Inventory robot

Abstract

An inventory robot is provided. The inventory robot includes: a movable platform; a selectively extendable frame protruding outwardly from the movable platform, the selectively extendable frame including at least two vertical sliding sections; a first plurality of scanning sensors arranged along the frame, each of the first plurality of scanning sensors pointing in a first direction relative to a direction of movement of the inventory robot; and a second plurality of scanning sensors arranged along the frame, each of the second plurality of scanning sensors pointing in a second direction relative to the direction of movement of the inventory robot; and each of the first and second plurality of scanning sensors is positioned along the frame to capture image data of a respective associated portion of a surrounding space around the inventory robot in the first and second predetermined directions, respectively, along the direction of movement of the inventory robot.

Description

TECHNICAL FIELD

[0001] The present utility model relates to inventory robots generally for monitoring inventory of various items in a warehouse. BACKGROUND

[0002] Inventory robots are widely used for more efficient monitoring of inventory of various items stored in a warehouse, including, for example, finished goods, raw material units, and the like. More specifically, such robots typically include (i) a movable platform that enables a given inventory robot to move along aisles of the warehouse and between aisles; (ii) a mast extending from the movable platform; and (iii) a scanning sensor attached to the mast and configured to capture image data of respective portions of the surrounding space of the given inventory robot.

[0003] Accordingly, by adjusting the position of the scanning sensor on the mast of the given inventory robot relative to the position of the warehouse racks on which the items are stored, the given inventory robot can capture image data of these items as the given inventory robot moves along and between the warehouse racks. The captured image data can be further analyzed by a processor communicatively coupled to the scanning sensor for further use in determining the current inventory of items in the warehouse.

[0004] However, as the warehouse racks are typically disposed in rows defining aisles in the warehouse, and can include shelves disposed at different height levels, it can be challenging for such inventory robots to capture image data of items disposed on at least one of (i) different sides of a given aisle; and (ii) different height levels in a timely manner. To this end, the given inventory robot can need to be configured to pass along a given aisle at least twice to capture image data of respective portions of the surrounding space of the inventory robot defined on different sides relative to the direction of movement of the given inventory robot, which can impact the efficiency of inventory monitoring of items in the warehouse. Furthermore, items can be stored at different height levels, which would require adjusting the current position of the scanning sensor on the mast relative to the movable platform to capture image data of items stored at these height levels while the given inventory robot is stopped at the corresponding position.

[0005] Certain prior art approaches have been proposed to address the above technical problems.

[0006] U.S. Patent Application Publication No. 2021 / 0221,612-A1, published on July 22, 2021, and assigned to Deutsche Post AG, entitled "Autonomous Robot Vehicle for Checking and Counting Stock in a Warehouse," discloses a vehicle chassis configured for attachment to an autonomous indoor vehicle for checking and / or counting stock in a warehouse. The chassis includes an extendable mast comprising a first end mounted on the chassis and opposing second ends arranged at different distances above the chassis; and at least one scanner arranged at the second end and configured for checking and / or counting stock in shelves of a warehouse on the side of the vehicle. The technology further discloses an autonomous robot vehicle comprising a vehicle chassis and an autonomous indoor vehicle, wherein the chassis is mounted on the autonomous indoor vehicle such that the autonomous indoor vehicle and the chassis are configured for autonomous movement of the vehicle within a warehouse.

[0007] Korean Patent Application Publication No. 2017 / 0094,103-A, published on August 17, 2017, and assigned to Rho In Chul, entitled "3D Cargo Inventory Survey Method Using Autonomous Mobile Robot and 3D Laser Scanner," discloses a method for automatically inspecting the inventory of goods on pallet racks in a warehouse using an autonomous robot and a 3D laser scanner. The autonomous robot automatically moves along a predetermined route, accurately positioning itself at a predetermined location on each rack for accurate inventory. It stops to identify barcodes using images captured by a camera, and uses a 3D laser scanner to measure the shape, width, length, and height of the goods held on each rack to calculate the volume of the goods, thereby automatically calculating the inventory of goods held on each rack. According to this invention, the autonomous robot moves along a predetermined route and is equipped with height-adjustable supports for performing inventory checks at predetermined rack locations. In addition, cameras and 3D laser scanners are mounted on the racks to allow the cameras to identify the barcodes on each rack loaded with goods, in order to obtain information about the category of goods, the number of boxes at the time of initial loading, and the date of receipt. Furthermore, the 3D laser scanners calculate the volume, width, length, and height of remaining goods to identify the number of delivered boxes, thus automatically calculating the inventory of boxes remaining on each rack.

[0008] U.S. Patent No. 9,120,622-B1, issued on September 1, 2015, and assigned to Invia Robotics LLC, entitled "Autonomous Order Fulfillment and Inventory Control Robots," discloses a system for fully autonomous order fulfillment and inventory management within a distribution site or warehouse. The system operates by having an automated robot directly retrieve customer order items from shelves at the distribution site or pull individual bins from shelves, dispensing an appropriate number of items from the bins until all items for the customer order are retrieved without human intervention. The system further involves the robot autonomously monitoring the quantity of items within the distribution site, identifying and responding autonomously to shortages, and organizing items within the distribution site for most efficient order fulfillment.

[0009] U.S. Patent Application Publication No. 2018 / 0057,283-A1, published on March 1, 2018, and assigned to Callisto Integration Ltd, entitled "Autonomous Robot and Methods for Lifting and Stacking Packages," discloses an autonomous robot and method for lifting and stacking packages, for example, on shelves in a warehouse. The robot includes a base, a lift assembly for raising and lowering a lift platform, an engagement mechanism for attaching the robot to the shelf, and a steerable drive mechanism for driving the robot in any direction (e.g., forward and laterally) on the warehouse floor. The robot is navigated to the storage location of the packages. Without rotating the robot or the lift platform, the robot is driven laterally toward the shelf and then clamped onto the shelf. The lift platform is then raised to the height of the packages. A crane is used to move the packages from the storage location to the lift platform. Utility Model Content

[0010] The purpose of this invention is to improve upon at least some of the inconveniences of the existing technology.

[0011] Non-limiting embodiments of this utility model relate to a storage robot comprising a frame projecting outward from a movable platform of the storage robot, the frame including two masts laterally arranged relative to the direction of movement of the storage robot. Furthermore, in at least some non-limiting embodiments of this utility model, the storage robot includes two sets of multiple sensors, each of the two sets including a sensor positioned along a corresponding mast of the frame at a corresponding distance from the movable platform and pointing in a corresponding direction relative to the direction of movement of the storage robot.

[0012] Therefore, this configuration of the inventory robot allows for the simultaneous capture of image data of items placed in various parts of the space surrounding the inventory robot. Furthermore, according to at least some non-limiting embodiments of the present invention, the frame can be implemented to have the ability to selectively extend and retract relative to the movable platform, which allows the sensors to provide even greater coverage of the space surrounding the inventory robot.

[0013] Therefore, according to certain non-limiting embodiments of the present invention, when the inventory robot moves through the aisles in the warehouse, the inventory robot allows the sensors to have better coverage of the surrounding space, which can further allow (i) more effective inventory monitoring of the items in the warehouse, and (ii) more effective use of the warehouse space.

[0014] More specifically, according to a broad aspect of the present technology, a stocktaking robot is provided, comprising: a movable platform; a selectively extendable frame projecting outward from the movable platform, the selectively extendable frame including at least two vertical sliding sections, a given vertical sliding section being defined by: a first mast and a second mast being laterally positioned relative to a direction of movement of the stocktaking robot; and a lateral connecting section connecting the first mast and the second mast to each other; the at least two vertical sliding sections being selectively extended and retracted relative to each other; a frame actuator configured to selectively extend and retract the at least two vertical sliding sections relative to each other, thereby defining a desired height of the selectively extendable frame; a first plurality of scanning sensors arranged along the first mast, each of the first plurality of scanning sensors pointing in a first direction relative to the direction of movement of the stocktaking robot; and a second plurality of scanning sensors arranged along the second mast, each of the second plurality of scanning sensors pointing in a second direction relative to the direction of movement of the stocktaking robot, the second direction being different from the first direction. Each of the first and second plurality of scanning sensors is positioned along a corresponding one of the first and second masts to capture image data of a corresponding associated portion of the space surrounding the inventory robot in the first and second predetermined directions along the direction of movement of the inventory robot, respectively. The inventory robot further includes a processor communicatively coupled to each of the first and second plurality of scanning sensors. The processor is configured such that each of the first and second plurality of scanning sensors captures the image data of the corresponding predetermined portion.

[0015] In some embodiments of the inventory robot, the second direction is opposite to the first direction.

[0016] In some embodiments of the inventory robot, the first direction is perpendicular to the direction of movement of the inventory robot.

[0017] In some embodiments of the inventory robot, each of the first and second plurality of scanning sensors is positioned along a corresponding one of the first and second masts at a predetermined distance from the mobile platform.

[0018] In some embodiments of the inventory robot, the center of gravity of the selectively extendable frame is projected horizontally within the perimeter of the movable platform.

[0019] In some embodiments of the inventory robot, the inventory robot further includes cables configured to attach the selectively extendable frame to the mobile platform.

[0020] In some embodiments of the inventory robot, the cable is configured to attach the selectively extendable frame to the mobile platform by being taut therebetween.

[0021] In some embodiments of the inventory robot, the processor is configured to simultaneously capture the image data of corresponding associated portions by at least one of the first plurality of scanning sensors and at least one of the second plurality of scanning sensors.

[0022] In some embodiments of the inventory robot, the lateral connection section includes a crossbar positioned between the first and second masts of the given vertical sliding section at a predetermined angle to one of the first and second masts.

[0023] In some embodiments of the inventory robot, the frame actuator includes a servo motor.

[0024] In the context of this specification, "electronic device" means any computer hardware capable of running software suitable for the relevant task at hand. In the context of this specification, the term "electronic device" means that a device can act as a server for other electronic devices and client devices; however, this is not necessarily the case in relation to this invention. Therefore, some (non-limiting) examples of electronic devices include personal computers (desktop computers, laptop computers, netbooks, etc.), smartphones and tablet computers, and network equipment such as routers, switches, and gateways. It should be understood that, in this context, the use of a device as an electronic device does not mean that the device cannot act as a server for other electronic devices. The use of the term "electronic device" does not preclude the use of multiple client devices to receive / send, perform, or cause the performance of any task or request, or the result of any task or request, or the steps of any method described herein.

[0025] For the purposes of this invention, terms related to spatial orientation, such as forward, backward, up, down, left, and right, are as commonly understood by the user or operator of the camera device. When describing or referring to components or subassemblies of the device that are separate from the device, terms related to spatial orientation should be understood as they would be understood when such components or subassemblies are installed in the device.

[0026] Each embodiment of this utility model has at least one of the above aspects, but not necessarily all of them. It should be understood that some aspects of this utility model, resulting from attempts to achieve the above objectives, may not satisfy these objectives and / or may satisfy other objectives not specifically cited herein.

[0027] Additional and / or alternative features, aspects and advantages of embodiments of the present invention will become apparent from the following description, drawings and appended claims. Attached Figure Description

[0028] For a better understanding of this utility model and its other aspects and features, reference is made to the following description, which should be used in conjunction with the accompanying drawings, wherein:

[0029] Figure 1 A perspective view depicting a stock robot according to certain non-limiting embodiments of the present invention; and

[0030] Figure 2 Depicting movement along warehouse shelves according to certain non-limiting embodiments of the present invention. Figure 1 A front side view of the inventory robot; Detailed Implementation

[0031] First refer to Figure 1 A perspective view of a stock robot 100 is depicted according to certain non-limiting embodiments of the present invention.

[0032] According to certain non-limiting embodiments of the present invention, as will be described in more detail below, an inventory robot 100 can be used to monitor the inventory of various items stored in a warehouse. Such items may include, but are not limited to, food, industrial products, raw materials for producing various products and articles, and the like. More broadly, for storing such items, a multi-layered shelf system (e.g., such as...) can be installed in the warehouse. Figure 2 The warehouse shelves (as depicted in the text) are used for storage. Items may be stored individually or in containers of a specific size, such as pallets, on the shelves of the warehouse shelves. Therefore, as will become clear from the description provided below, the inventory robot 100 may be configured to move along the warehouse shelves (which typically form aisles in a warehouse) and scan items stored on the shelves using scanning sensors. Furthermore, the inventory robot 100 may be configured to store and / or transmit the scanned items' data to a remote electronic device or server, for example, to further determine the current inventory of items in the warehouse.

[0033] As from Figure 1 It should be understood that the inventory robot 100 includes a mobile platform 102 and a selectively extendable frame 104 protruding outward from the mobile platform 102.

[0034] According to certain non-limiting embodiments of the present invention, such as Figure 1 As depicted, the mobile platform 102 may have a support surface substantially parallel to the storage robot 100 on which it will travel, such as the top surface of a floor extension in a warehouse (not separately numbered). The shape of the top surface of the mobile platform 102 is not limited, and in various non-limiting embodiments of the present invention, it may be circular, rectangular, square, elliptical, etc. Therefore, as Figure 1As depicted, in some non-limiting embodiments of this invention, the movable platform 102 may be in the form of a parallelepiped, each face of which may be a separate rectangle. The material of the movable platform 102 is not limited and may include, for example, various plastics or metals, such as galvanized steel or stainless steel.

[0035] Furthermore, in a non-limiting embodiment of the present invention, the movable platform 102 may include wheels (not individually numbered) attached to the bottom surface (not depicted) of the movable platform 102, which enable the movable platform 102 to move along a supporting surface. In some non-limiting embodiments of the present invention, a given wheel of the movable platform 102 may be configured to rotate only about a horizontal axis of the given wheel (when the given wheel is attached to the bottom surface of the movable platform 102), extending through its center, thereby enabling the movable platform 102 to perform linear movement along the supporting surface. Thus, the counterclockwise rotation of the wheel enables the movable platform 102 and therefore the inventory robot 100 to move forward, which, for clarity, is referred to herein as the direction of movement 110, such as... Figure 1 As marked in the diagram. In contrast, the clockwise rotation of the wheels enables the movable platform 102 to move backward, and thus the inventory robot 100 to move backward.

[0036] Furthermore, in some non-limiting embodiments of the present invention, at least the front wheels of the movable platform 102 may be configured to rotate about their vertical axis, given that the vertical axis extends vertically to the bottom surface of the movable platform 102 and passes through the center of the respective front wheel of the movable platform 102. This allows the movable platform 102 to turn right and left while moving in the direction of movement 110. In additional non-limiting embodiments of the present invention, each of the wheels of the movable platform may be configured to rotate 90 degrees about its respective axis, thereby enabling the movable platform 102 to move laterally in the direction of movement 110.

[0037] It should be clearly understood that various configurations of the wheels of the movable platform 102 are contemplated. For example, the wheels can be implemented as any suitable size, such as casters with a diameter from 1 to 10 cm, and / or implemented for a suitable weight range for the weight to be borne on the wheels, including the weight of the movable platform 102, the optional extension frame 104, and additional equipment installed within the stock robot 100, for example, less than 250 kg, from 250 kg to 1000 kg, and from more than 1000 kg. Furthermore, the material of the wheels of the movable platform 102 is not limited, and in specific non-limiting embodiments of this invention, for example, it may include: ductile steel, phenolic nylon, and polyurethane. However, embodiments in which the wheels of the movable platform 102 are mounted on a continuous track are also contemplated without departing from the scope of this invention.

[0038] Furthermore, according to a non-limiting embodiment of the present invention, in order to actuate the wheels to cause movement of the movable platform 102, the inventory robot 100 may further include a platform actuator (not separately numbered), which may be, for example, a rotary actuator, whose actuator shaft is coupled to the axle of each of the front and rear wheels to provide torque thereto, causing rotation of the wheels and thus movement of the movable platform 102. For example, the actuator shaft of the platform actuator may be coupled to the axle of the wheels via a drive system of the movable platform 102, the drive system being configured to transmit torque from the actuator shaft to each of the wheels.

[0039] In some non-limiting embodiments of this invention, the drive system of the movable platform 102 may be configured to independently transmit torque from the platform actuator to each of the wheels. In other words, in these embodiments, the drive system of the movable platform 102 may be configured to provide all-wheel drive.

[0040] The rotary actuator that causes movement of the wheels of the movable platform 102 is not limited in how it can be implemented. In some non-limiting embodiments of the present invention, the rotary actuator may be implemented as an electric motor. In a specific non-limiting example, the electric motor may be one of the MicroFlex e190 servo motors available from ABB GmbH at Affolternstrasse 44, 8050 Zurich, Switzerland. However, it should be noted that any other suitable equipment may be used, including, for example, brushless motors and stepper motors.

[0041] Furthermore, it should be noted that other types of electric motors, including pneumatic and hydraulic motors, can be used to implement the platform actuator without departing from the scope of this invention. For example, the platform actuator can be installed within the movable platform 102, in a compartment defined on its surface.

[0042] Furthermore, according to certain non-limiting embodiments of the present invention, as will become clear from the description provided below, the inventory robot 100 may further include a controller (not depicted) in order to control the operation of the platform actuators and other electrical and electronic components of the inventory robot 100.

[0043] In some non-limiting embodiments of the present invention, the controller includes a processor. In some embodiments of the present invention, the processor may include one or more processors and / or one or more microcontrollers configured to execute instructions and perform operations associated with the operation of the inventory robot 100. In various non-limiting embodiments of the present invention, the processor may be implemented as a single chip, a multi-chip, and / or other electronic components including one or more integrated circuits and printed circuit boards. The processor may optionally include cache memory units for temporary local storage of instructions, data, or additional computer information. For example, the processor may include one or more processors or one or more controllers or a single multi-function processor or controller dedicated to certain processing tasks of the inventory robot 100.

[0044] Furthermore, the explicit use of the terms “processor” or “controller” should not be construed as referring exclusively to hardware capable of executing software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, network processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), read-only memory (ROM), random access memory (RAM), and non-volatile storage devices for storing software.

[0045] Furthermore, according to some non-limiting embodiments of the present invention, the controller may include a communication module (not depicted). This communication module may be configured to implement one of a communication protocol (wireless or wired) to enable the processor to connect to other electronic devices or remote servers. Various examples of how the communication module may be implemented include, but are not limited to, Bluetooth. TM Communication module, UART TM Communication module, Wi-Fi TM Communication module, LTE TM Communication modules and similar modules.

[0046] According to a non-limiting embodiment of the present invention, as will become clear from the description provided below, communication between the controller and other electrical and electronic components of the stock robot 100, such as platform actuators (not depicted), can be implemented via one or more internal and / or external buses (e.g., PCI bus, Universal Serial Bus, IEEE 1394 “Firewire” bus, SCSI bus, Serial ATA bus, etc.), each of which is compatible with it. For example, the controller may also be housed in a compartment defined by the surface of the movable platform 102.

[0047] Therefore, according to certain non-limiting embodiments of the present invention, the processor of the controller can be configured to control the operation of the platform actuator by executing corresponding control instructions, thereby controlling the movement of the movable platform 102, including but not limited to: (i) starting and stopping the movement of the movable platform 102; (ii) selecting the movement direction 110 of the movable platform 102; (iii) controlling the movement parameters of the movable platform 102 in the movement direction 110, such as the current speed and current acceleration value; (iv) manipulating the movable platform 102; and the like. In some non-limiting embodiments of the present invention, the corresponding control instructions can be provided to the processor in real time from a remote electronic device or server via the corresponding communication link described above, thereby realizing real-time control of the movement of the inventory robot 100. However, in other non-limiting embodiments of the present invention, for example, the corresponding control instructions can be pre-uploaded to a storage device coupled to the processor, causing the inventory robot 100 to move in a specific mode. In these embodiments, the corresponding control instructions can be updated from time to time.

[0048] Furthermore, according to certain non-limiting embodiments of the present invention, the selectively extendable frame 104 includes at least two vertical sliding sections, namely a first vertical sliding section 106 and a second vertical sliding section 108. One of the first and second vertical sliding sections 106, 108, for example, the first vertical sliding section 106 includes a first mast 105 and a second mast 107 interconnected by a transverse connecting section 109. (See from...) Figure 1 It should be understood that the first and second masts 105, 107 of the first vertical sliding section 106 are attached to the movable platform 102, while the mast of the second vertical sliding section 108 remains on the first and second masts 105, 107 of the first vertical sliding section 106 at a given level relative to them, thereby defining the desired length value of the selectively extendable frame 104.

[0049] According to various non-limiting embodiments of the present invention, the method in which the first and second masts 105, 107 of the first vertical sliding section 106 are attached to the movable platform 102 is not limited. In some non-limiting embodiments of the present invention, the first and second masts 105, 107 may be welded to the movable platform 102. In other non-limiting embodiments of the present invention, for example, the first and second masts 105, 107 may be attached to the movable platform 102 via bolts.

[0050] In some non-limiting embodiments of the present invention, the first and second masts 105, 107 may be attached to the movable platform 102 such that the first vertical sliding section 106 and thus the selectively extendable frame 104 are substantially perpendicular to the movable platform 102. However, in other non-limiting embodiments of the present invention, the first and second masts 105, 107 may be attached to the movable platform 102 such that the first vertical sliding section 106 forms an angle other than 90 degrees with the movable platform 102. In other words, in these embodiments, the selectively extendable frame 104 may be bent forward or tilted backward relative to the movable platform 102. The angle between the first vertical sliding section 106 and the movable platform 102 is not limited and may be selected based on the condition that the horizontal projection of the center of gravity of the selectively extendable frame 104 lies within the perimeter of the movable platform 102 in some non-limiting embodiments of the present invention.

[0051] In an additional non-limiting embodiment of this invention, the selectively extendable frame 104 can be extended via a cable ( Figure 1 (Not depicted in the image) Additionally attached to the movable platform 102, the cable is taut in Figure 1 The top vertical sliding section of the selectively extendable frame 104, i.e., the second vertical sliding section 108, in the embodiment depicted, is between the movable platform 102 and the second vertical sliding section 108. A number of cables, such as two cables, can be attached to each side of the second vertical sliding section 108 relative to the direction of movement 110 of the stock robot 100. In some non-limiting embodiments of the invention, the given cables may be implemented as braided steel wire cables, the cross-section of which is determined based on, for example, the weight of the selectively extendable frame 104.

[0052] According to certain non-limiting embodiments of the present invention, the masts of each of the first and second vertical sliding sections 106, 108, for example, the first and second masts 105, 107 of the first vertical sliding section 106, are laterally positioned relative to the direction of movement 110 of the inventory robot 100. Furthermore, in some non-limiting embodiments of the present invention, such as... Figure 1 As depicted, the first and second masts 105, 107 may extend substantially parallel to each other. However, in other non-limiting embodiments of the present invention, the first and second masts 105, 107 may extend at a given angle to each other. For example, the first and second masts 105, 107 may form corresponding arms at a given angle.

[0053] There are no limitations on how each of the first and second masts 105, 107 is implemented. In various non-limiting embodiments of the present invention, the cross-section of a given mast of the first and second masts 105, 107 may be, but is not limited to, triangular, square, rectangular, polyhedral, or circular. In some non-limiting embodiments of the present invention, a given mast of the first and second masts 105, 107 may be hollow; in other non-limiting embodiments of the present invention, a given mast may be solid. The material of each of the first and second masts 105, 107 is also not limited, and in various non-limiting embodiments of the present invention, may include, but is not limited to, metals (e.g., steel or aluminum), plastics, wood, etc. The thickness of the material of each of the first and second masts 105, 107 is also not limited, and may be selected, for example, based on a trade-off between the desired weight of the given mast and its load-bearing capacity.

[0054] Furthermore, according to certain non-limiting embodiments of the present invention, the transverse connecting section 109 may include a plurality of crossbars disposed between the first and second masts 105, 107 and attached thereto, for example, by welding. In other non-limiting embodiments of the present invention, the first and second masts 105, 107 and the transverse connecting section 109 may be integrally cast. In some non-limiting embodiments of the present invention, the configuration and material of each of the plurality of crossbars constituting the transverse connecting section 109 may be the same as the configuration and material of the first and second masts 105, 107. However, in other non-limiting embodiments of the present invention, the configuration and material of each of the plurality of crossbars of the transverse connecting section 109 may differ from the configuration and material of the first and second masts 105, 107. For example, although in some embodiments each of the first and second masts 105, 107 may be hollow, each of the plurality of crossbars of the transverse connecting section 109 may be solid. In another example, although in some embodiments the cross-section of a given mast in the first and second masts 105, 107 may be circular, the cross-section of a given crossbar in the plurality of crossbars of the transverse connecting section 109 may be rectangular. In yet another example, although in some embodiments the material of a given mast in the first and second masts 105, 107 may be steel, the material of a given crossbar in the transverse connecting section may be aluminum.

[0055] Furthermore, according to certain non-limiting embodiments of the present invention, each of the plurality of crossbars may be evenly distributed between the first and second masts 105, 107 of the first vertical sliding section 106, for example, by a predetermined step length of 20, 30, or 50 cm. However, in other non-limiting embodiments of the present invention, the crossbars may be positioned only within a specific portion of the space between the first and second masts 105, 107, for example, at their ends and at the middle horizontal level.

[0056] Furthermore, in some non-limiting embodiments of the present invention, each of the plurality of crossbars of the transverse connecting section 109 may be arranged parallel to each other. In these embodiments, if the first and second masts 105, 107 are also parallel to each other, then each of the plurality of crossbars of the transverse connecting section 109 will be perpendicular to the first and second masts 105, 107. However, in other non-limiting embodiments of the present invention, at least some of the plurality of crossbars may be arranged at a predetermined angle to a given mast of the first and second masts 105, 107. For example, a predetermined angle may be selected, but is not limited to 30 degrees, 45 degrees, and the like.

[0057] In some non-limiting embodiments of this invention, some of the multiple crossbars of the transverse connecting section 109 may be arranged at a first predetermined angle to a given mast among the first and second masts 105, 107, and some of the multiple crossbars may be arranged at a second predetermined angle to the given mast. For example, although the first predetermined angle may be selected as 60 degrees, the second predetermined angle may be selected as 120 degrees. In another example, the first and second predetermined angles of a given crossbar relative to a given mast may be selected as 45 degrees and 135 degrees, respectively. It should be clearly understood that the crossbars of the plurality of crossbars in the transverse connecting section 109 can be positioned between the first and second masts 105, 107 at more than two predetermined angles with a given mast; and in various non-limiting embodiments of the present invention, a given crossbar of the plurality of crossbars can be positioned between the first and second masts 105, 107 at multiple predetermined angles with a given mast among the first and second masts 105, 107, including, for example, one of 3, 4, 5 or even 10 different predetermined angles for positioning the crossbar therebetween.

[0058] Furthermore, it should be clearly understood that various arrangements of the multiple crossbars are contemplated. For example, in some non-limiting embodiments of this invention, multiple crossbars arranged at different predetermined angles to a given mast among the first and second masts 105, 107 in the transverse connecting section 109 can define various periodic repeating patterns. For example, a given periodic repeating pattern may include the following sequence: (i) a first crossbar arranged at a first predetermined angle relative to a given mast among the first and second masts 105, 107 in the first and second masts 106; (ii) a second crossbar arranged vertically; and (iii) a third crossbar arranged at a second predetermined angle, such as... Figure 1 As depicted in the text. Without departing from the scope of this technology, other predetermined periodic repeating patterns that define the corresponding arrangement of the multiple crossbars in the transverse connecting section 109 are also contemplated.

[0059] As should be understood, in some non-limiting embodiments of the present invention, the second vertical sliding section 108 may be implemented similarly to the first vertical sliding section 106.

[0060] Furthermore, in some non-limiting embodiments of the present invention, in order to enable the second vertical sliding section 108 to move against the first vertical sliding section 106, each of the first and second masts 105, 107 of the first vertical sliding section 106 may include a guide (not separately numbered) defined along each of the first and second masts 105, 107; and each of the masts (not separately numbered) of the second vertical sliding section 108 may include a protrusion (not separately depicted) defined along each of the masts. The guide may be configured to receive the protrusion or otherwise engage with the protrusion, thereby enabling the second vertical sliding section 108 to slide against the first vertical sliding section 106. In other non-limiting embodiments of the present invention, the guides of the first and second masts 105, 107 of the first vertical sliding section 106 may be configured to receive the masts of the second vertical sliding section 108. Therefore, this configuration of the first and second vertical sliding sections 106, 108 allows the selectively extendable frame 104 to selectively extend and retract back to the desired length value.

[0061] The respective length of each of the first and second vertical sliding sections 106, 108 is not limited and generally depends on the desired maximum length value of the selectively extendable frame 104, i.e., when it is fully extended. For example, if the desired maximum length of the selectively extendable frame 104 is four (4) meters, each of the first and second vertical sliding sections 106, 108 may be approximately two meters long. However, it is also contemplated that each of the first and second vertical sliding sections 106, 108 may have different respective length values, such as one meter and three meters respectively in the embodiments described above. Furthermore, it should be noted that in order to achieve the desired maximum length, the selectively extendable frame 104 may include more than two vertical sliding sections, such as three or five, for example, each given vertical sliding section may be configured to slide against the preceding vertical sliding section, as described above with respect to the first and second vertical sliding sections 106, 108.

[0062] Furthermore, according to certain non-limiting embodiments of the present invention, in order to allow the second vertically extendable frame 108 to slide against the first vertical sliding section 106, thereby enabling the selectively extendable frame 104 to selectively extend or retract, the inventory robot 100 may further include a frame actuator (not depicted) with its actuator shaft attached to the second vertical sliding section 108. More broadly, the frame actuator may be configured to (i) slide the mast of the second vertical sliding section 108 within the guide of the first vertical sliding section 106, thereby enabling selective extension and retraction of the first and second vertical sliding sections 106, 108 relative to each other; and (ii) maintain the second vertical sliding section 108 at a given level relative to the first vertical sliding section 106, thereby defining a desired length value for the selectively extendable frame 104.

[0063] In some non-limiting embodiments of this invention, the frame actuator may be a rotary actuator configured to cause linear movement of the second vertical sliding segment 108 within the guide of the first vertical sliding segment 106. In these embodiments, the frame actuator may be implemented similarly to the platform actuator described above.

[0064] However, in other non-limiting embodiments of this invention, the frame actuator may be a linear actuator. Similar to the rotary actuator described above, in various non-limiting embodiments of this invention, the linear actuator may be any type of actuator, including electric, pneumatic, and hydraulic actuators. In a specific non-limiting example, the linear actuator may be one of the SGLF series servo linear electric actuators available from Yaskawa Electric Corporation, 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan. However, it should be noted that the servo linear electric actuator can be implemented using any other suitable equipment.

[0065] According to certain non-limiting embodiments of the present invention, similar to a platform actuator, a frame actuator may be communicatively coupled to a processor of a controller for a stock robot 100; and the processor may be configured to cause the frame actuator to move up or down relative to a first vertical sliding segment 106 based on corresponding control commands. Figure 1 The second vertical sliding section 108 is moved in the orientation, thereby causing the selectively extendable frame 104 to extend or retract to the desired length value.

[0066] It should be noted that in those embodiments in which the selectively extendable frame 104 includes more than two vertical sliding segments, each vertical sliding segment, except for the first vertical sliding segment 106, can be actuated by a separate frame actuator similar to the frame actuator described above.

[0067] However, it should be noted that, without departing from the scope of this technology, it is also contemplated that the second vertical sliding section 108 be manually driven relative to the first vertical sliding section 106 and held at a given level relative to the first vertical sliding section 106, for example, wherein a pin is received in a corresponding hole in the mast defined in each of the first and second vertical sliding sections 106, 108.

[0068] Furthermore, according to certain non-limiting embodiments of the present invention, in order to monitor the inventory of items stored in a warehouse, the inventory robot 100 further includes a plurality of scanning sensors arranged along the mast of at least one of the first and second vertical sliding sections 106, 108.

[0069] refer to Figure 2 According to certain non-limiting embodiments of the present invention, a front side view is depicted of an inventory robot 100 moving between and along warehouse shelves (not individually numbered).

[0070] As from Figure 2 It should be understood that, according to certain non-limiting embodiments of the present invention, each mast of a given one of the first and second vertical sliding sections 106, 108 of the selectively extended frame 104, for example, the first and second masts 105, 107 of the first vertical sliding section 106 may respectively accommodate a corresponding plurality of scanning sensors communicatively coupled to the processor of the controller of the stock robot 100. More specifically, the first mast 105 of the first vertical sliding section 106 may be configured to accommodate a first plurality of scanning sensors 202; and the second mast 107 of the first vertical sliding section 106 may accommodate a second plurality of scanning sensors 204.

[0071] Generally, for example, a given scan sensor 205 in the first plurality of scan sensors 202 can be configured by a processor to generate image data by converting an incident light stream into an electrical signal. Non-limiting examples of implementing a given scan sensor 205 may include, for example, a charge-coupled device (CCD) image sensor and a complementary metal-oxide-semiconductor (CMOS) image sensor.

[0072] In some non-limiting embodiments of this technology, a given scanning sensor 205 may be configured to generate image data in the form of a sequence of images captured at predetermined time intervals. In these embodiments, the frequency of capturing image data (e.g., expressed in frames per second (FPS)) may always be constant, such as 5, 10, or 25 FPS. In other non-limiting embodiments of this invention, the frequency of capturing image data may be variable, for example, depending on previously captured image data. In these embodiments, for example, in response to previously captured image data indicating that there is no object of interest (e.g., items stored in a warehouse) in the field of view 206 of a given scanning sensor 205, the current frequency of capturing image data may be reduced, for example, by 1, 5, or 10 FPS. Conversely, in response to previously captured image data indicating that there is an object of interest in the field of view 206 of a first scanning sensor 205, the current frequency of capturing image data may be increased.

[0073] Furthermore, in some non-limiting embodiments of this technology, the image data may include video image data continuously recorded by a given scanning sensor 205 over a predetermined period of time.

[0074] In a specific, non-limiting example, the given scanning sensor 205 may be implemented as a type of CMOS image sensor available from Sony Semiconductor Solutions Corporation, located at 4-14-1 Asahi-cho, Atsugi-shi, Kanagawa, 243-0014, Japan.

[0075] In another specific, non-limiting example, the given scanning sensor 205 may be implemented as an ME2P type CMOS image sensor available from DAHENG IMAGING, located at 12F Daheng Science & Technology Tower, No.3 Suzhou Str., Haidian District, Beijing, China. It should be clearly understood that the CMOS image sensor may be implemented in any other suitable equipment.

[0076] Furthermore, in some non-limiting embodiments of this invention, a given scanning sensor may comprise an array or matrix of image sensors with similar implementations.

[0077] Furthermore, in some non-limiting embodiments of the present invention, a given scanning sensor 205 may include an optical assembly configured to receive and focus a stream of incident light reflected from a corresponding portion of the space surrounding the inventory robot 100 on the photosensitive plate of the given scanning sensor 205. A specific configuration of the optical assembly of the given scanning sensor 205, such as lens type, curvature, and size, defines the field of view 206 (both horizontal and vertical) of the given scanning sensor 205. In some non-limiting embodiments of the present invention, the configuration of the optical assembly may be determined to define a predetermined size field of view 206 of the given scanning sensor 205. The predetermined size of the field of view 206 may be selected based on, for example, the size of the object whose image data will be captured by the given scanning sensor 205. In a particular instance, the predetermined size of the field of view 206 of the given scanning sensor 205 may be selected at least based on the height of the space between the shelves of the warehouse in which the inventory robot 100 will be used, and for example, may be from 55 to 80 degrees in each direction.

[0078] However, in those non-limiting embodiments of the present invention where a given scanning sensor 205 includes an array and / or matrix of image sensors, the field of view 206 can be adjusted (e.g., increased) by adjusting (e.g., increasing) the size and density of the image sensors in the array and / or matrix constituting the given scanning sensor 205. Furthermore, it should be noted that in some non-limiting embodiments of the present invention, a given scanning sensor 205 can be configured to selectively change its field of view 206. More specifically, in these embodiments, the processor of the inventory robot 100 can be configured to adjust the field of view 206 of the given scanning sensor 205, such as its horizontal component, by executing corresponding instructions, for example, by activating certain regions of its image sensor matrix and disabling others.

[0079] However, in other non-limiting embodiments of this invention, the given scanning sensor 205 may include a barcode scanner configured to read and identify barcodes on an item. In a specific non-limiting example, the given scanning sensor 205 may be implemented as a fixed-mount barcode scanner of model HF811, available from Honeywell International Inc., 300 South Tryon Street, Charlotte, NC, United States. It should be clearly understood that the barcode scanner may be implemented in any other suitable equipment.

[0080] It should be noted that the first plurality of scanning sensors 202 may also include embodiments of different types of sensors. For example, the first of the first plurality of scanning sensors 202 may be implemented as a CMOS image sensor; the second of the first plurality of scanning sensors 202 may be implemented as a CCD image sensor; and the third of the first plurality of scanning sensors 202 may be implemented as a barcode scanner.

[0081] Therefore, as the inventory robot 100 moves along the warehouse shelves, the processor of the controller of the inventory robot 100 can be configured such that a given scanning sensor 205 captures image data of a corresponding portion of the space surrounding the inventory robot 100 along the direction of movement 110 of the inventory robot 100. It should be understood that the corresponding portion of the space surrounding the inventory robot 100 captured by the given scanning sensor 205 can be defined by at least one of: (i) the field of view 206 of the given scanning sensor 205; and (ii) the corresponding position of the given scanning sensor 205 along the first mast 105.

[0082] In some non-limiting embodiments of the present invention, the corresponding position of the given scanning sensor 205 along the first mast 105 can be defined by at least one of the following: (i) the corresponding scanning direction of the given scanning sensor 205 relative to the movement direction 110 when the given scanning sensor 205 is attached to the first mast 105; and (ii) the corresponding desired distance value 208 between the given scanning sensor 205 and the movable platform 102.

[0083] According to certain non-limiting embodiments of the present invention, each of the first plurality of scanning sensors 202, including a given scanning sensor 205, may have its respective scanning direction when attached to the first mast 105 oriented toward the item to which the given scanning sensor will capture its image data. Therefore, in some non-limiting embodiments of the present invention, the respective scanning direction of each of the first plurality of scanning sensors 202 may be oriented toward the corresponding warehouse shelf closest to the first mast 105, while the inventory robot 100 moves along the warehouse shelf in the movement direction 110 to monitor the inventory of items stored thereon.

[0084] For example, in some non-limiting embodiments of this invention, when the movement direction 110 of the inventory robot 100 is parallel to the corresponding warehouse shelf closest to the first mast 105, such as... Figure 2 As depicted, the corresponding scanning direction of each of the first plurality of scanning sensors 202 may be a first scanning direction 210 perpendicular to the movement direction 110 of the inventory robot 100.

[0085] Furthermore, according to certain non-limiting embodiments of the present invention, the respective scanning direction of each of the second plurality of scanning sensors 204 when attached to the second mast 107 of the first vertical sliding section 106 may also be directed toward the corresponding warehouse shelf closest to the second mast 107, while the inventory robot 100 moves along the warehouse shelf to monitor the inventory of items stored thereon. For example, in those embodiments where the corresponding warehouse shelf closest to the second mast 107 is parallel to the corresponding warehouse shelf closest to the first mast 105, such as... Figure 2 As depicted, the corresponding scanning direction of each of the second plurality of scanning sensors 204 may be a second scanning direction 212 opposite to the first scanning direction 210.

[0086] Furthermore, in some non-limiting embodiments of this invention, the corresponding desired distance value 208 between the given scanning sensor 205 and the movable platform 102 may be fixed. In these embodiments, the given scanning sensor 205 is fixedly attached to the first mast 105 of the first vertical sliding section 106 at the corresponding desired distance value 208 from the movable platform 102. How the given scanning sensor 205 can be fixedly attached to the first mast 105 is not limited, and may include, for example, screw connections, tape connections, glue connections, and the like.

[0087] However, in other non-limiting embodiments of the present invention, the given scanning sensor 205 may be adjusted at a corresponding position along the first mast 105. In these embodiments, the given scanning sensor 205 may be fixedly attached to a mechanical transmission device (not depicted) mounted along the first mast 105 of a first vertical sliding section 106. The mechanical transmission device may be configured, upon activation, to adjust a corresponding desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102.

[0088] The implementation of the mechanical transmission device in these embodiments is not limited. In some non-limiting embodiments of the present invention, the mechanical transmission device may include a belt drive device comprising: (i) a belt to which the given scanning sensor 205 is fixedly attached; and (ii) a pair of rotatable shafts (or additional pulleys) attached to the first mast 105 at an edge of the first mast 105. The belt wraps around the pair of rotatable shafts along the first mast 105, and the pair of shafts are configured to transmit motion to the belt during rotation, thereby adjusting a corresponding desired distance value 208 of the given scanning sensor 205 relative to the movable platform 102. In other non-limiting embodiments of the present invention, the mechanical transmission device may include a chain drive device comprising: (i) a chain to which the given scanning sensor 205 is fixedly attached; and (ii) a pair of gears attached to the first mast 105 at an edge of the first mast 105, the pair of gears being configured to mesh with the chain. Similarly, the chain surrounds the pair of gears along the first mast 105, and the pair of gears are configured to transmit motion to the chain upon rotation, thereby adjusting a corresponding desired distance value 208 of the given scan sensor 205 relative to the movable platform 102. In other non-limiting embodiments of the present invention, the mechanical transmission may include a rack and pinion transmission comprising: (i) a rack gear extending along the first mast 105 to which the given scan sensor 205 is fixedly attached; and (ii) a pinion configured to mesh with the rack gear. When the pinion rotates, it is thus configured to transmit motion to the rack gear, thereby adjusting a corresponding desired distance value 208 of the given scan sensor 205 relative to the movable platform 102.

[0089] The actuation of each of the mechanical transmission devices of the above-described types is not limited; and in some non-limiting embodiments of this invention, actuation of the mechanical transmission device may include the use of a rotary actuator (not depicted), which may be implemented similarly to the platform actuator of the movable platform 102 described above. The rotary actuator of the mechanical transmission device may be communicatively coupled to the processor of the controller of the stock robot 100; and the processor may be configured to actuate the rotary actuator when executing corresponding instructions, thereby adjusting a corresponding desired distance value 208 of a given scanning sensor 205 along the first mast 105 relative to the movable platform 102.

[0090] Furthermore, in some non-limiting embodiments of this invention, only a single scanning sensor among the first plurality of scanning sensors 202, i.e., for example, a given scanning sensor 205, may be attached to the aforementioned mechanical transmission device. This achieves adjustment of only the corresponding desired distance value of this scanning sensor along the first mast 105. However, in other non-limiting embodiments of this invention, all of the first plurality of scanning sensors 202 may be attached to the mechanical transmission device. This achieves simultaneous and consistent adjustment of the corresponding desired distance value of each of the first plurality of scanning sensors 202 along the first mast 105.

[0091] As should be understood, the configuration and positioning of each of the second plurality of scanning sensors 204 arranged along the second mast 107 of the first vertical sliding section 106 may be similar to the configuration and positioning of a given scanning sensor 205 among the first plurality of scanning sensors 202 arranged along the first mast 105 of the first vertical sliding section 106.

[0092] Furthermore, according to certain non-limiting embodiments of the present invention, the respective desired distance values ​​of each of the first and second plurality of scanning sensors 202, 204 relative to the movable platform 102 may be different. In these embodiments, the processor of the inventory robot 100 may be configured such that each of the first and second plurality of scanning sensors 202, 204 captures image data of different corresponding portions of the surrounding space of the inventory robot 100 along the movement direction of the inventory robot 100 in the first and second scanning directions 210, 212, respectively.

[0093] In some non-limiting embodiments of this invention, the processor of the inventory robot 100 may be configured to simultaneously capture image data of corresponding associated portions of the space surrounding the inventory robot 100, provided that one of the first and second plurality of scanning sensors 202, 204 is selected. In other words, the processor of the inventory robot 100 may be configured to cause simultaneous capture of image data of different corresponding portions of the space surrounding the inventory robot 100 along one of the first and second scanning directions 210, 212, in the direction of movement 110 of the inventory robot 100.

[0094] In some non-limiting embodiments of this invention, the processor of the inventory robot 100 may be configured to simultaneously capture image data of corresponding associated portions of the space surrounding the inventory robot 100, by at least one of the first plurality of scanning sensors 202 and at least one of the second plurality of scanning sensors 204. In other words, the processor of the inventory robot 100 may be configured to cause the simultaneous capture of image data of different corresponding portions of the space surrounding the inventory robot 100 defined along each of the first and second scanning directions 210, 212 of the movement direction 110 of the inventory robot 100.

[0095] Furthermore, there is no limitation on how the corresponding desired distance value 208 for a given scanning sensor 205 can be determined, and it can generally depend on the expected object in the corresponding portion of the space surrounding the inventory robot 100 defined by the corresponding desired distance value 208. For example, in some non-limiting embodiments of the present invention, the corresponding desired distance value 208 can be predetermined such that the corresponding portion of the space surrounding the inventory robot 100 to be captured by the given scanning sensor 205 will include the corresponding shelf of the corresponding warehouse rack extending along the movement direction 110 of the inventory robot 100 in the first scanning direction 210. Thus, in these embodiments, each of the first plurality of scanning sensors 202 will be configured to capture image data of an item stored on one of the plurality of shelves of the corresponding warehouse rack extending along the movement direction 110 of the inventory robot 100 in the first scanning direction 210.

[0096] Furthermore, in some non-limiting embodiments of this invention, the corresponding desired distance value for each of the second plurality of scanning sensors 204 can be predetermined in a similar manner. In these embodiments, each of the second plurality of scanning sensors 204 will be configured to capture image data of an item on one of the other shelves of a corresponding warehouse rack extending along the movement direction 110 of the inventory robot 100, stored in a second scanning direction 212.

[0097] Therefore, in some non-limiting embodiments of the present invention, when the inventory robot 100 moves in the movement direction 110, the processor of the inventory robot 100 may be configured to simultaneously: (i) at least one of the first plurality of scanning sensors 202 captures image data of items stored on the corresponding shelves of the corresponding warehouse shelves positioned in the first scanning direction 210; and (ii) at least one of the second plurality of scanning sensors 204 captures image data of items stored on the corresponding shelves of the corresponding warehouse shelves positioned in the second scanning direction 212.

[0098] Needless to say, in embodiments where image data needs to be captured of a corresponding portion of the space surrounding the stock robot 100, defined by a distance value greater than the corresponding desired distance value associated with the top scanning sensor of the first and second plurality of scanning sensors 202, 204, additional plurality of scanning sensors (not in Figure 2 (Separately numbered) can be arranged along the mast of one of the upper vertical sliding sections of the selectively extending frame 104 in a similar manner to that described above with respect to the first and second plurality of scanning sensors 202, 204, such as the mast arrangement of the second vertical sliding section 108.

[0099] However, apart from the above description of the adjustment of a given desired distance value 208 of a scanning sensor 205 relative to the movable platform 102, in these embodiments, the processor may be configured to adjust the desired distance value of a scanning sensor arranged along the mast of the second vertical sliding section 108 by selectively extending or retracting the selectively extendable frame 104 by causing the frame actuator as described above.

[0100] Furthermore, according to certain non-limiting embodiments of the present invention, the processor may be configured to (i) receive captured image data of items stored on warehouse shelves; and (ii) analyze the captured image data to identify the current inventory of items in the warehouse. More specifically, in embodiments where the given scanning sensor 205 is, for example, a CMOS image sensor, and the image data contains images representing items stored on warehouse shelves, the processor of the inventory robot 100 may be configured to identify a given item based on a corresponding image of that item. To this end, the processor may be configured to apply, for example, a trained machine learning algorithm (MLA) that has been trained to classify various items based on image features representing various items. Such features may include, for example, but are not limited to, given points in a given image representing a corresponding item, such as color, light intensity, and the like in pixels.

[0101] However, in embodiments where the given scanning sensor 205 is a barcode scanner, the processor may be configured to read the barcode of an item to identify the corresponding identification number associated with it. Furthermore, to identify a given item, the processor may be configured to search a database of items stored in a warehouse for the corresponding identification number associated with that item. The item database may be pre-populated with data containing the corresponding identification numbers associated with each item.

[0102] In other non-limiting embodiments of the present invention, as mentioned above, the processor of the inventory robot 100 may be configured to receive captured image data from a given scanning sensor 205 and further transmit it via a corresponding communication link to a remote electronic device or server for analysis of the captured image data as described above.

[0103] Therefore, certain non-limiting embodiments of the present invention allow for more efficient inventory monitoring of items in a warehouse, enabling the processor of the inventory robot 100 to capture more image data of items during a given run along the warehouse shelves. In other words, according to at least some non-limiting embodiments of the present invention, the inventory robot 100 can be configured to capture image data of items stored on (i) both sides relative to the direction of movement 110 of the inventory robot 100 and (ii) on the higher shelves of the warehouse shelves. Thus, this method of warehouse inventory monitoring allows for more optimized use of warehouse space, i.e., utilizing the higher shelves of the warehouse shelves for storing items.

[0104] Modifications and improvements to the above-described embodiments of this utility model will become apparent to those skilled in the art. The foregoing description is intended to be illustrative and not restrictive. Therefore, the scope of this utility model is intended to be limited only to the scope of the appended claims.

Claims

1. An inventory robot, characterized in that... The inventory robots include: Mobile platform; A selectively extendable frame, projecting outward from the movable platform, comprises at least two vertical sliding segments, a given vertical sliding segment of which is defined by the following: The first and second masts are laterally positioned relative to the direction of movement of the inventory robot; and The transverse connecting section connects the first mast and the second mast to each other; The at least two vertical sliding sections can be selectively extended and retracted relative to each other; A frame actuator configured to selectively extend and retract the at least two vertical sliding sections relative to each other, thereby defining the desired height of the selectively extendable frame; A plurality of scanning sensors are arranged along the first mast. Each of the first plurality of scanning sensors points in a first direction relative to the direction of movement of the inventory robot; and A second plurality of scanning sensors are arranged along the second mast. Each of the second plurality of scanning sensors points in a second direction relative to the direction of movement of the inventory robot, the second direction being different from the first direction; and Each of the first and second plurality of scanning sensors is positioned along a corresponding one of the first and second masts so as to: Image data of corresponding associated portions of the space surrounding the inventory robot are captured along the movement direction of the inventory robot in the first and second predetermined directions, respectively; and A processor communicatively coupled to each of the first and second plurality of scanning sensors, the processor being configured to enable each of the first and second plurality of scanning sensors to capture the image data of a corresponding predetermined portion.

2. The inventory robot according to claim 1, characterized in that... The second direction is opposite to the first direction.

3. The inventory robot according to claim 2, characterized in that... The first direction is perpendicular to the direction of movement of the inventory robot.

4. The inventory robot according to claim 1, characterized in that... Each of the first and second plurality of scanning sensors is positioned along a corresponding one of the first and second masts at a predetermined distance from the movable platform.

5. The inventory robot according to claim 1, characterized in that... The horizontal projection of the center of gravity of the selectively extendable frame lies within the perimeter of the movable platform.

6. The inventory robot according to claim 1, characterized in that... The inventory robot further includes cables configured to attach the optional extension frame to the mobile platform.

7. The inventory robot according to claim 6, characterized in that... The cables are configured to attach the selectively extendable frame to the movable platform by being taut therebetween.

8. The inventory robot according to claim 1, characterized in that... The processor is configured to enable at least one of the first plurality of scanning sensors and at least one of the second plurality of scanning sensors to simultaneously capture the image data of corresponding associated portions.

9. The inventory robot according to claim 1, characterized in that... The lateral connection section includes a crossbar positioned between the first and second masts of the given vertical sliding section at a predetermined angle to one of the first and second masts.

10. The inventory robot according to claim 1, characterized in that... The frame actuator includes a servo motor.

Images