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公开(公告)号：US09494934B2
公开(公告)日：2016-11-15
申请号：US14298756
申请日：2014-06-06
CPC分类号： G05D1/00 , G05D1/0234 , G05D1/0274 , G05D2201/0216
摘要： A system for managing inventory items includes a portable inventory holder and an unmanned drive unit configured to move the inventory holder between locations in an inventory facility. The inventory facility includes a plurality of light emitting elements. The drive unit captures an image of a subset of the light emitting elements. The captured image is processed to determine the location of the drive unit within the facility. A path is determined along which the drive unit moves to an inventory holder and moves the inventory holder to another location. The light emitting elements can be provided by optical fibers embedded in the floor of the inventory facility.
摘要翻译： 用于管理库存物品的系统包括便携式库存持有者和被配置为在库存设施中的库存位置之间移动库存持有者的无人驾驶单元。 库存设施包括多个发光元件。 驱动单元捕获发光元件的子集的图像。 捕获的图像被处理以确定设备内的驱动单元的位置。 确定驱动单元移动到库存持有者的路径，并将库存持有者移动到另一位置。 发光元件可以由嵌入在库存设备的地板中的光纤提供。
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公开(公告)号：US20150371181A1
公开(公告)日：2015-12-24
申请号：US14841505
申请日：2015-08-31
CPC分类号： G06Q10/087 , G01C21/206 , G05D1/0234 , G05D1/0246 , G05D2201/0216
摘要： A system for managing inventory items includes a portable inventory holder and an unmanned drive unit configured to move the inventory holder between locations in an inventory facility. The inventory facility includes a plurality of uniquely identifiable fiducial markers having a small set of values distributed in a pattern. The drive unit captures at least one image of a subset of the plurality of the fiducial markers. The at least one captured image is processed to determine a location of the drive unit within the facility. A path is determined along which the drive unit moves to an inventory holder and moves the inventory holder to another location. The pattern of fiducial markers can include one or more repeated instances of uniquely identifiable fiducial markers. A fiducial marker can encode information using a readable code and at least one attribute of the fiducial marker.
摘要翻译： 用于管理库存物品的系统包括便携式库存持有者和被配置为在库存设施中的库存位置之间移动库存持有者的无人驾驶单元。 库存设施包括多个唯一可识别的基准标记，其具有以图案分布的小的一组值。 驱动单元捕获多个基准标记的子集的至少一个图像。 处理至少一个捕获的图像以确定设施内的驱动单元的位置。 确定驱动单元移动到库存持有者的路径，并将库存持有者移动到另一位置。 基准标记的模式可以包括唯一可识别的基准标记的一个或多个重复实例。 基准标记可以使用可读代码和基准标记的至少一个属性对信息进行编码。
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公开(公告)号：US09111251B1
公开(公告)日：2015-08-18
申请号：US14231692
申请日：2014-03-31
IPC分类号： G06Q10/08
CPC分类号： B65G43/00 , B65G1/1373 , G05B15/02 , G06Q10/087
摘要： An inventory system has mobile drive units that freely and independently move about a facility to transport inventory holders. The mobile drive units may operate through communications with other drive units, or under a more centralized control of a management module. For various operating scenarios, the mobile drive units are directed to shuffle the inventory holders in a manner that minimizes travel of the mobile drive units, thereby improving overall system efficiency. One or more single mobile drive units may be used to transport inventory holders to and from a region, and one or more other mobile drive units may be used to reposition or slide each of the inventory holders back and forth within the region to efficiently place inventory holders before an operator on an as-needed basis.
摘要翻译： 库存系统具有移动驱动单元，可自由和独立地移动设施以运送库存持有者。 移动驱动单元可以通过与其他驱动单元的通信来操作，或者在管理模块的更集中控制下操作。 对于各种操作场景，移动驱动单元被指示以最小化移动驱动单元的行进的方式洗牌库存持有者，从而提高整体系统效率。 可以使用一个或多个单个移动驱动器单元来将库存持有者运送到区域，并且可以使用一个或多个其他移动驱动单元在区域内来回重新定位或滑动每个库存持有者以有效地放置库存 持有人根据需要在运营商之前。
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公开(公告)号：US11076137B1
公开(公告)日：2021-07-27
申请号：US15186987
申请日：2016-06-20
摘要： A projection management system is described. The projection management system may be configured to instruct an image projection device to project an image on a background. Sensor information and/or image information may be received that indicates an obstruction between the image projection device and the background. The projection management system may instruct the image projection device to project a modified image based on the obstruction.
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公开(公告)号：US10330480B1
公开(公告)日：2019-06-25
申请号：US15698360
申请日：2017-09-07
摘要： Systems and methods for maintaining a current map of a workspace using on-demand sensors and fixed sensors are described herein. For example, a system may include a fixed sensor positioned within the workspace, an on-demand sensor available for selective deployment in the workspace, and a computing device. The computing device may maintain a digital map of the workspace, identify a region in the workspace for collection of additional sensor information, and cause the on-demand sensor to gather the additional sensor information for updating the digital map.
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公开(公告)号：US10223666B1
公开(公告)日：2019-03-05
申请号：US15250611
申请日：2016-08-29
摘要： A system for managing inventory items includes a portable inventory holder and an unmanned drive unit configured to move the inventory holder between locations in an inventory facility. The inventory facility includes a plurality of uniquely identifiable fiducial markers having a small set of values distributed in a pattern. The drive unit captures at least one image of a subset of the plurality of the fiducial markers. The at least one captured image is processed to determine a location of the drive unit within the facility. A path is determined along which the drive unit moves to an inventory holder and moves the inventory holder to another location. The pattern of fiducial markers can include one or more repeated instances of uniquely identifiable fiducial markers. A fiducial marker can encode information using a readable code and at least one attribute of the fiducial marker.
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公开(公告)号：US10144591B2
公开(公告)日：2018-12-04
申请号：US16036583
申请日：2018-07-16
发明人： Jeremiah David Brazeau , Andrew M. Sweeney , Henry David Garcia , Fred Chen , Brian Michael Lusignan
摘要： Robotic arms or manipulators can be used to toss inventory items within an inventory system. Tossing strategies for the robotic arms may include information about how a grasped item is to be moved and released by a robotic arm to achieve a trajectory for moving the item to a receiving location. A tossing strategy may also use a trajectory that avoids time and/or space reserved for a trajectory of another tossed item. The receiving location can include surfaces and/or other features that can be manipulated for receiving the item based on one or more characteristics of the tossed item and/or a trajectory of the tossed item.
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公开(公告)号：US20180285808A1
公开(公告)日：2018-10-04
申请号：US15478106
申请日：2017-04-03
摘要： Embodiments are directed to an inventory system that comprises sensors coupled with an inventory holder and a management module to automatically determine a location of an interaction with an inventory bin of the inventory holder by an inventory item without requiring hand-scanners. The system may determine the location of the interaction with which to associate to a particular bin of the inventory holder based on signal information provided by one or more proximity sensors coupled with the inventory bins of the inventory holder. The system may update information to associate the inventory item with the location of the particular bin in the inventory holder in response to determining the location of the interaction using the signal information.
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公开(公告)号：US10077155B1
公开(公告)日：2018-09-18
申请号：US15237168
申请日：2016-08-15
发明人： Michael Cordell Mountz , Oleksandr Glazkov , Timothy Aaron Bragg , Matthew David Verminski , Jeremiah David Brazeau , Peter R. Wurman , John W. Cullen , Michael T. Barbehenn
CPC分类号： B65G1/1373 , G06Q10/08 , G06Q10/087
摘要： In an infrastructure that uses a mobile order fulfillment system, robotic drive units may be dispatched and instructed to bring inventory holders to a workstation where at least one of the inventory holders is packed and prepared for shipment. The robotic drive units are then instructed to move the prepared inventory holder to a transport vehicle such as a truck. Fiducial marks may be removably placed within the transport vehicle to aid navigation of the robotic drive units. At a destination facility, additional robotic drive units may be instructed to move the inventory holders from the truck and place the inventory holders at appropriate storage locations.
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公开(公告)号：US09440790B2
公开(公告)日：2016-09-13
申请号：US14617639
申请日：2015-02-09
发明人： Michael Cordell Mountz , Oleksandr Glazkov , Timothy Aaron Bragg , Matthew David Verminski , Jeremiah David Brazeau , Peter R. Wurman , John W. Cullen , Michael T. Barbehenn
CPC分类号： B65G1/1373 , G06Q10/08 , G06Q10/087
摘要： In an infrastructure that uses a mobile order fulfillment system, robotic drive units may be dispatched and instructed to bring inventory holders to a workstation where at least one of the inventory holders is packed and prepared for shipment. The robotic drive units are then instructed to move the prepared inventory holder to a transport vehicle such as a truck. Fiducial marks may be removably placed within the transport vehicle to aid navigation of the robotic drive units. At a destination facility, additional robotic drive units may be instructed to move the inventory holders from the truck and place the inventory holders at appropriate storage locations.
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