within the environment.

公开(公告)号：US09836050B2

公开(公告)日：2017-12-05

申请号：US14124624

申请日：2012-04-19

Applicant: Hisato Yoneda

Inventor： Hisato Yoneda

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0027 ,  G05D1/0289 ,  G05D1/0297 ,  G05D2201/0216

Abstract: In a guided vehicle system, articles are transported between load ports by a plurality of guided vehicles traveling with articles carried thereon along a predetermined traveling route. A guided vehicle system controller communicates with a superordinate controller and guided vehicles, and creates traveling schedules representing positions and times at which the guided vehicles travel, disregarding interferences with other guided vehicles. For both newly created traveling schedules and traveling schedules from which interferences have been eliminated, interferences between the guided vehicles are detected, and the traveling schedules of the guided vehicles is modified so as to eliminate the detected interferences. The traveling schedules from which interferences have been eliminated interferences is stored. Also, the positions of the guided vehicles are stored based on data received from the guided vehicles, and the traveling schedules is modified.

公开(公告)号：US20170343988A1

公开(公告)日：2017-11-30

申请号：US15677309

申请日：2017-08-15

Applicant: Symbotic, LLC

Inventor： Melanie ZIEGLER ,  Russell G. BARBOUR ,  Matt EARL

IPC: G05B19/414 ,  B65G1/137 ,  G05B19/418 ,  G06Q10/08

CPC classification number: G05B19/4148 ,  B65G1/137 ,  G05B19/4185 ,  G05D2201/0216 ,  G06Q10/08 ,  G06Q10/087

Abstract: An automated storage and retrieval system includes a storage space with storage locations defined therein, an automated transport system connected to the storage space and configured to transport store units for storage in the storage locations and retrieval from the storage locations, and a control system disposed for managing throughput performance of the automated storage and retrieval system, the control system being operably coupled to the automated transport system and having more than one separate and distinct control sections each configured for managing throughput performance with respect to a common group of the storage locations, wherein at least one of the control sections manages aspects of throughput performance of the common group independent of another of the control sections.

公开(公告)号：US09811090B2

公开(公告)日：2017-11-07

申请号：US14124614

申请日：2012-04-19

Applicant: Hisato Yoneda

Inventor： Hisato Yoneda

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  G06Q10/04 ,  G06Q10/08 ,  G06F19/00 ,  G06G7/70 ,  G06G7/76 ,  G08G1/00 ,  G06F7/00

CPC classification number: G05D1/0223 ,  G05D1/0297 ,  G05D2201/0216 ,  G06Q10/047 ,  G06Q10/08

Abstract: A traveling schedule of a guided vehicle is generated for use in a guided vehicle system for transporting articles between load ports by a plurality of guided vehicles traveling with articles carried thereon along a predetermined traveling route. A traveling schedule is created separately for each guided vehicle, disregarding interferences with other guided vehicles, the traveling schedules including a string of velocity control points representing positions and times at which guided vehicles accelerate or decelerate on the traveling route. For both newly created traveling schedules and traveling schedules from which interferences have been eliminated, interferences between the guided vehicles are detected from relative positions between the guided vehicles at the velocity control points. The traveling schedules of following guided vehicles are modified to eliminate the detected interferences, and the schedules are stored.