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公开(公告)号：US11906971B2
公开(公告)日：2024-02-20
申请号：US17409480
申请日：2021-08-23
申请人： inVia Robotics, Inc.
发明人： William Shane Simpson Grant , Randolph Charles Voorhies , Lior Elazary , Daniel Frank Parks, II
CPC分类号： G05D1/0221 , G05D1/0217 , G05D1/0219 , G05D1/0291
摘要： Spatiotemporal robotic navigation may include providing a set of robots non-conflicting access to the same shared resources at different times so that the robots may operate without continually accounting for the locations of the other robots and workers operating in the particular site, without continually planning or updating paths after determining an initial path, and without continuously adjusting movements as the robots near one another. The spatiotemporal robotic navigation involves generating spatiotemporal plans. Each plan has a set of objectives that a robot is to execute by different time intervals. Each plan is generated so as to not conflict with the resources being accessed by other robots at time intervals set in the plans of other robots.
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公开(公告)号：US11562320B2
公开(公告)日：2023-01-24
申请号：US16517818
申请日：2019-07-22
申请人： inVia Robotics, Inc.
摘要： Provided are systems and methods for maximizing saturation of two different sets of actors performing different sets of dependent operations at different rates over different but overlapping periods of time in a non-conflicting manner. The systems and methods may include transferring a first set of ordered items from item storage to item cache locations at a first rate during a first period of time, and fulfilling orders at a faster second rate over a later second period of time by picking items from a first set of the item cache locations at the second rate, and by replacing items at a non-overlapping second set of the item cache locations at the first rate. The transferring is commenced before the picking to create a buffer that allows a first set of actors, operating at the first rate, to continually provide the dependencies needed for a second set of actors to operate at the faster second rate without conflict and with each set of actors operating at their respective maximum rates.
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公开(公告)号：US20210403255A1
公开(公告)日：2021-12-30
申请号：US17469581
申请日：2021-09-08
申请人： inVia Robotics, Inc.
摘要： An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a pallet to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the pallet having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the pallet to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the pallet, and a second set of one or more robots may be used to transfer the retrieved objects into storage.
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公开(公告)号：US11052535B2
公开(公告)日：2021-07-06
申请号：US16260791
申请日：2019-01-29
申请人： inVia Robotics, Inc.
摘要： Provided is a robot for retrieving objects with different sizes, shapes, weights, placements, configurations, and/or other characteristics from a floor or raised height. The robot may include a motorized base, a lift that raises to a plurality of heights from the base, an upper platform attached over the lift, a vertical extension extending downwards from a frontside of the upper platform and in front of the lift, a lower platform with a proximal end coupled to the vertical extension and a distal end extending in front of the robot and directly over a ground surface on which the motorized base moves when the lift is in a lowered position, and a retriever for retrieving an object onto the lower platform.
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公开(公告)号：US11049067B2
公开(公告)日：2021-06-29
申请号：US16194679
申请日：2018-11-19
申请人： inVia Robotics, Inc.
IPC分类号： B65G1/04 , G06Q10/08 , G05B19/418
摘要： A workflow management system (WMS) coordinates, controls, and monitors item picking assets, item retrieval assets, and order packaging assets in performance of different workflows. The WMS optimizes the different workflows by assigning tasks to the different assets in a manner that minimizes overall execution time, cost, and resource utilization. Some optimizations include maximizing or prioritizing item pick rate, item packaging rate, or both. Assets integrated with the WMS and under WMS control include human workers, autonomous robots, and resources used in performance of the workflows.
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6.发明申请公开(公告)号：US20200338741A1
公开(公告)日：2020-10-29
申请号：US16395947
申请日：2019-04-26
申请人： inVia Robotics, Inc.
摘要： Provided are robots that autonomously detect and correct individualized anomalies resulting from deviations in the sensors and/or actuators of individual robots, and environmental anomalies resulting from deviations in the environment elements that the robots rely on or use in the execution of different tasks. To do so, a robot may receive a task, may determine expected kinematics that include expected activations of a set of sensors and actuators by which the robot executes the task, may activate the set of sensors and actuators according to the expected kinematics, may track the actual kinematics resulting from activating the set of sensors and actuators according to the expected kinematics and continuing the activations until detecting one or more environment elements signaling completion of the task, and may adjust one or more sensors, actuators, or environment elements in response to the actual kinematics deviating from the expected kinematics.
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公开(公告)号：US20200172352A1
公开(公告)日：2020-06-04
申请号：US16203956
申请日：2018-11-29
申请人： inVia Robotics, Inc.
摘要： An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a palette to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the palette having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the palette to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the palette, and a second set of one or more robots may be used to transfer the retrieved objects into storage.
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8.发明申请公开(公告)号：US20190310655A1
公开(公告)日：2019-10-10
申请号：US15945480
申请日：2018-04-04
申请人： inVia Robotics, Inc.
发明人： Randolph Charles Voorhies , Lior Elazary , Daniel Frank Parks, II , Sagar Pandya , William Shane Simpson Grant
摘要： Increased robotic sophistication and more efficient autonomous operation is implemented by providing separate physical autonomous robots shared and remote access to the sensory array and information from the sensory array of one another. Each robot can access a sensor of any other robot, or scans or other information obtained from the sensor of any other robot. The robots leverage the shared sensory access in order to perform batch order fulfillment, dynamic rearrangement of item or tote locations, and opportunistic charging. These coordinated robotic operations based on the shared sensory access increase the efficiency and productivity of the robots without adding resources or hardware to the robots, increasing the speed of the robots, or increasing the number of deployed robots.
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公开(公告)号：US20180158016A1
公开(公告)日：2018-06-07
申请号：US15371877
申请日：2016-12-07
申请人： inVia Robotics, Inc.
IPC分类号： G06Q10/08
CPC分类号： G06Q10/087 , B65G1/0492 , G05B19/41895
摘要： A workflow management system (WMS) coordinates, controls, and monitors item picking assets, item retrieval assets, and order packaging assets in performance of different workflows. The WMS optimizes the different workflows by assigning tasks to the different assets in a manner that minimizes overall execution time, cost, and resource utilization. Some optimizations include maximizing or prioritizing item pick rate, item packaging rate, or both. Assets integrated with the WMS and under WMS control include human workers, autonomous robots, and resources used in performance of the workflows.
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公开(公告)号：US11795014B2
公开(公告)日：2023-10-24
申请号：US17469581
申请日：2021-09-08
申请人： inVia Robotics, Inc.
CPC分类号： B65G61/00 , B65G59/02 , B65G1/1378 , B65D2519/00273
摘要： An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a pallet to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the pallet having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the pallet to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the pallet, and a second set of one or more robots may be used to transfer the retrieved objects into storage.
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