Article sorting and optimization along the vertical axis by robots
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- AMAZON TECH INC
- Filing Date
- 2017-10-11
- Publication Date
- 2026-07-23
Abstract
Description
CROSS-REFERENCE TO RELATED REGISTRATION
[0001] This application claims the benefit and priority of US patent application No. 15 / 295,040, filed on October 17, 2016, entitled “ROBOTIC ITEM SORTATION AND OPTIMIZATION ALONG THE VERTICAL AXIS”, the contents of which are incorporated in their entirety into this document by reference. GENERAL STATE OF THE ART
[0002] A fulfillment center is a material handling system equipped to store inventory and fulfill orders from that inventory. A variety of tasks can be performed in the fulfillment center, including receiving new stock deliveries, storing the new stock in holding locations, collecting items from the holding locations in response to new orders, grouping the collected items, packing the items, and preparing the packed items for shipment.
[0003] Some fulfillment centers incorporate a conveyor system to move items from one position to another and to sort them by moving them to different target positions. These conveyors typically move an item along a primary axis until it reaches a target position. A deflection mechanism then moves the item laterally to the target position along a secondary axis. However, these conveyor systems require significant space, and optimizing them remains challenging. List of characters
[0004] Many aspects of this revelation can be better understood with the help of the following drawings. The components in the drawings are not necessarily shown to scale; rather, the emphasis is on clearly illustrating the principles of revelation. Furthermore, identical reference symbols in the drawings identify corresponding parts in all of the different views. Fig. Figure 1 is a drawing of a conveying system according to various embodiments of the present disclosure. The Fig. 2A, Fig. 2B, Fig. 3A, Fig. 3B and Fig. Figure 4 shows a drawing of a robot system for vertically diverting articles in a conveyor system according to various embodiments of the present disclosure. The Fig. 5A and Fig. 5B are drawings showing a perspective view from above and a top view from above of vertically configured article transport devices according to various embodiments of the present disclosure. Fig. Figure 6 is a drawing of a network environment according to various embodiments of the present disclosure. Fig. Figure 7 is a flowchart illustrating an example of functionality implemented by applications of a material handling center, running in a computing environment within a network environment. Fig. 6 according to various embodiments of the present disclosure. Fig. Figure 8 is a schematic block diagram that provides an exemplary illustration of a computing environment consisting of the following components in the network environment. Fig. 6 is used according to various embodiments of the present disclosure. DETAILED DESCRIPTION
[0005] This disclosure relates to the sorting and optimization of items along the vertical axis by robots in a conveyor-based system and other such systems. In material handling systems, packages or other items can be transported by various types of conveyor systems that utilize different mechanisms for moving, sorting, redirecting, or aligning packages. These mechanisms include sorters such as package pushers, cross-belt sorters, tilting tray sorters, pop-up wheel deflectors, right-angle transfers, steering wheel deflectors, swing arms, pushers, link belt deflectors, and other sorters. Each of these mechanisms has advantages and disadvantages with regard to cost, speed, complexity, reliability, suitability of the materials to be handled, and space utilization.While existing conveyor systems move and sort items at high speed, demand exceeds the capacity of state-of-the-art systems.
[0006] Various embodiments of the present disclosure introduce a system for sorting and optimizing articles along the vertical axis by robots for use with conveyor-based systems. In one embodiment, a system may include a conveyor system that moves articles from a first position to a second position and laterally deflects the articles to one of a plurality of holding stations. The system may include a robot system comprising an articulated robot arm mounted above or laterally to the conveyor system and configured to collect the articles at the holding stations and move the articles vertically along the Z-axis for placement in one of a plurality of vertically configured article transport devices.
[0007] Since items can be vertically redirected using a robotic system, the use of traditional conveyor systems and sorters can be optimized. For example, a given material handling center can achieve a higher throughput of items despite space constraints and without replacing the existing conveyor systems. Furthermore, customers can benefit from shorter order processing times.
[0008] The following discussion provides a general description of a system for sorting and optimizing articles along the vertical axis using robots, followed by a discussion of its operation.
[0009] With reference to Fig. 1. A perspective view of a funding system will be presented. 10 The system, shown according to various embodiments, can be implemented in a material handling system, as will be described. The conveying system 10includes a conveyor belt 15 and exit points 20a ... 20c (together “exit points”) 20 “). The conveyor belt 15 may include a belt conveyor, a main shaft roller conveyor with a variety of rollers, a chain conveyor, or any other conveying system that transports items 25a ... 25d (together “articles” 25 “) moved forward from one position to another. At an exit point 20 Can one or more of the items 25 from the conveyor belt 15 laterally into one of a multitude of item transport devices 30a ... 30c (collectively “article transport devices”) 30 “) are redirected. The article transport devices 30 Examples include slides, spirals, ramps, and other conveyor belts. 15 or other suitable item handling devices 30This includes, as will be understood. For example, in the embodiment, it can consist of Fig. 1 a slide an article 25 at an exit point 20 record, whereby the article 25 for collection by the staff of the material transport center or for subsequent processing, the material falls down the chute.
[0010] An article 25 It can include a product, a package, a box, a bag, a shipping bag, a crate, or other types of containers. The item 25 It can carry one or more identifiers, such as barcodes, quick-response (QR) or matrix codes, radio-frequency identifiers (RFIDs), or other forms of identifiers. For this purpose, a conveyor system can 10 In some embodiments, they include one or more imaging devices or RFID readers that detect the articles. 25 track them when they go through the funding system10 are moved forward by using one or more identifiers that are associated with the articles 25 are associated with, and can be detected. In some examples, the identifiers from a shipping label can be detected.
[0011] In the Fig. The article can be found in the example shown in the first example. 25 from the conveyor belt 15 to an exit point 20 be redirected using one or more lateral redirection mechanisms, such as one or more parcel pusher redirection mechanisms 35a ... 35e (together “package sliding deflection mechanisms”) 35 “), which contains an article 25 to an exit point 20 push or otherwise drive. In other embodiments, other lateral deflection mechanisms can be used to move the articles. 25 to an exit point 20to push, pull, or otherwise guide. For example, other lateral deflection mechanisms may include a pop-up steering wheel deflection mechanism, a tilting shell deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a cross belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a sliding deflection mechanism, a link belt deflection mechanism, or other similar mechanisms.
[0012] During operation, the conveyor belt 15 be described in such a way that it is an article 25 moved along a first directional axis (e.g. the Y-axis), with lateral deflection mechanisms, such as the package pusher deflection mechanism 35 , the articles 25 move horizontally or laterally along a second directional axis (e.g., the X-axis). Providing the ability to move the articles 25Moving along a third directional axis (e.g., the Z-axis) can increase the performance of the conveyor system. 10 improve, as will be described.
[0013] Now, attention will be turned to the Fig. 2A and Fig. Reference is made to 2B, which shows an embodiment of a system for sorting and optimizing articles along a vertical axis and its components. As above in relation to Fig. As discussed in point 1, a funding system can 10 a conveyor belt 15 to move items 25 Insert along a first axis (e.g., the Y-axis). Once an article 25 a specific position along the conveyor system 10 Once reached, a lateral deflection mechanism moves the item. 25 along a second axis to an exit point 20a ... 20c , which causes the article to 25 at one of a large number of stops 40a ...40c (together “stops 40”) are included, which are located along the conveyor system 10 are positioned. In some embodiments, a stopping station includes 40 an essentially flat platform configured to hold an article 25 to keep it in a resting state, such that it can be collected by a robotic system, as will be discussed. This can be achieved with chutes, spirals, ramps, or other item transport devices. 30 are compared, which are angled downwards to cause the article to 25 its movement continues as soon as it leaves the conveyor belt 15 was deflected to the side.
[0014] If an article 25 at a stop 40 a robot system can be recorded 45 the article 25 collect in order to complete the article 25 by adjusting the article at least vertically 25to move. For example, the robot system can 45 the articles 25 along a third axis (e.g. the Z-axis) for placement in one of a variety of vertically configured article transport devices. 50a ... 50c (together "vertically configured article transport devices") 50 “) move vertically. The robot system 45 can an article 25 for placement on a first vertically configured article transport device 50a , a second vertically configured article transport device 50b or a third vertically configured item transport device 50c Collect. The vertically configured item transport devices 50 can be described as having different heights, which are designated by H1, H2 and H3, where: H 3 > H 2 > H 1
[0015] Since each of the vertically configured item transport devices 50 a region with a height that differs from other vertically configured item transport devices 50 The arrangement of the vertically configured article transport devices differs. 50 can be described as essentially overlapping, vertically stacked, or stepped.
[0016] In the non-restrictive example from the Fig. 2A and Fig. 2B refers to the vertically configured article transport devices. 50 According to the illustration, these are main roller conveyors positioned at different heights along the Z-axis and, for example, have rollers which cause the article to 25 slides down a ramp. One will understand that if an article 25 on one of the vertically configured article transport devices 50 through the robot system 45The items are placed 25 They can slide, roll, or otherwise move in a direction towards collection or subsequent processing. In the example from the Fig. 2A and Fig. 2B the articles 25 one of the ramps into a corresponding spiral 52a ... 52c (together “spirals”) 52 “) slide down. Since the vertically configured item transport devices 50 Whether the components are staggered, vertically stacked, or overlapping, additional processing space is provided with minimal use of floor space.
[0017] The robot system 45 may include hardware and software components necessary to complete the item 25 from the stop 40 to one of the vertically configured article transport devices 50 to relocate. For this purpose, the robot system can 45for example an elevator, an escalator, an angled conveyor belt 15 or include another similar device. In the non-restrictive example from the Fig. 2A and Fig. 2B includes the robot system 45 a robot arm 55 The robot arm 55 can be an articulated electromechanical arm with one or more links 60a ...60b (together “members” 60 “) include those that pass through joints 65a ...65b (together “joints”) 65 “) are connected, resulting in either a rotational movement or a translational displacement of an article 25 This is made possible. The robot arm can be configured in various ways. 55 Provide six degrees of freedom (6FG). The robot arm 55 can also include an end effector 68 include, which is capable of producing an article 25 to record and the article 25to release after movement along the Z-axis. Operation of the robot arm. 55 can be controlled by a processing circuit, as will be described.
[0018] Furthermore, the robot arm can 55 a robot arm base 70 include which is configured to run along a rail 75 to slide horizontally to access the item 25 at different positions along the conveyor belt 15 to collect. While the robot system 45 from the Fig. 2A and Fig. 2B, according to the representation, above the conveying system 10 When mounted in an overhead arrangement, the robot system 45 in other embodiments next to or to the side of the conveying system 10 or be positioned in another suitable position. For example, a robot system 45 next to each transport station 40 or any exit point 20It can be positioned if desired. Furthermore, the use of a holding station is possible. 40 It may be optional. A robot system can be implemented in various configurations. 45 for example a robot arm 55 or include a similar mechanism capable of handling articles 25 directly from the conveyor system 10 for placement in one of the vertically configured article transport devices 50 to record.
[0019] Since article 25 are able to do so using embodiments of the robot system 45 to be moved vertically can eliminate the need for traditional conveyor systems 10 and the product sorter can be expanded. For example, a given material handling center can achieve a higher throughput of products despite space constraints and without replacing the old conveyor systems. 10by implementing the vertically configured article transport devices 50 to reach.
[0020] Now, attention will be turned to the Fig. 3A and Fig. Reference is made to Section 3B, which shows a further embodiment of a system for sorting and optimizing articles along a vertical axis and its components. As soon as an article 25 a specific position along the conveyor system 10 Once this is achieved, a lateral deflection mechanism can be used to move the article. 25 along a second axis to an exit point 20 to move, which causes the article 25 at a stop 40 is recorded, which along the conveyor system 10 is positioned and where the article 10 is able to do this through a robotic system 45 to be recorded. Similar to the bus stops. 40 , which are in the Fig. 2A and Fig. The stopping station shown in 2B includes 40 in the embodiment from the Fig. 3A and Fig. 3B is essentially a flat platform configured to hold an article 25 to keep it in a state such that it can be passed through the robot system 45 can be collected.
[0021] The robot system 45 can the article 25 at the stop 40 collect in order to complete the article 25 to one of the many vertically configured item transport devices 50a ...to relocate by 50 days. For example, the robot system can 45 the articles 25 along a third axis (e.g. the Z-axis) for placement in a part transport device configured vertically by a first 50a , a second vertically configured article transport device 50b , a third vertically configured article transport device50c or a fourth vertically configured item transport device 50d move. The vertically configured item transport devices 50 can be described as having different heights, which are designated by H1, H2, H3 and H4, where: H 4 > H 3 > H 2 > H 1
[0022] In other words, each of the vertically configured item transport devices can 50 can be described as having different vertical offsets from the stopping station 40 exhibits.
[0023] The vertically configured article transport devices 50 These can include main shaft roller conveyors or other types of conveyors positioned at different heights along the Z-axis, for example, with rollers that cause an item to move. 25 to one of a multitude of spirals 52a ... 52dmoved forward. One will understand that if an article 25 on one of the vertically configured article transport devices 50 through the robot system 45 The items are placed 25 can slide, roll, or otherwise move in a direction towards collection or subsequent processing. Since the items in the Fig. 3A and Fig. 3B shows vertically configured article transport devices 50 Since the components are stacked vertically and overlap, additional processing space is provided by utilizing the available space in the vertical direction.
[0024] The robot system 45 from the Fig. 3A and Fig. According to the representation, 3B includes a stationary frame. 80 , a movable frame 85 and a robotic arm 55 , which is attached to the movable frame 85It is mounted, also referred to as a portal robot. It will be understood that the robot system 45 may include one or more actuators to cause the movable frame to move 85 (and the robot arm mounted on it) 55 ) along the stationary frame 80 move, for example in an upward or downward direction, to move the article 25 from the stop 40 to one of the vertically configured article transport devices 50 to move the robot arm 55 may include an articulated electromechanical arm similar to the one from the Fig. 2A and Fig. 2B resembles, or can resemble, a Cartesian or linear robot arm. 55 include. For this purpose, the robot arm can be used. 55 or the robot system 45and whose components are configured to move along one or more axes. In one embodiment, the robot arm includes 55 a SCARA robot arm (selective compliance assembly robotic arm - SCARA) with movement capability over 4 axes. In other embodiments, the robot system can 45 exhibit movement capability across 6 axes. The robot arm 55 can also include an end effector 68 include, which is capable of producing an article 25 to record and the article 25 to release after the movement along the Z-axis.
[0025] The operation of the robot arm 55 can be controlled by a processing circuit, as will be described. While the robot system 45 from the Fig. 3A and Fig. 3B shows the robot system next to the holding station. 40 Once mounted, the robot system can 45In other embodiments, a portal robot arm is included that extends above the holding station. 40 is mounted, or in any other suitable position capable of holding articles 25 to the vertically configured article transport devices 50 to move.
[0026] Now, the focus will shift to... Fig. Reference is made to Section 4, which shows a further embodiment of a system for sorting and optimizing articles along a vertical axis and its components. As above with regard to the Fig. 2A, Fig. 2B, Fig. 3A and Fig. 3B discusses, can the robot system 45 the article 25 collect in order to complete the article 25 by at least vertically adjusting the article 25 to move when an article 25 at a stop 40 is located. For example, the robot system 45 the articles 25along a third axis (e.g. the Z-axis) for placement in one of the vertically configured article transport devices 50a ... 50d move vertically.
[0027] In the non-restrictive example from Fig. 4 are the vertically configured article transport devices 50 shown as overlapping slides positioned at different heights along the Z-axis. One will understand that if an article 25 on one of the vertically configured article transport devices 50 through the robot system 45 The items are placed 25 can slide down one of the slides, where the items 25 can be collected by the personnel of the material handling center. Since the item handling devices are vertically configured 50Whether the components are stepped or stacked vertically, additional processing space is provided with minimal use of floor space.
[0028] As noted above, the robot system can 45 a robot arm 55 with a multitude of links 60a ... 60b include those that pass through joints 65a ... 65b are connected, which involve a rotational movement or translational displacement of an article 25 provide when it is provided by a suitable end effector 68 is handled. Furthermore, the robot arm can 55 a robot arm base 70 include which is configured to run along a rail 75 to slide horizontally to access the item 25 at different positions along the conveyor belt 15 to collect. For example, to distribute them to different areas of the funding system. 10 to navigate, the robot base 70include one or more actuators that cause the robot arm to move 55 along the railway 75 moved, which above the conveyor system 10 is mounted.
[0029] Now, the focus will shift to... Fig. 5 Reference is made to a perspective view of a large number of vertically configured article transport devices. 50a ... 50c as shown according to various embodiments. In the non-restrictive example from Fig. 5A will be a first vertically configured item transport device 50a as one of the lowest of the many vertically configured article transport devices 50 shown, while a second vertically configured article transport device 50b between the first vertically configured article transport device 50a and a third vertically configured article transport device 50c is arranged.
[0030] The third vertically configured item transport device 50c is considered the uppermost of the vertically configured item transport devices 50 shown.
[0031] Each of the vertically configured item transport devices 50 can be described as having a different offset from a stopping point 40 exhibits. For example, the first vertically configured item transport device can 50a flush with the stop 40 while the second and third vertically configured article transport devices 50b and 50c exhibit larger offsets. Since the third vertically configured item transport device 50c is considered the uppermost of the vertically configured item transport devices 50 As shown, it can be described as having the greatest offset from the stopping station. 40exhibits. In other words, each of the vertically configured item transport devices can 50 described as having a height that differs from other vertically configured article transport devices. 50 differs. Furthermore, as seen in the top view. Fig. As shown in 5B, each of the vertically configured item transport devices can be used. 50 as an essential section of the other vertically configured article transport devices 50 can be described as superimposed in order to provide a variety of vertically configured item handling devices in a material handling center. 50 , which are arranged vertically to save space. Although the Fig. 5A and Fig. 5B three vertically configured article transport devices 50As shown, it is understood that any number of vertically configured article transport devices can be used. 50 It can be used if the space allows.
[0032] Now, the focus will shift to... Fig. 6 Referenced in which a drawing is shown that is an example of a material handling center 100 according to one embodiment of the present disclosure. A material handling center 100 It can include, among other things, a warehouse, a distribution center, a cross-docking facility, an order fulfillment center (also referred to as a "fulfillment facility"), a packaging facility, a shipping facility, another facility, or a combination of facilities for performing one or more material or inventory transportation functions. Although the material transportation center 100 As described here with specific reference to a fulfillment center, it is understood that a material transport center100 provides an example of many other types of environments to which the principles described here apply.
[0033] According to the illustration provided here, the material transport center can 100 for example, a large warehouse or other structure that provides an inventory storage area 103 with a large number of inventory items 106 includes, and a funding system 10 include, which is used to collect the articles 25a ... 25c through the entire material transport center 100 to move. The inventory positions 106 These are generally positions used for storing items 25 are configured. For this purpose, the inventory positions can be configured. 106 for example, boxes, trays, shelves, containers, vessels, crates, stands, cribs, cordoned-off areas, hooks, racks or other positions, while the conveyor system10 Conveyor belts 15 , actuators, rollers or other components which make up an article 25 move from one position to another. The material handling center 100 can be configured to fulfill orders 109 to provide items 25 received, which are purchased, rented, leased or otherwise consumed or requested.
[0034] The articles 25These can include, for example, products purchased or requested by customers through various channels, with or without packaging, a box, a bag, a mailing bag, a basket, or any other type of container. Such products can be of any type that can be purchased and delivered to customers, such as clothing, retail merchandise, hardware, electronics, toys, media items, or any other product. In various configurations, the material handling center can 100 fulfilled article 25 can be purchased via an electronic trading system.
[0035] With the material transport center 100 is a network environment 112 associated with the operation of the material transport center 100 for fulfilling the orders 109 for the purchase of items 25 or alternatively for the movement of items25 to other material transport centers 100 organized. The network environment 112 includes a computing environment 115 and a robot system 45a ...45c, which is over a network 118 They are connected to each other via data. The network 118 This includes, for example, the Internet, intranets, extranets, wide area networks (WANs), local area networks (LANs), wired networks, wireless networks, or other suitable networks, etc., or any combination of two or more such networks. For example, such networks could include satellite networks, cable networks, Ethernet networks, and other types of networks.
[0036] The computing environment 115 This can include, for example, a server computer or any other system that provides computing power. Alternatively, the computing environment can... 115employ a variety of computing devices, which may be arranged, for example, in one or more server benches, computer benches, or other configurations. Such computing devices may be located in a single installation or distributed across many different geographical locations. For example, the computing environment may 115 a variety of computing devices that together may comprise a hosted computing resource, a spatially distributed computing resource, and / or any other distributed computing arrangement. In some cases, the computing environment may 115 correspond to an elastic computing resource, where the allocated processing, network and storage capacity or other computer-related resources may change over time.
[0037] Various applications and / or other functions can be implemented in the computing environment according to different embodiments. 115to be executed. Likewise, in a data store 121 , on which the computing environment 115 The data storage can access various data. 121 can be a variety of data storage devices 121 represent, as it is understood. For example, those in the data storage 121 stored data is linked to the operation of the various applications and / or functional units described below.
[0038] The computing environment 115 The implemented components include, for example, various applications. 130 for the material handling center and other applications, services, processes, systems, engines, or functions not discussed in detail here. The applications 130 for the material handling center include applications that manage the processes of the material handling center 100control or support them. According to various embodiments of the present disclosure, the applications include 130 a robot device control application for the material handling center 133 and an article tracking application 136 .
[0039] The robot device control application 133 is executed to perform processes of the robot systems 45 to control the material handling center 100 are implemented. The robot systems 45 Can robot arms 55 , including elevators, escalators, angled conveyors, or other similar systems. In embodiments where a robotic system 45 a robot arm 55 This includes the robot device control application. 133 Data relating to the forward kinematics of the robot arm 55 affect, in the data storage 121manage. For example, the robot device control application can 133 a spatial model of the robot arm 55 manage to control the movement of the robot arm 55 as well as the collection and relocation of articles 25 to make it easier.
[0040] In other embodiments, the robot device control application uses 133 the Denavit-Hartenberg Convention (DH Convention) to establish spatial references for limbs 60 , joints 65 or other components of a robot arm 55 to manage. For this purpose, the robot device control application can be used. 133 DH parameters in the data store 121 manage which four parameters can be included, the reference systems for each of the elements 60 of the robot arm 55 manage. Since the parameters for each of the links 60 of the robot arm 55 If known, the position and orientation of the end effector can be determined.68 be determined.
[0041] The article monitoring application 136 is executed to create a virtual position for the items 25 to manage which of their physical position in the material handling center 100 This corresponds to the material handling center in some embodiments. 100 one or more imaging devices that capture and process images of the identifiers, which represent the articles 25 uniquely identify the virtual position for an article. 25 can be based on the detection of an identifier that corresponds to this article 25 corresponds to a specific position in the material transport center 100 or especially along the conveyor system 10 will be updated.
[0042] Among those in the data storage 121 Stored data includes, for example, article data. 145 , Transport center data 148and possibly other data. Regarding the article data 145 This could include, for example, data that relates to an article. 25 in the material transport center 100 affect. For this purpose, the article data can be accessed. 145 for example, an identifier 152 , Transport data 155 , an original position 158 , a target position 162 , a storage position 165 , a current position 168 , a weight 172 as well as other data.
[0043] Regarding the transport center data 148 This could include, for example, data used to control processes within the material handling center. 100 can be used. In one embodiment, positions of the robot systems include 45 as well as data that enable the operation of the robot system 45 concerning the transport center data 148 .
[0044] Regarding the robot systems 45network-enabled devices can include which items 25 on the Z-axis (as well as on the X-axis and the Y-axis, if necessary) throughout the entire material handling center 100 reposition. Various embodiments include, for example, the processing circuit. 175 , sensors 178 , the network interface 182 , the imaging device 185 as well as other components for the robot systems 45 Regarding the processing circuit 175 This can include hardware logic or a combination of hardware and software logic configured to control the operation of the robot system. 45 to control. In one embodiment, the processing circuit includes 175 A microcontroller or similar device comprising at least one hardware processor. The processing circuitry 175 can control the operation of the robot system 45control how it is controlled by the robot device control application 133 is instructed, as is understood.
[0045] Regarding the sensors 178 of the robot system 45 Examples include position sensors, end effector sensors, weight sensors, RFID readers, and other sensors. 178 belong to the network interface. 182 It may, for example, include a device that enables wireless communication over the network for the processing circuitry. 118 This enables the network interface. 182 Includes a wireless network card or adapter capable of communication via Wireless Fidelity (Wi-Fi), Near Field Communication (NFC), Bluetooth®, ZigBee®, a wireless local area network (WLAN), or another suitable medium. The imaging device 185may include a camera or other device capable of recording images of the items 25 arranged identifiers 152 to detect, for example, articles 25 to track those along the funding system 10 move forward. In some embodiments, the imaging device 185 at an end effector 68 of the robot system 45 mounted. In alternative embodiments, the imaging device is located 185 outside the robot system 45 The imaging device 185 can, for example, at any exit point 20 must be coupled to use identifiers 152 to scan when items 25 from the funding system 10 be diverted.
[0046] The orders 109 can be generated by customer devices connected to the network 118are coupled. A customer device may, for example, include a processor-based system, such as a computer system. Such a computer system may be a desktop computer, a laptop computer, a personal digital assistant, a mobile phone, a smartphone, a set-top box, a music player, a tablet computer system, a game console, an e-reader, or any other device with the same capability. The customer device may include a display, such as a liquid crystal display (LCD), a gas plasma-based flat panel display, an organic light-emitting diode (OLED) display, an electrophoretic ink (E-ink) display, LCD projectors, or other types of display devices, etc.
[0047] Next, a general description of the operation of the various components of the network environment will be given. 112 provided 130 of the material handling center, such as the robot device control application 133 and the article monitoring application 136 , are executed to perform the fully or semi-automatic process of moving articles 25 from a position within the material transport center 100 to another or to sort articles 25 to supervise. For example, the material handling center 100 include one or more cameras or RFID readers which contain identifiers 152 on the articles 25 detect in order to find the articles 25 to track and a current position 168 the article 25 to manage when they are on a funding system 10They are sorted. In some versions, the items are 25 during order fulfillment 109 tracked, which are generated by the customer devices through an electronic trading system. In other embodiments, the articles can be 25 for unrelated processes of the material transport center 100 be persecuted.
[0048] The funding system 10 can accommodate different item transport devices 30 or stops 40 different positions include where the articles 25 moving away to the side from a conveyor belt 15 of the funding system 10 into one of the article transport devices 30 or stops 40 can be redirected. For example, a target position can be 162 for an article 25 a packaging station 190 include where the article 25to fulfill an order 109 is packaged. A specific item transport device 30 , vertically configured item transport device 50 or stop 40 can article 25 record, which are for the packaging station 190 are determined.
[0049] If an article 25 a predetermined position on the conveyor system 10 The computing environment can 115 one or more lateral deflection mechanisms, such as those in Fig. 1 shown package pusher deflection mechanisms 35 , to cause the article 25 to the side of the conveyor belt 15 of the funding system 10 to redirect. The lateral redirection of the article 25 This could include, for example, pushing, pulling, or otherwise moving the item. 25along the X-axis. In some embodiments, the article may include 25 directly through a material handling device 30 , such as one in Fig. The slide shown in section 1 can be included. In other embodiments, the article can be... 25 through a stop 40 to be included where the article 25 in standby mode, transport is carried out by one of the robot systems. 45 waits.
[0050] The computing environment 115 can a specific robot system 45 to commission an article 25 from a stop 40 to one of the vertically configured item transport devices 50 to relocate. One of the robot systems 45 can be based at least partially on the position of a stopping station 40 , the weight of an item 25 , the dimensions of the article 25, the speed of the conveying system 10 , the capabilities of the robot system 45 as well as other criteria.
[0051] Although the in the Fig. 2A, Fig. 2B, Fig. 3A, Fig. 3B and Fig. The four embodiments shown represent different types of robot arms. 55 The robot system can demonstrate 45 In other embodiments, for example, an elevator, an escalator, an angled conveyor belt 15 or include another similar device. In cases where the robot system 45 a robot arm 55 The robot arm includes 55 an end effector 68 exhibiting the ability to produce an article 25 to collect the article 25 to turn the article 25 to move translationally, or to perform another suitable movement to move the article 25on one of the vertically configured item transport devices 50 to position. Furthermore, the end effector can 68 on a robot arm 55 It may be closing, penetrating, attracting, or adhering. In some embodiments, the robot arm includes 55 two end effectors 68 , where each end effector 68 is able to article 25 to handle with varying weights or dimensions.
[0052] Before the article 25 When moved along the Z-axis, the computing environment 115 the robot system 45 to cause to verify that an object that is at a stopping point 40 is located, an article 25 is the item that is to be relocated. This can prevent items from being moved. 25 unintentionally off the conveyor belt 15 are redirected to unintended positions. The relocation of the article 25using the robot arm 55 This could, for example, initiate the robot arm. 55 , to a stop location 40 to navigate, include, for example, a robot arm base. 70 be configured with one or more actuators to travel along a rail 75 to slide into a position suitable for the article 25 from a stop 40 to be taken.
[0053] Since the material transport center 100 a variety of robot systems 45 which includes different capabilities, the computing environment 115 an available and suitable robot system 45 to move the article 25 Identify along the Z-axis. Furthermore, the computing environment can 115 a vertically configured item transport device 50 to include the article 25identify. As above in the Fig. 2A, Fig. 2B, Fig. 3A, Fig. 3B and Fig. As shown in section 4, the vertically configured article transport devices can be used. 50 Ramps, chutes or other vertically configured item handling devices 50 , which are positioned at different heights along the Z-axis. In these embodiments, the vertically configured article transport devices are 50 Stepped or vertically stacked to provide additional item handling space while occupying minimal floor space. Each of the vertically configured item handling devices 50 can the article 25 to another position in the material handling center 100 or to other item transport devices 30 redirect, as one understands.
[0054] The computing environment 115A suitable vertically configured item transport device can be used. 50 to move the article 25 for example, at least partially based on a target position 162 for the article 25 determine. In other embodiments, the computing environment can 115 a suitable vertically configured article transport device 50 based on the characteristics of the article 25 , such as weight 172 of the article 25 or the dimensions of the item 25 , determine.
[0055] As soon as a robot system 45 is identified and involves the relocation of an item 25 The computing environment is tasked with processing along the Z-axis. 115 the selected robot system 45 the vertical redirection of the article 25 or, in other words, moving the article 25along the Z-axis to a predetermined vertically configured article transport device 50 instruct. If an article 25 through the robot system 45 on one of the vertically configured item transport devices 50 was placed, the article 25 slide, roll, or otherwise move in a direction towards collection or subsequent processing. For example, the items 25 one of the ramps into a corresponding spiral 52 slide down, like in the Fig. 2A, Fig. 2B, Fig. 3A and Fig. 3B shown.
[0056] Now, the focus will shift to... Fig. Reference is made to a flowchart that shows an example of the operation of some of the applications. 130 for the material handling center, such as the robot device control application 133and the article monitoring application 136 , provided according to various embodiments. It is understood that the flowchart consists of Fig. Figure 7 is merely one example of the many different types of functional arrangements that can be used to control the operation of part of the applications. 130 to implement the material handling center as described here. Alternatively, the flowchart from Fig. 7 can be viewed as representing an example of elements of a procedure that is used in the computing environment 115 is implemented according to one or more embodiments.
[0057] Starting at 503, articles can 25 They will be tracked if they are on a funding scheme 10 They are moved and sorted. In some embodiments, the items are 25 during order fulfillment 109tracked, which are generated via an electronic trading system. In other embodiments, the articles can be 25 for placement in suitable inventory positions 106 be tracked. Individual articles 25 can include one or more visual identifiers 152 , such as barcodes, QR codes, matrix codes or other similar visual identifiers 152 , wear. In other embodiments, the articles can 25 one or more RFID tags or a similar form of identifier 152 exhibit the conveyor system 10 may include one or more imaging devices or RFID readers that detect the articles 25 track them when they go through the funding system 10 are moved forward by passing one or more identifiers 152 , which are related to the articles 25 are associated, detect. For this purpose, the computing environment can 103 a current position168 for each of the articles 25 manage when they navigate through the funding system 10 move forward.
[0058] At 506 Can a determination be made as to whether an article 25 a predetermined position along the conveyor system 10 has achieved. For example, the article can 25 an exit point 20 for a specific target position 162 or have reached another position type (or will reach it within a threshold time), which includes the article 25 to reach the target position 162 moved forward. If the article 25 the desired position along the conveyor system 10 has not reached its goal, the process can lead to 503 return to track the articles 25 to continue. If an article 25 the predetermined position along the conveyor system 10 However, once achieved, the process can lead to509 transition.
[0059] At 509 can the computing environment 115 one or more devices, such as those in Fig. 1 shown package pusher deflection mechanisms 35 , to cause the article 25 to the side of the conveyor belt 15 of the funding system 10 to redirect. The lateral redirection of the article 25 This could include, for example, pushing, pulling, or otherwise moving the item. 25 along the X-axis to an exit point 20 include. In some versions, the article may 25 directly through a material handling device 30 , such as one in Fig. The slide shown in section 1 can be included. In other embodiments, the article can be... 25 however, at a stop 40 be positioned as in the Fig. 2A and Fig. 2B shown to illustrate transport by a robot system45 to wait.
[0060] The robot system 45 may include components that are used to relocate the item 25 from the stop 40 to one of the vertically configured item transport devices 50 are capable of this. For this purpose, the robot system can 45 for example an elevator, an escalator, an angled conveyor belt 15 or include another similar device. In further embodiments, the robot system can 45 one or more robot arms 55 include, for example, a robot arm 55 a suitable end effector 68 exhibits the ability to produce an article 25 to collect while he has the ability to access the article 25 to turn or the article 25 to shift translationally.
[0061] Then, at 512 , the computing environment115 the robot system 45 to cause the article 25 , who is at a stop 40 is located, to verify, such that the article 25 not be moved to unwanted positions or in the material handling center 100 Losses can occur. This can happen, for example, when a robotic system is activated. 45 , such as a robot arm 55 , to a position of a stopping station 40 to navigate, include a robotic arm base. 70 can be configured with one or more actuators to move along a rail 75 to slide to article 25 at different positions of stops 40 along the conveyor system 10 to be removed. The robot system 45 can be installed in an overhead arrangement above the conveyor system 10 The robot system can be mounted or, in other embodiments, 45in addition to the funding system 10 or be positioned in another suitable position.
[0062] At 515 A determination will be made as to whether the article 25 , who is at the stop 40 has been verified. Verification can, for example, involve the use of an imaging device. 185 of the robot system 45 to take a picture of an identifier 152 on the article 25 and queries of the data storage 121 to determine whether the identifier 152 the article 25 corresponds to include.
[0063] If the article 25 is not verified, or, in other words, the article 25 , who is at the stop 40 is located, not the article 25 The process can lead to the relocation of the item to be moved. 518to move on to where a remedial measure can be implemented. In one embodiment, the robot system can 45 be instructed to read the article 25 sideways back to the conveyor belt 15 of the funding system 10 to redirect it. In other embodiments, an alarm can be generated that causes the personnel of the material handling center to 100 the article 25 inspected or the article 25 relocated. In other embodiments, the article can 25 to a loop or return conveyor system, which carries the article 25 back to a suitable section of the conveyor system 10 moved back. After that, the process can proceed to completion.
[0064] If, with renewed reference to 515 , it is assumed that the article 25 is verified, or, in other words, the article 25 , who is at the stop40 is located, an article 25 The process can lead to the relocation of the item to be moved. 521 transition. 521 can the computing environment 115 one of a variety of vertically configured item transport devices 50 to relocate the article 25 identify. As above in the Fig. 2A, Fig. 2B and Fig. As shown in section 3, the vertically configured article transport devices can be 50 Ramps, chutes or other item handling equipment 30 , which are positioned at different heights along the Z-axis. In some embodiments, the vertically configured part transport devices are 50Stepped or vertically stacked to provide additional item transport and sorting while occupying minimal floor space. Each of the vertically configured item transport devices 50 can the article 25 to another position in the material handling center 100 or to other item transport devices 30 redirect, as one understands.
[0065] In one embodiment, the computing environment can 115 a suitable vertically configured article transport device 50 to move the article 25 for example, at least partially based on a target position 162 for the article 25 determine. In other embodiments, the computing environment can 115 a suitable vertically configured article transport device 50 based on the characteristics of the article 25, such as weight 172 of the article 25 or the dimensions of the item 25 , determine.
[0066] Transition to 524 , can the robot system 45 be configured to display the article 25 , who is at the stop 40 is to be transported according to one or more predetermined transport instructions. Given the weight 172 of the article 25 or the dimensions of the item 25 can the article 25 for example, in a specific way through an end effector 68 or another device of the robot system 45 be collected. For example, items can be collected. 25 with a weight above a threshold by placing an end effector attachment under a subpage of the article 25 be collected. Article 25Items weighing below the threshold can be grabbed by grasping the item. 25 from its sides using a gripper or a similar type of end effector 68 to be collected. In other embodiments, other robot systems can be used. 45 can be used to manufacture other types of articles 25 to collect, at least partially based on weight 172 the article 25 , the dimensions of the items 25 or other factors.
[0067] At 527 can the article 25 vertically along the Z-axis to the vertically configured article transport device identified at 521 50 will be relocated. It will be understood that the article 25 through the robot system 45 can be moved vertically according to the predetermined transport instructions. If an item 25 through the robot system 45on one of the vertically configured article transport devices 50 Once placed, the items can 25 slide, roll, or otherwise move in a direction towards collection or subsequent processing. For example, the items 25 one of the ramps into a corresponding spiral 52 slide down, like in the Fig. 2A and Fig. 2B is shown. After that, the process can proceed to completion.
[0068] With reference to Fig. Figure 8 shows a schematic block diagram of the computing environment. 115 shown according to one embodiment of the present disclosure. The computing environment 115 includes one or more computing devices 600 Every calculating device 600 includes at least one processor circuit, for example with a processor 603 and a storage 606 , both of which have a local interface 609are connected. For this purpose, any computing device can be used. 600 for example, include at least one server computer or similar device. The local interface 609 It may, for example, include a data bus with an associated address / control bus or another bus structure, as is understood.
[0069] In the storage 606 Both data and several components are stored, which are handled by the processor. 603 are executable. In particular, the applications for the material handling center and the robot device control application are 133 , the article monitoring application 136 , and possibly other applications in the memory 606 stored and processed by the processor 603 executable. In the memory 606 They can also be a data storage device 121 and other data may be stored there. Additionally, an operating system may be stored in the memory. 606stored and processed by the processor 603 be feasible.
[0070] It goes without saying that there may be other applications that use the memory. 606 stored and processed by the processor 603 are executable, as is understood. If any component discussed here is implemented in software form, any of a number of programming languages can be used, such as C, C++, C#, Objective-C, Java. ® JavaScript ® , Perl, PHP, Visual Basic ® , Python ® Ruby, Flash ® or other programming languages.
[0071] Some software components are stored in the memory 606 stored and are processed by the processor 603 Executable. In this respect, the term "executable" refers to a program file that exists in a form that can ultimately be processed by the processor. 603can be executed. Examples of executable programs include, for example, a compiled program that can be translated into machine code in a format that fits into the working memory area of the computer. 606 load and from the processor 603 can execute source code in the correct format, such as object code, which is placed in the working memory area of the memory. 606 loaded and by the processor 603 can be executed, or source code that can be interpreted by another executable program for execution by the processor. 603 Instructions in a working memory area of the memory 606 to create. An executable program can be created in any part or component of memory. 606They can be stored, for example, in random access memory (RAM), read-only memory (ROM), on a hard drive, a solid-state drive, a USB flash drive, a memory card, an optical storage medium such as a Compact Disc (CD) or Digital Versatile Disc (DVD), a floppy disk, a magnetic tape, or on other storage components.
[0072] The storage 606 Here, memory is defined as including both volatile and non-volatile storage, as well as data storage components. Volatile components are those that do not retain data values in the event of a power failure. Non-volatile components are those that retain data in the event of a power failure. Thus, the memory can 606For example, RAM may include the following: random access memory (RAM), read-only memory (ROM), hard disk drives, solid-state drives, USB flash drives, memory cards accessible with a memory card reader, floppy disks accessible with an associated floppy disk drive, optical media accessible with an optical drive, magnetic tapes accessible with a suitable tape drive, and / or other storage components, or any combination of any two or more of these storage components. RAM may also include, for example, static memory (SRAM), dynamic memory (DRAM), magnetic memory (MRAM), and other such devices.The ROM may, for example, include a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or another similar storage device.
[0073] In addition, the processor can 603 multiple processors 603 and / or represent multiple processor cores, or the memory can 606 multiple storage 606 represent devices that operate in parallel processing circuits. In such a case, the local interface may be... 609 to be a suitable network that enables communication between any two of the multiple processors 603 , between any processor 603 and any of the memory 606or between any two of the storage 606 etc. The local interface 609 It may include additional systems designed to coordinate this communication, for example by performing load balancing. The processor 603 It can be of electrical or any other available design.
[0074] Although the applications for the material handling center, the robot device control application 133 , the article monitoring application 136While various other systems described here can be embodied in the form of software or code for execution by standard hardware, as discussed above, they can alternatively be embodied as dedicated hardware or a combination of software / standard hardware and dedicated hardware. If embodied as dedicated hardware, each can be implemented as a circuit or state machine employing any one technology or a combination of several technologies.These technologies may include, but are not limited to: circuits with discrete logic using logic gates to implement various logic functions when applying one or more data signals; application-specific integrated circuits (ASICs) with suitable logic gates; field-programmable gate arrays (FPGAs); or other components, etc. Such technologies are generally well known to those skilled in the art and are therefore not described in detail here.
[0075] The flowchart from Fig. Figure 7 shows the functionality and operation of an implementation of parts of the applications for the material handling center, such as the robot device control application. 133 and the article monitoring application 136When implemented as software, each block can represent a module, segment, or part of the code that contains the program instructions for implementing the specified logic function(s). The program instructions can be embodied in the form of source code, which comprises visually readable statements in a programming language, or machine code, which contains numerical instructions to be executed by a suitable execution system, such as a processor. 603 , recognizable in a computer system or other system. The machine code can be converted from the source code, etc. When implemented as hardware, each block can represent a circuit or several interconnected circuits for implementing the specified logic function(s).
[0076] Although the flowchart is made of Fig. 7 shows a specific execution order; it is understood that the execution order may differ from the one depicted. For example, the execution order of two or more blocks may be reversed compared to the order shown. Furthermore, two or more blocks that are in Fig. 7 shown consecutively, can be executed simultaneously or partially simultaneously. Furthermore, in some embodiments, one or more of the blocks shown in Fig. Figure 7 shown may be skipped or omitted. Furthermore, any number of counters, status variables, warning signals, or messages may be added to the logical sequence described here to improve functionality, billing, and performance measurement, or to provide troubleshooting assistance, etc. It is understood that all such variables fall within the scope of this disclosure.
[0077] Furthermore, any logic or application described here, including the applications for the material handling center, the robot device control application 133 and the article monitoring application 136 , comprising software or code, as any non-volatile, machine-readable medium for use by or in conjunction with an instruction execution system, such as a processor 603, be embodied in a computer system or other system. In this sense, the logic may, for example, comprise statements, including instructions and declarations, that can be retrieved from the computer-readable medium and executed by the instruction execution system. In the context of this disclosure, a “computer-readable medium” may be any medium capable of containing, storing, or managing the logic or application described herein for use in or in conjunction with the instruction execution system.
[0078] The computer-readable medium can comprise any number of physical media, such as magnetic, optical, or semiconductor media. More specific examples of suitable computer-readable media would include magnetic tapes, magnetic floppy disks, magnetic hard disks, memory cards, solid-state drives, USB flash drives, or optical media. Furthermore, the computer-readable medium can be random access memory (RAM), including, for example, static RAM, dynamic RAM, or magnetic RAM. Additionally, the computer-readable medium can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or some other type of storage device.
[0079] Furthermore, any logic or application described here, including the applications for the material handling center, can be used in the robot device control application. 133 and the article monitoring application 136 The applications described here can be implemented and structured in a variety of ways. Furthermore, one or more of them can be implemented as modules or components of a single application. Additionally, one or more of the applications described here can be executed on shared or separate computing devices, or a combination thereof. For example, a large number of the applications described here can run on the same computing device. 600 or in multiple computing devices in the same computing environment 115 be carried out.
[0080] Disjunctive language, such as the expression "at least one of X , Y or Z“, unless specifically expressed otherwise, is understood in the context in which it is generally used to indicate that an article, term, etc. either X , Y or Z or any combination thereof (e.g. X , Y and / or Z ). Thus, such a disjunctive language is generally not intended, and should not be used, to require that at least one of certain statements be made. X , at least one of Y or at least one of Z is present in each case.
[0081] Examples of the embodiments of the present disclosure can be described in light of the following sentences: Sentence 1 . System, comprehensive: a funding system ( 10 ), which is configured to display a large number of items ( 25 ) on a conveyor belt ( 15) to move, a lateral deflection mechanism configured to move individual items from the multitude of items ( 25 ) from the conveyor belt ( 15 ) laterally to one of a multitude of stops ( 40 ) to redirect the flow along the conveyor system ( 10 ) are positioned; and a robot arm ( 55 ) above or to the side of the conveyor system ( 10 ) is mounted, with the robot arm ( 55 ) a processing circuit ( 175 ) in data connection with a computing environment ( 115 ) for at least the following includes: conducting a verification of one of the many items ( 25 ) at the corresponding number of stops ( 40 ); Collecting one of the many items ( 25 ) at the corresponding number of stops ( 40 ) using an end effector ( 68 ); and vertical relocation of one of the many items (25 ) along a vertical axis for placement in one of a variety of vertically configured item transport devices ( 50 ). Sentence 2 System error after sentence! Bookmark not defined., where the multitude of vertically configured article transport devices ( 50 ) a first vertically configured article transport device ( 50a ) and a second vertically configured article transport device ( 50b ) includes, wherein the second vertically configured article transport device ( 50b ) a different height than the first vertically configured item transport device ( 50a ) exhibits and includes a significant section of the first vertically configured article transport device ( 50a ) overlaid. Sentence 3 System according to the sentence 1 or 2 , where: the robot arm ( 55 ) a robot arm base ( 70) includes which are attached to a rail ( 75 ) is coupled, which is coupled via at least one section of the conveying system ( 10 ) is mounted; and the robot arm base ( 70 ) is configured to operate the robot arm ( 55 ) along the track ( 75 ) to move from a first position to a second position. Sentence 4 System according to the sentence 1 , 2 or 3 , wherein the lateral deflection mechanism is one of a parcel pusher deflection mechanism ( 35 ), a pop-up steering wheel deflection mechanism, a tilting shell deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a cross belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a sliding deflection mechanism, or a link belt deflection mechanism. Sentence 5 System according to the sentence 1 , 2 , 3 or4 , where verification is at least partially based on an identifier ( 152 ) is performed using an imaging device ( 185 ) is recorded. Sentence 6 System according to the sentence 1 , 2 , 3 , 4 or 5 , where: the robot arm ( 55 ) part of a large number of robot systems ( 45 ) is; and the computing environment ( 115 ) is configured to operate the robot system ( 45 ) from the multitude of robot systems ( 45 ) to identify and the robot system ( 45 ) by collecting at least one of the many items ( 25 ) at the corresponding number of stops ( 40 to commission. Sentence 7 System according to the sentence 1 , 2 , 3 , 4 , 5 or 6 , where the robot system ( 45) at least partially based on a location of the corresponding multitude of stops ( 40 ), a weight of at least one of the multitude of items ( 25 ), a dimension of at least one of the multitude of articles ( 25 ) and a speed of the conveying system ( 10 ) from the multitude of robot systems ( 45 ) is identified. Sentence 8 Method comprising: tracking, by means of at least one computing device ( 600 ), which includes at least one hardware processor ( 603 ) includes a variety of items ( 25 ), which are based on a funding system ( 10 ) move forward; cause at least one calculating device ( 600 ), that a lateral deflection mechanism at least one of the multitude of articles ( 25 ) from the funding system ( 10 ) to a stop ( 40) redirects; and causes, by means of at least one computing device, a robot system ( 45 ) in data connection with at least one computing device ( 600 ): at least one of the many articles ( 25 ) from the stop ( 40 ) collects; and at least one of the many articles ( 25 ) along a vertical axis for placement in one of a variety of vertically configured item transport devices ( 50 ) moves. Sentence 9 Procedure according to sentence 8 , where the robot system ( 45 ) one of a variety of robot systems ( 45 ) is. Sentence 10 Procedure according to sentence 8 or 9 , furthermore comprehensive: Identifying, by which at least one computing device ( 600 ), of the robot system ( 45 ) from the multitude of robot systems ( 45); and commissioning the installation of at least one computing device ( 600 ), of the robot system ( 45 ), at least one of the many articles ( 25 ) at the stop ( 40 to collect. Sentence 11 Procedure according to sentence 8 , 9 or 10 , where the robot system ( 45 ) at least partially based on a location of the stopping station ( 40 ), a weight of at least one of the multitude of items ( 25 ), a dimension of at least one of the multitude of articles ( 25 ) or a speed of the conveying system ( 10 ) from the multitude of robot systems ( 45 ) is identified. Sentence 12 Procedure according to sentence 8 , 9 , 10 or 11 , furthermore, comprehensive configuration by which at least one computing device ( 600 ) of the robot system (45 ) to select at least one of the many articles ( 25 ) at least partially based on a weight of at least one of the multitude of articles ( 25 ) or a dimension of at least one of the multitude of articles ( 25 ) to handle. Sentence 13 . Method according to claim 8, 9, 10, 11 or 12, further comprising causing at least one computing device of the robot system ( 45 ), to be moved from a first position to a second position, with the second position being closer to the stopping station ( 40 ) is in the first position. Sentence 14 Procedure according to sentence 8 , 9 , 10 , 11 , 12 or 13 , where the multitude of vertically configured article transport devices ( 50 ) a first vertically configured article transport device ( 50a) and a second vertically configured article transport device ( 50b ) includes, wherein the second vertically configured article transport device ( 50b ) a different height than the first vertically configured item transport device ( 50a ) exhibits and includes a significant section of the first vertically configured article transport device ( 50a ) overlaid. Sentence 15 Procedure according to sentence 8 , 9 , 10 , 11 , 12 , 13 or 14 , wherein the lateral deflection mechanism is one of a parcel pusher deflection mechanism ( 35), a pop-up steering wheel deflection mechanism, a tilting shell deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a cross belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a sliding deflection mechanism, or a link belt deflection mechanism. Sentence 16 . System, comprehensive: a funding system ( 10 ), which is configured to display a large number of items ( 25 ) on a conveyor belt ( 15 ) to move; a variety of vertically configured article transport devices ( 50 ), wherein individual of the multitude of vertically configured article transport devices ( 50 ) a different offset from a stopping station ( 40 ) exhibit; and a robot system ( 45 ), which is above or next to the conveying system ( 10 ) is mounted, with the robot system ( 45) is configured to at least one of the many items ( 25 ) at the stop ( 40 ) to collect; and at least one of the many articles ( 25 ) along a vertical axis for placement in one of the many vertically configured item transport devices ( 50 ) to move. Sentence 17 System according to the sentence 16 , where the robot system ( 45 ) a robot arm ( 55 ) is, where the robot arm ( 55 ) is articulated and electromechanical. Sentence 18 System according to the sentence 16 or 17 , where: the robot system ( 45 ) a rail ( 75 ) includes at least one section of the funding system ( 10 ) is mounted; and the robot system ( 45 ) a robot arm base ( 70 ) includes those attached to the rail ( 75) is coupled and configured to control the robot arm ( 55 ) along the track ( 75 ) to move from a first position to a second position. Sentence 19 System according to the sentence 16 , 17 or 18 , furthermore comprising a lateral deflection mechanism configured to deflect individual items from the multitude of articles ( 25 ) from the conveyor belt ( 15 ) to the side of the stop ( 40 ) to redirect the flow along the conveyor system ( 10 ) is positioned. Sentence 20 System according to the sentence 16 , 17 , 18 or 19 , wherein the lateral deflection mechanism is at least one of a parcel pusher deflection mechanism ( 35), a pop-up steering wheel deflection mechanism, a tilting shell deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a cross belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a sliding deflection mechanism, or a link belt deflection mechanism. Sentence 21 System according to the sentence 16 , 17 , 18 or 19 , where the robot system ( 45 ) is further configured to verify one of the many items ( 25 ) at the stop ( 40 to carry out. Sentence 22 System according to the sentence 16 , 17 , 18 , 19 , 20 or 21 , where verification is at least partially based on an identifier ( 152 ) is performed using an imaging device ( 185) is recorded. Sentence 23 System according to the sentence 16 , 17 , 18 , 19 , 20 , 21 or 22 , where the multitude of vertically configured article transport devices ( 50 ) a first vertically configured article transport device ( 50a ) and a second vertically configured article transport device ( 50b ) includes, wherein the second vertically configured article transport device ( 50b ) a different height than the first vertically configured item transport device ( 50a ) exhibits and includes a significant section of the first vertically configured article transport device ( 50a ) overlaid. Sentence 24 . System according to claim 16, 17, 18, 19, 20, 21, 22 or 23, wherein the robot system ( 45 ) via a network ( 118 ) with a computing environment ( 115 ) is in a data connection. Sentence 25 System according to the sentence 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 or 24 , where: the robot system ( 45 ) one of a variety of robot systems ( 45 ) is; and the computing environment ( 115 ) is configured to operate the robot system ( 45 ) from the multitude of robot systems ( 45 ) to identify and the robot system ( 45 ) by collecting at least one of the many items ( 25 ) at the stop ( 40 to commission. It should be emphasized that the embodiments of the present disclosure described above merely represent possible examples of implementations presented for a clear understanding of the principles of the disclosure. Many variations and modifications can be made to the embodiment(s) described above without substantially departing from the spirit and principles of the disclosure. It is intended that all such modifications and variations are included within the scope of this disclosure and protected by the following claims. QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] US 15295040
[0001]
Claims
[1] System, encompassing: a conveying system (10) configured to move a large number of articles (25) on a conveyor belt (15); a lateral deflection mechanism configured to deflect individual items (25) from the conveyor belt (15) laterally to one of a plurality of holding stations (40) positioned along the conveyor system (10); and a robot arm (55) mounted above or to the side of the conveyor system (10), wherein the robot arm (55) comprises a processing circuit (175) in data connection with a computing environment (115) for at least the following: Performing a verification of one of the multiple items (25) at the corresponding multiple stopping points (40); Collecting one of the multitude of articles (25) at the corresponding multitude of stopping stations (40) using an end effector (68); and vertical relocation of one of the multitude of articles (25) along a vertical axis for placement in one of a multitude of vertically configured article transport devices (50). [2] System according to claim 1, wherein the plurality of vertically configured article transport devices (50) comprises a first vertically configured article transport device (50a) and a second vertically configured article transport device (50b), wherein the second vertically configured article transport device (50b) has a different height than the first vertically configured article transport device (50a) and superimposes a substantial portion of the first vertically configured article transport device (50a). [3] System according to claim 1, wherein: the robot arm (55) comprises a robot arm base (70) coupled to a rail (75) mounted over at least one section of the conveyor system (10); and the robot arm base (70) is configured to move the robot arm (55) along the rail (75) from a first position to a second position. [4] System according to claim 1, wherein the lateral deflection mechanism is one of a package slide deflection mechanism (35), a pop-up steering wheel deflection mechanism, a tilting tray deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a transverse belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a slide deflection mechanism or a link belt deflection mechanism. [5] System according to claim 1, wherein the verification is carried out at least partially on the basis of an identifier (152) acquired using an imaging device (185). [6] System according to claim 1, wherein: the robot arm (55) is part of a multitude of robot systems (45); and the computing environment (115) is configured to identify the robot system (45) from the multitude of robot systems (45) and to instruct the robot system (45) to collect at least one of the multitude of articles (25) at the corresponding of the multitude of holding stations (40). [7] System according to claim 6, wherein the robot system (45) is identified at least partially from the plurality of robot systems (45) on the basis of a location of the corresponding plurality of holding stations (40), a weight of the at least one of the plurality of articles (25), a dimension of the at least one of the plurality of articles (25) and a speed of the conveying system (10). [8] Procedures, comprehensive: Tracking, by means of at least one computing device (600) comprising at least one hardware processor (603), a plurality of articles (25) moving forward on a conveyor system (10); To cause at least one calculating device (600) to divert a lateral deflection mechanism at least one of the plurality of articles (25) from the conveyor system (10) to a holding station (40); and To cause, by means of at least one computing device, a robot system (45) to be in data communication with the at least one computing device (600): which collects at least one of the multiple items (25) from the stopping station (40); and the at least one of the plurality of articles (25) is moved along a vertical axis for placement in one of a plurality of vertically configured article transport devices (50). [9] Method according to claim 8, wherein the robot system (45) is one of a plurality of robot systems (45). [10] The method of claim 9, further comprising: Identify by which at least one computing device (600) of the robot system (45) is selected from the plurality of robot systems (45); and To instruct the robot system (45) to collect at least one of the multiple articles (25) at the holding station (40) by means of at least one computing device (600). [11] Method according to claim 10, wherein the robot system (45) is identified at least partially from the plurality of robot systems (45) based on a location of the holding station (40), a weight of at least one of the plurality of articles (25), a dimension of at least one of the plurality of articles (25) or a speed of the conveying system (10). [12] Method according to claim 8, further comprising configuration by which at least one computing device (600) of the robot system (45) is configured to handle at least one of the plurality of articles (25) at least partially on the basis of a weight of the at least one of the plurality of articles (25) or a dimension of the at least one of the plurality of articles (25). [13] Method according to claim 8, further comprising causing the at least one computing device of the robot system (45) to be moved from a first position to a second position, wherein the second position is closer to the holding station (40) than the first position. [14] Method according to claim 8, wherein the plurality of vertically configured article transport devices (50) comprises a first vertically configured article transport device (50a) and a second vertically configured article transport device (50b), wherein the second vertically configured article transport device (50b) has a different height than the first vertically configured article transport device (50a) and superimposes a substantial portion of the first vertically configured article transport device (50a). [15] Method according to claim 8, wherein the lateral deflection mechanism is one of a package slide deflection mechanism (35), a pop-up steering wheel deflection mechanism, a tilting tray deflection mechanism, a push-up arm deflection mechanism, a roller belt deflection mechanism, a transverse belt deflection mechanism, a right-angle transfer, a steering wheel deflection mechanism, a swing arm deflection mechanism, a slide deflection mechanism or a link belt deflection mechanism.