Storage system and robotic picking method

Abstract

A mobile manipulator robot (200) is provided for retrieving inventory items from a storage system. The robot includes a body (202), a wheel assembly, a sensor for determining its location within the storage system, an interface configured to transmit processor-readable data to a remote processor and an operator interface and to receive processor-executable instructions, an imaging device for acquiring images of the inventory item, a picking manipulator (206), first and second pneumatic gripping elements for gripping the inventory item, and a coupler configured to mate with a valve for accessing a pneumatic supply for operating at least one of the pneumatic gripping elements. The robot is configured to transition the valve from a closed to an open state to selectively place one of the pneumatic gripping elements in communication with the pneumatic supply.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. patent application Ser. No. 16 / 804,251, filed February 28, 2020. This is a continuation of U.S. Provisional Patent Application No. 62 / 961,39, filed January 15, 2020. No. 62 / 879,8 filed July 29, 2019. No. 43, the disclosures of which are each incorporated herein by reference.

[0002] The present disclosure relates generally to storage systems and inventory retrieval methods, and more specifically to The system includes a storage system and a mobile manipulator for retrieving inventory items from the storage system. This is about a data robot. [Background technology]

[0003] A warehouse, or distribution fulfillment center, allows for the efficient storage and retrieval of a large number of diverse products. Traditionally, inventory items are stored in bins and placed in rows of shelves on either side of the aisle. Each container or bin holds multiple items of one or more product types. Aisles are spaces between shelves for operators or robots to navigate and retrieve items. It is well understood that aisles reduce the storage density of a system. In other words, the amount of space actually used for product storage (e.g., on shelves) is proportional to the amount of storage space. Relatively small compared to the amount of space required for the entire system. Warehouse space is often scarce. As these systems are expensive and expensive, alternative storage systems that maximize storage space are desirable. do.

[0004] In one alternative approach that offers significant improvements in storage density, containers are stacked on top of each other. and placed in adjacent rows, i.e., there are no aisles between adjacent rows of stacked containers. Therefore, more containers, and therefore more inventory, can be stored in a given space.

[0005] Various methods have been contemplated for retrieving inventory from stacked containers. For example: U.S. Patent No. 10,189,641 describes a method in which containers are stacked and arranged in multiple rows under a grid. The system is described as follows: A vehicle equipped with a lifting device navigates the grid. The container then travels down the port to the picking / sorting zone. where an operator or robot picks individual products from the bins and Sort into one or more order containers. To minimize unnecessary transport of containers, Bins typically arrive in the picking / sorting zone only after multiple orders for a particular product have been received. To be transported.

[0006] Despite the increased storage density provided by known stacked storage systems, However, various drawbacks remain. For example, especially for products that are ordered infrequently, Order fulfillment times are longer as containers are prioritized for collection as a function of the number of products of one type. In addition, vehicles often have to travel long distances while driving bins back and forth to the transport port. You need to navigate a distance (which takes a significant amount of time and consumes a significant amount of battery power). Furthermore, the required picking / sorting zones reduce the overall storage density of the warehouse. This reduces the efficiency and increases the complexity and cost. The grid can be expanded by adding vehicles to the grid (or by adding container transport ports). This could be improved (by changing the stem), but the grid would be overly crowded with cars and grid locks would be The number of vehicles that can operate on the grid after the system throughput is reduced due to the There are limitations. Summary of the Invention

[0007] According to a first aspect of the present disclosure, there is provided a high density storage structure. The storage structure includes a plurality of containers. a support member configured to accommodate a mobile manipulator robot; a fluid supply rail having a first set of parallel rails and a plurality of valves disposed in the supply line; Each valve has two states: a closed state in which the supply line is fluidly isolated from the external environment, and a first set A mobile manipulator robot traversing parallel rails in the center transports fluid from the fluid supply line to the an open state in which the supply line is in fluid communication with the external environment so as to receive a supply; It has.

[0008] According to another aspect of the present disclosure, there is provided a mobile manipulator for retrieving inventory from a storage structure. A robot is provided, the robot transmitting processor-readable data to a central processor; an interface configured to receive processor-executable instructions from a central processor; a body having a fluid supply; a movable assembly coupled to the body; a coupler selectively matable with the port for picking the target object; and a picking arm connected to the body. The picking arm may include a first pneumatic gripper configured to grip the inventory item. The holding tool can be connected to the holding tool.

[0009] According to yet another aspect of the present disclosure, a mobile manipulator robot is controlled to move a storage structure. A method is provided for retrieving product from a container located within a facility. The method comprises: The manipulator robot is moved into a picking position on the first set of parallel rails of the storage structure. and at least partially attached to the mobile manipulator robot. Identifying a gripping area located on the product based on image data obtained by the sensor and adjusting a picking arm equipped with a pneumatic gripping tool to a gripping position; and gripping the product using a gripping tool. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic perspective view of a frame structure for accommodating a plurality of stacked containers according to the prior art; [Figure 2] FIG. 2 is a schematic plan view of a portion of the frame structure of FIG. 1. [Figure 3A] 3A and 3B are schematic perspective rear and front views, respectively, of a prior art load handling device for use with the frame structure shown in FIGS. 1 and 2; [Figure 3B] 3A and 3B are schematic perspective rear and front views, respectively, of a prior art load handling device for use with the frame structure shown in FIGS. 1 and 2; [Figure 3C] FIG. 4 is a schematic perspective view showing a container being lifted by the handling device of FIGS. 3A and 3B. [Figure 4] 3A-3C are schematic perspective views of the frame structure of FIG. 1 with a plurality of load handling devices installed on the frame structure of FIGS. [Figure 5] 5 is a schematic perspective view of the frame structure of FIG. 4 showing an excavation operation for retrieving a target vessel from a stack of vessels. [Figure 6A]FIG. 1 is a schematic diagram of a robotic system including a storage structure for accommodating multiple stacked containers, according to one embodiment of the present disclosure. [Figure 6B] FIG. 6B is a schematic perspective view of the storage structure of FIG. 6A. [Figure 6C] FIG. 1 is a schematic perspective view of two storage structures positioned on top of each other, according to one embodiment of the present disclosure. [Figure 6D] FIG. 6C is a schematic side view of an excavation robot performing an excavation operation within the storage structure of FIG. 6B. [Figure 7A] FIG. 1 is a perspective view of a rail showing a channel extending through the rail and a conduit extending from the channel to the surface of the rail. [Figure 7B] FIG. 7B is an enlarged view of a portion of the rail of FIG. 7A. [Figure 8A] 7B is a cross-sectional view of a valve disposed within the conduit of FIG. 7A. [Figure 8B] FIG. 8B is an enlarged view of the valve of FIG. 8A. [Figure 9A] FIG. 6C is a schematic perspective view of a mobile manipulator robot including a picking arm with a pneumatic gripping tool and a tool holder mounted on top of the storage structure of FIG. 6B. [Figure 9B] FIG. 9B is an enlarged view of a portion of the mobile manipulator robot of FIG. 9A. [Figure 9C] 9B is a flowchart illustrating an exemplary method for determining a gripping pose for a picking arm of the mobile manipulator robot of FIG. 9A. [Figure 9D] FIG. 1 is a schematic diagram of multiple product items disposed within a container. [Figure 9E] FIG. 9E is a schematic diagram showing the gripping area of ​​the product item of FIG. 9D. [Figure 9F] FIG. 9B is a perspective view of a first set of pneumatic gripping tools stored in the tool holder of FIG. 9A. [Figure 9G] FIG. 9B is a perspective view of a second set of pneumatic gripping tools stored in the tool holder of FIG. 9A. [Figure 10A] FIG. 9B is a top view showing the mobility assembly of the robot of FIG. 9A. [Figure 10B]FIG. 10B is a schematic diagram of a strut mechanism that assists in the rotation of the wheels of the mobility assembly of FIG. 10A. [Figure 11] FIG. 9B is a schematic cross-sectional view of a coupler of the robot of FIG. 9A. [Figure 12A] FIG. 9B is a perspective view of the picking arm of the robot of FIG. 9A. [Figure 12B] FIG. 12B is a side view of a portion of the picking arm of FIG. 12A. [Figure 12C] 1 is a schematic cross-sectional view of an order bin and target container holding inventory items of different sizes. [Figure 13A] 12A and 12B. FIG. 12B is a cross-sectional view showing the connection between the pneumatic gripping tool of FIG. 9A and the picking arm of FIGS. [Figure 13B] FIG. 13 is a schematic perspective view showing the coupling between the picking arm of FIGS. 12A and 12B and an alternative pneumatic gripping tool. [Figure 13C] FIG. 10 is a schematic diagram showing two pneumatic supply lines of the mobile manipulator robot of FIG. 9 that can be coupled to several example pneumatic tools. [Figure 14A] 12 is a schematic cross-sectional view illustrating the coupling between the coupler of FIG. 11 and the conduit of FIG. 7A. [Figure 14B] 12 is a schematic cross-sectional view illustrating the coupling between the coupler of FIG. 11 and the conduit of FIG. 7A. [Figure 15] 13B is a flowchart illustrating a method of gripping a product item using the picking arm and pneumatic gripping tool of FIG. 13A. [Figure 16A] FIG. 10 is a schematic perspective view of a mobile manipulator robot including a container retrieval device having a hoist plate according to another embodiment of the present disclosure. [Figure 16B] FIG. 16B is a schematic perspective view of the hoist plate of FIG. 16A. [Figure 16C] FIG. 10 is a schematic perspective view of a hoist plate including a plurality of suction cups according to another embodiment of the present disclosure. [Figure 16D] FIG. 10 is a schematic perspective view of a hoist plate including a retractable and movable picking arm according to yet another embodiment of the present disclosure. [Figure 16E]FIG. 10 is a schematic perspective view of a hoist plate including a retractable and movable picking arm according to yet another embodiment of the present disclosure. [Figure 16F] FIG. 1 is a schematic perspective view of two storage structures arranged side by side, showing a mobile manipulator robot traversing the side of the storage structures. [Figure 17] FIG. 16B is a schematic diagram of an alternative pneumatic system for use with the mobile manipulator robot of FIG. 9A or the mobile manipulator robot of FIG. 16A. [Figure 18] FIG. 18 is a cross-sectional view of a modified gripping tool for use with the alternative pneumatic system of FIG. 17. [Figure 19] FIG. 1 is a partial perspective view of a modified storage structure including a gantry frame supporting a robotic picking arm equipped with a pneumatic gripping tool. [Figure 20] FIG. 10 is a schematic diagram of another modified storage structure including an assembly positioned above the storage structure and a pneumatic supply line extending from the assembly toward the storage structure. [Figure 21] 16B is a flowchart illustrating an exemplary method of controlling the movement of the mobile manipulator robot of FIG. 9A or the mobile manipulator robot of FIG. 16A using a computing system. [Figure 22] 16B is a flowchart illustrating an exemplary method of controlling the movement of the mobile manipulator robot of FIG. 9A or the mobile manipulator robot of FIG. 16A using a movement interface. [Figure 23] FIG. 1 is a schematic perspective view showing a mobile manipulator robot traversing a warehouse floor and picking inventory items from shelves. [Figure 24] FIG. 16B is a schematic perspective view of the mobile manipulator robot of FIG. 16A performing an excavating operation. [Figure 25] FIG. 16B is a schematic top view of the multiple mobile manipulator robot of FIG. 16A, including one or more container retrieval devices. [Figure 26] 1 is a flowchart illustrating an example of an order fulfillment process. [Figure 27]1 is a flowchart illustrating an example of an order fulfillment process. DETAILED DESCRIPTION OF THE INVENTION

[0011] As used herein, orientation terms such as "vertical" and "horizontal" and Relative terms such as "up," "upward," "down," and "downward" refer to the storage structure or movement Expressions used to describe the orientation or relative position of certain features of a manipulator robot When used, these terms refer to the storage structure being placed with the bottom of the storage structure resting on a surface. refers to the orientation or relative position of a feature within a normal gravitational reference frame when viewed from above, and As used herein, the terms "substantially," "generally," and "about" , meaning that small deviations from the absolute value are included within the scope of the term so modified. It is intended to do so.

[0012] 1 and 2 show a plurality of stackable containers, also known as bins, according to the prior art. 1 shows a storage structure for efficiently storing containers 10. The containers 10 form a stack 12. The containers 10 are stacked one on top of the other and arranged in a framework 14 for storage. Holds multiple product items (not shown). The product items in each container 10 may be identical or , or may be different product types.

[0013] The frame structure 14 is made up of parallel horizontal members 18 extending in a first direction (e.g., the X direction). 1, and a second set of parallel horizontal members 20 extending in a second direction (e.g., the Y direction). The horizontal members 18 and 20 are vertical members 16 that support the set. 12 are accommodated in the horizontal grid space. The structure 14 prevents horizontal movement of the stack 12 of bins 10 and guards against vertical movement of the bins. It is built to be user-friendly.

[0014] The top level of the frame structure 14 extends across the top of horizontal members 18 and 20. 3A-3C and 4. When the rails 22 are aligned, they support a plurality of robotic load handling devices 30. The rail 22a is loaded in a first direction (e.g., X direction) across the top of the frame structure 14. The second set of parallel rails 22b guides the movement of the device 30. A load in a second direction (e.g., Y direction) is placed perpendicular to the rail and across the top of the frame structure. In this way, the rails 22 guide the movement of the load handling device 30. Moving laterally in two directions (X and Y directions) across the top of the frame structure 14 10. The stack of bins 10 may be stacked one upon another in a stack of bins 12. can be moved to a position.

[0015] Each load handling device 30 comprises a pair of wheels at the front of the vehicle and a pair of wheels at the rear of the vehicle. wheels that engage with two adjacent rails of the first set of parallel rails 22a. The vehicle 32 includes a first set of wheels 34 arranged as follows: A second set of wheels 36, consisting of a pair of wheels on either side, is mounted on a second set of parallel rails. Each set of wheels is positioned to engage two adjacent rails of rail 22b. 34, 36 can be raised and lowered so that the first set of wheels 34 or the second set One of the wheels 36 of each set is parallel to the other depending on the desired direction of travel of the vehicle 32. It engages with rails 22a and 22b.

[0016] A first set of wheels 34 engages the first set of parallel rails 22a and a second set of wheels 34 engages the first set of parallel rails 22b. When the wheels 36 are lifted off the second set of parallel rails 22b, the first set The wheels are driven by a drive mechanism housed in the vehicle 32 for moving the load handling device 30 in the X direction. In order to move the load handling device 30 in the Y direction, the first cell The wheels 34 of the sled are lifted off the first set of parallel rails 22a and onto the second set. The wheels 36 of the mat are lowered to engage the second set of parallel rails 22b. a drive mechanism (not shown) associated with the second set of wheels 36 to drive the second set of wheels 36. The wheels can be driven in the Y direction.

[0017] The load handling device 30 also includes a cantilever arm 42 extending laterally from the top of the vehicle 32. The crane device 40 includes a gripper plate 44 housed within the vehicle 32. The cantilever arm is wound by a cable 46 connected to a wound mechanism (not shown) attached to the cantilever arm. The cable 46 is suspended from the cantilever arm 42. or unwound from the cantilever arm 42 and rotates in the Z direction relative to the vehicle 32. The gripper plate 44 can be adjusted in the direction of the arrow.

[0018] The gripper plate 44 is adapted to engage the top of the bin 10. For example, Gripper plates 44 fit into corresponding holes (not shown) in the rim forming the top surface of bin 10. a mating pin (not shown) and a sliding clip (not shown) engageable with the rim to grip the bottle. The clip may include a suitable drive mechanism housed within the gripper plate 44. 10 and is driven into engagement with the bin 10 by cable 46 or a separate control cable ( The power supply may be powered and controlled by signals carried over a power supply (not shown).

[0019] To remove a bin 10 from the top of the stack 12, the handling device 30 uses a gripper If necessary, place the bin 44 above the stack where the desired bin is located. The gripper plate 44 is then lowered and moved in the X and Y directions as shown in FIG. The clip engages with the bin 10 at the top of the stack 12 so that the bin 10 is After being secured, the gripper plate 44 and then the bin then winds the cable 46 At the peak of its vertical travel, the bin 10 can be pulled upward by the cantilever. The load handling device is housed under the arm 42 and held on the rail 22. The device 30 can transport the bin 10 to another location. The stack 30 can retrieve and place bins 10 at any depth within the stack 12, including at floor level. The vehicle 32 is long enough to counterbalance the weight of the bin 10 and allow it to be lifted. It is heavy enough to maintain stability during the process. Most of the weight of the vehicle 32 is carried by the wheels 34. , the large and heavy batteries required to power and operate the 36 drive mechanisms. Caused by.

[0020] Known storage structures, such as those shown in Figure 4, are used to increase the throughput of the system. The storage structure shown in FIG. Includes two ports or shafts for transporting 240 into and out of the storage structure. A bearing system (not shown) may be associated with each port 24. In this manner, The bins 10 transported to the port 24 by the material handling device 30 are then picked / min. The bins are then transported to a sorting station (not shown) where the products contained in the bins are picked, Similarly, the bins 10 are transported by a conveyor system to the bin filling station. are moved to port 24 from an external location, such as a storage station (not shown), to replenish the storage structure. 1. The stack 12 can be transported by the handling device 30 for transporting the materials.

[0021] When a bin that is not located at the top of Stack 12 (the "target bin") needs to be collected , the upper bin 10a ("non-target bin") (e.g., the target bin 10b and the rail 22 bins) are arranged to allow the handling device 30 to access the target bin. This action is called "digging."

[0022] FIG. 5 shows one of the handling devices 30 removing a target bin 10b from a stack 12 of bins 10. 1 shows a known excavation operation of sequentially lifting each non-target bin 10a from the non-target bin 10a. Each of these can be placed in a temporary location on top of another stack 12. After each of the bins 10a has been removed, the target bin 10b is then picked up by the loading device 30. The target bin 10b can be extracted from the frame 14 and transported to the port 24. After the target bin 10b is extracted, The non-target bins 10a are returned to the original stack 12, removing the target bins from their original order in the stack. What is subtracted can be restored.

[0023] Each of the material handling devices 30 may operate under the control of a central computer. Each bin 10 in the system is tracked so the correct bin can be collected and transported as needed. For example, during an excavation operation, each of the non-target bins 10a can be temporarily The target bins can be replaced in the stack in a specific order because their specific positions are recorded. can.

[0024] The system shown in Figures 1-5 allows for high-density storage of products and facilitates stacking and picking. Whole containers of product must be transported back and forth between the sorting zones. and cannot be sorted into new orders, slowing down the overall throughput of the system. To minimize the transportation of the bottles, the target bottles 10b are usually made of some type of material. Only after multiple orders have been placed for an item will it be collected and sent to the picking / sorting station. This method reduces the number of bottles being transported, especially one that consumers rarely order. Or if your order includes multiple products, your order may take longer to fulfill than desired. This is why “piece-picking” inventory from known frame structures14 is often attempted. For example, U.S. Patent Application Nos. 2018 / 0319590 and 2018 / 0319591. No. 0346243 is a device for picking individual items from containers arranged in a frame structure. Nevertheless, U.S. Patent No. The picks disclosed in Nos. 2018 / 0319590 and 2018 / 0346243 King robots and systems are robust enough to handle the picking of a wide variety of products. It does not have robustness.

[0025] On the other hand, the present disclosure provides a method for grasping various products and placing the products into one of a plurality of order containers. A picking manipulator (here called a "picking arm") that can be connected to a gripping tool for We provide a robot with a picking function (sometimes called a picking robot). The main obstacle in developing the arm is that picking arms come in a variety of sizes, shapes, weights, and materials. Inability to consistently grip products of different materials, surface textures, densities, mass distributions, stiffness, and fragility The picking arm equipped with a pneumatic gripping tool can grip a wide variety of products. These gripping tools are being considered as one potential solution for large vacuum pumps and / or compressors (e.g., small vacuum pumps / compressors) Lessors can only provide adequate attraction for a very narrow range of items. However, it requires extensive suction and flow that can only be generated by an oversized pneumatic compressor. The pressure sensor and / or vacuum pump may be used for a load handling device 30 or a vehicle of similar size. In other words, the load handling device 30 is a large pneumatic compressor installed in the vehicle body 32. The load handling device 30 cannot carry an oversized air Body size 32 to carry a pressure compressor and / or vacuum pump To make it larger, the vehicle footprint must be increased to a size that consumes a lot of grid space. As a result, fewer cargo handling devices can occupy the grid at one time. This reduces the throughput of the system. are typically confined to the warehouse floor and are often fixed to a fixed base.

[0026] The present disclosure relates to a pressurized air supply system and a compressor selectively coupleable to the pressurized air supply system. provides a robotic system including a storage structure with a compact mobile manipulator robot; and allowing the mobile manipulator robot to grasp inventory items with its pneumatic gripping tool. As a result, the robot can grasp and hold a wide variety of products while traversing the storage structure. It can support large payloads inside. There are many types of mobile manipulator robots. The ability to quickly and efficiently grasp a variety of inventory items allows the robot to autonomously handle edge case scenarios. If the item cannot be grasped during the experiment (or if the predicted control command is uncertain or unreliable), (low performance), quickly switching between two or more pneumatic gripping tools to provide gripping support to the teleoperator This is further enhanced by the robot's ability to request assistance. The robot can continue normal operation with minimal downtime or interruption. These benefits, among other advantages, are discussed in more detail in this disclosure.

[0027] 6A is a schematic diagram of a robotic system 100 according to one embodiment of the present disclosure. Manipulator robot 200 (referred to herein as "manipulator robot" or "robot") Robots, such as robots sometimes referred to as robotics robots, are deployed in warehouses or other fulfillment centers (hereafter referred to as " The storage system 101 may be housed in a storage structure 114, such as a storage warehouse. The robot 200 can perform the task of picking inventory items. It can operate in one of two modes: autonomous mode by executing autonomous control commands, or A remote operating mode that is manually operated (e.g., directly controlled) by an operator. The term "command" (whether autonomous or piloted) is used herein primarily to refer to an item. Although described as an instruction to grasp an item, the term also applies to the recognition of the inventory item, the placement of the grasped item, or Various other robotic tasks, such as positioning and releasing (e.g., to a specific position or orientation), or attention It is understood that this may also refer to other robotic tasks that facilitate the fulfillment of a statement. In one embodiment, the robot 200 is capable of executing autonomous or maneuvering control commands. It can be a machine learning robot that can do this.

[0028] The robotic system 100 includes one or more operator interfaces 102. at least one of which is a warehouse 101, one or more processor-based computers Each of these may be located at a remote site outside the computer system 103. may include one or more network or non-network communication channels 104, and For example, the manipulator robot 200 may be configured to have a grasping pose for executing and grasping an inventory item. one or more memory locations for storing a machine learning grasp pose prediction algorithm used to predict The storage device 105 is communicatively coupled to the computer. Although shown as separate from the data system 103, at least some implementations In some cases, a storage device is an integral part or component of a computer system (e.g., For example, memory such as RAM, ROM, flash, and registers, hard disk drives, As used herein, a "remote processor" may be a or "remote computer" refers to a computer that communicates with the referenced robot hardware. refers to a processor that is located away from the hardware, e.g., to synchronize the performance of robots. One or more processors or a single central processor to coordinate and automate operational tasks Whereas, when the term "on-board" is used herein, The term means that the component is carried by the referenced robot. For example, "On-board processor" means a processor located within the hardware of the robot to which it refers. The term "processor" or "computer" used herein means that Where a general term is used, that term refers to any remote processor, unless otherwise specified. It may refer to any on-board processor, or combination thereof.

[0029] The operator interface 102 is a single unit for receiving control commands from an operator. It includes one or more input devices and one or more output devices. The user interface device 102 may be, for example, a personal computer, a tablet, or the like. It can be a laptop, a (smart) phone, a wearable computer, etc. Devices include keyboards, mice, touchscreen displays, and displays (e.g. LCD or OLED screens, controllers, joysticks, etc. In this regard, the teleoperator may choose to operate in a synchronous (real-time) or asynchronous (scheduled) manner. You can input control commands (rules or cues), which can be, for example, click points. Control commands, 3D mouse control commands, click-drag control commands, keyboard or arrow keys It may be a control command and / or a hand or body control command captured in an image. Output devices include displays (e.g., LCD or OLED screens), headsets, Mounted display, speakers, and / or haptic feedback controllers ( (e.g., vibration elements, piezoelectric actuators, rumble, kinesthetic, rumble motors) The operator interface 102 may include, but is not limited to, bot picking, e.g., manipulator robot 200 aspects and / or storage It can be used by an operator to view the inventory stored within the structure 114. The manipulator takes one or more still images of the manipulator robot and / or its environment. One or more of the following: grasping an item by reviewing images and / or videos A representation of the manipulator robot 200 performing a task can be displayed or viewed. These images and / or videos can be played back and / or displayed in real time. If the manipulator robot 200 fails to autonomously execute a task, In this case, the operator can use the operator interface 102 to instruct the robot to Instruct the customer to grasp the product and / or release the product item into the desired order container. The operator interface 102 can be used to control the robot when performing a grasping task. Although primarily described herein in connection with assisting the network 200, the teleoperator may also Manually control a bot to pick, rearrange, pack, or repack one or more items , picking up dropped items, manipulating items in stock bins, or inventory audits, replenishment tasks Performs operational tasks including checking, system inspections, and other order fulfillment tasks, including performing product identification. at any time (to be able to execute and / or override other autonomous control commands). It will be appreciated that the interface may be used at any time (including before a failed grasp attempt).

[0030] The computer system 103 coordinates the operation of the robotic system 100. The computer system 103 may be a processor-based computer system. A processor is a device that contains one or more microprocessors, central processing units (CPUs), digital signal processors, and DSP, Graphics Processing Unit (GPU), Application Specific Integrated Circuit (AS IC), Programmable Gate Array (PGA), Programmed Logic Unit (PLU ) or any other logical processing device. In some implementations, a computer system System 103 may include a control subsystem that includes at least one processor.

[0031] Examples of suitable network or non-network communication channels 104 are wire-based networks. Networked or non-networked communication channels, optically based networked or non-networked network communication channels, wireless (i.e., radio and / or microwave frequency) networks network or non-network communication channels, or wired, optical, and / or wireless networks This includes a combination of network, network, or non-network communication channels.

[0032] The mobile manipulator robot 200 communicates with the computer 100 via a communication channel 104. Sending and / or receiving processor-readable data or processor-executable instructions to 03 In this way, the computer 103 can determine the gripping posture ( For example, the position and / or orientation and / or posture of a robotic picking arm and sends a control command to the manipulator robot 200 to perform the predicted grasping posture. The control command can execute a task (e.g., grasp an item) and grasp a product item. ) fails, or the remote computer determines that the predicted control command is unlikely to succeed. If it is determined that the robot 200 is in a dangerous state, the system autonomously requests the operator to intervene and moves the robot 200 away from the operator. Remote operation allows control from local or remote locations.

[0033] As will be explained in more detail below, the system allows the teleoperator to Remotely control the robot 200 and move it into various grasping (or manipulation) postures to manipulate the machine. Training a learning system to more accurately predict future autonomous robot control commands To do so.

[0034] FIG. 6A shows two robots 200 arranged in a single warehouse, and the system A single robot or any number of robots located in a warehouse, or multiple warehouses It will be appreciated that the robot may include one or more robots arranged in a Therefore, the robot system can be deployed locally or remotely in the warehouse where the robot is located. from the client via one or more operator interfaces 102, An operator can remotely operate or control multiple manipulator robots 200. It is advantageously configured as follows.

[0035] The storage structures 114 as shown in FIG. 6B are stackable, also referred to herein as bins. Each bin 110 may be identical. , or configured to hold multiple product items (not shown) of various product types. Examples of product types include household goods, apparel, appliances, beauty products, groceries, or warehouses. This includes other products that may be stored and shipped from the warehouse. To optimize the packaging, the packages can be arranged in the storage structure 114 in several ways. For example, For example, products can be grouped by product type (e.g., similar products are grouped together), by product fulfillment, the speed at which the product needs to be delivered, the environment in which the item needs to be stored (e.g., temperature), and the type of product that is Number of times it is traditionally sold in a given period, size of the item, items commonly purchased together, etc. can be arranged based on

[0036] In situations where the product requires specific storage conditions (e.g., temperature or humidity), such as food products Container 110 may also include similar mechanisms for adjusting storage conditions for specific product types. Alternatively, the storage structure 114 may contain one or more separate, Each refrigeration or freezer area may be constructed to include an insulated refrigeration or freezer area. The desired temperature may be achieved by relying on cryogenic cooling or by using, for example, a condenser, compressor, and circulates gas through the system to refrigerate and / or Alternatively, a separate refrigeration system formed from an evaporator configured for refrigeration may be utilized. Product items, such as food products, are stored in containers 110 and kept refrigerated based on the storage requirements of the product type. They may be placed in the storage structure 114 in either a frozen area, a refrigerated area, and / or at room temperature. In some cases, these freezer / refrigerator areas are located on lower levels of the storage structure 114. Food products may be stored near freezer and refrigerated areas based on their individual temperature and storage environment requirements. This configuration also allows the top of the storage structure 114 to be slotted in naturally. Separating the robots placed in the freezer / refrigerator area. If any part of it needs to access a frozen or refrigerated area, the robot Heating components may be included to regulate the temperature of the appliances and other systems.

[0037] The container 110 preferably has an open end through which the product can be withdrawn. The open end of the container 110 can be an open top or an open side. The bottom of the container 110 can be an inward facing The container may have a tapered inner surface, which allows the inventory product to flow towards the center of the container and towards the edges of the container. Easily rolls and / or slides away from the sidewall for easy picking In some cases, the bottom of the container 110 may be used to transfer inventory from the container to another container or other location. The container may include sliding, pivoting, or bomb bay doors to facilitate jettisoning. The bottom of 110 also has a recess to prevent the containers from moving laterally relative to each other when stacked. designed to nest inside or against the rim that forms the top of another container Thus, the storage structure 114 may be several or corresponding frame structures 14 As a result, the storage structure 114 does not need to include significantly fewer support members than the manufacturing It is low cost and can be installed more quickly than the frame structure 14.

[0038] Nevertheless, the storage structure 114 has a horizontal surface extending in a first direction (e.g., the X direction). A first set of members 118 and a horizontal member 120 extending in a second direction (e.g., the Y direction) The horizontal members 118 and 12 may include a vertical member 116 supporting the second set. 0 creates multiple horizontal spaces to accommodate stacks 112. The horizontal spaces are , are constructed to prevent lateral movement of the stack of bins 110. The storage structure 114 , one or more ports 121 or shafts for inserting and removing bins from the storage structure. A conveyor belt or shuttle system (not shown) may be provided to each port. The bin 110 can be transported to an external location by associating it with a shipping container 121. Bins containing product for sale will be shipped down Port 121 for further packaging and / or shipping. The bottles can be transported to an external location, while empty bottles can be transported down the port to the bottle filling station for refilling. The cargo is transported to a storage facility (not shown) and then transported up the port to a storage structure to replenish the cargo. The cargo can be transported to one of the tacks 112.

[0039] The top level of the storage structure 114 includes a first set of storage compartments extending in a first direction (e.g., the X direction). rails 122, and / or a second set of rails extending in a second direction (e.g., the Y direction) The storage structure 114 may include a first set of rails 122 and a second set of rails 124. In an embodiment including rails 124, a first set of rails and a second set of rails The combination includes a horizontally oriented grid 126 having a plurality of grid spaces 127. The rails 122, 124 allow one or more robots to move the stacks of the bin 110. The vertical member 116 allows the water to move around the grid 126 on the water table 112. At least one of the flat member 118, the horizontal member 120, or the rails 122, 124 is As will be discussed in more detail below, a fluid such as compressed air may be pumped through a grid 126. A channel for transporting the sample to the robot may be defined.

[0040] As shown in Figure 6C, shallower stacks (e.g., fewer vessels per stack) A plurality of similarly constructed storage structures 114 are stacked on top of each other to store the target container 110b (e.g., This reduces the time it takes to excavate the desired product (the container in which it will be stored). This increases the throughput of the system. In such a scenario, each storage structure 14, or levels are spaced apart from adjacent levels with sufficient clearance between each level. , allowing one or more robots to move around each grid 126. One or more rails 129 that are inclined and / or tilted (in the Z direction) Elevators and / or ramps may be provided between the grids 126 of adjacent storage structures 114. This allows the robot to move between levels as needed.

[0041] Referring to FIG. 6B, one or more sides of the storage structure 114 may additionally or alternatively a second set of rails 124 extending in a second direction (e.g., the Y direction), and / or A third set of rails 125 may be included that extend in a third direction (e.g., the Z direction). In an embodiment where 114 includes a second set of rails 124 and a third set of rails 125 The combination of the second set of rails 124 and the third set of rails 125 is A vertically oriented grid 126 is formed with lid spaces 127. The data robot 200 traverses the vertical grid 126, extracts the bins 110, and stores them in the storage structure 1. Picking from extracted bins housed on 14-sided shelves, racks, or stacks The term "grid" may be used herein without regard to orientation modifiers (e.g., vertical or When used without the horizontal, the term refers to whether the grid is horizontally or vertically oriented. Regardless of whether or not the rails 122, 124, and 125 are This can refer to any grid structure.

[0042] To increase storage capacity, multiple similarly constructed storage structures 114 may be stacked laterally next to each other. It is also envisioned that the .sigma..sub.2.sub.1 can be placed adjacent to the .sigma..sub.2.sub.2.sub.1 ...2.sub.2.sub.2.sub.2. Each storage structure 114 is spaced apart from adjacent storage structures, and the space between adjacent storage structures There is sufficient space for the robot 200 to move between each of the vertically oriented grids 126 and can traverse around the storage structure to access the containers 110 housed in any of the adjacent storage structures. It becomes like this.

[0043] As shown in FIGS. 7A and 7B, rails 122, 124 form a grid 126. , 125 are each extruded or otherwise made from a highly conductive metal such as aluminum. The power supply P is coupled to the grid 126 and connected to the rails 122, 124, 126. 25, which then selectively provides voltage to the robot 200 to control the robot's miniaturization. Recharge batteries or super / ultra capacitors and / or various robots The drive mechanism can be powered directly. Power can be transferred to the grid in one of several ways. For example, the grid 126 may be charged negatively. while a structure or ceiling (not shown) above the grid may have a single polarity such as In this embodiment, the robot 200 is electrically charged (or vice versa). An antenna that contacts a positively charged structure or ceiling above, completing a circuit between the opposite polarities 219 (shown in FIG. 9A). In another configuration, parallel rails 122, 1 At least one set of adjacent rails, 24 and 125, is When placed on parallel rails, the robot's conductive brushes (e.g., contact elements) The polarity of the parallel rails 122 can be opposite to complete the circuit. A first rail may have a positive polarity, while an adjacent rail of the parallel rails 122 has a negative polarity. In this way, the robot 200 can be used to transport large onboard equipment associated with the load handling device 30. As a result, the robot 200 does not need to include a battery. It is not bulky and is easy to operate.

[0044] The rails 122, 124, 125 have an upper surface 128, an outer surface 130, an inner surface 132, and a drive A double u-channel or protrusion having faces 136a, 136b (collectively "drive faces 136") This way, two robots can move along a single rail. 22, 124, 125 and can operate on grid 126 at any given time. For example, the number of robots that can be rotated can be increased by using the drive surface 136a. The first robot, supported by the drive surface 136b, passes the second robot, supported by the drive surface 136b. The top surface 128, outer surface 130 and inner surface 131 of the rails 122, 124, 125 can be 2 prevents the robot or storage structure 114 from shorting out, minimizing the risk of electrocution. To prevent this, they can be anodized or painted with a non-conductive coating. , the drive surfaces 136 of the rails 122, 124, 125 are at least partially or completely charged. This can be the only surface of the rail that remains in place (transmitting power along the rails of the grid). (Except for the ends or small sections of the rail ends that are not anodized for the purpose of

[0045] The storage structure 114 is configured to compress the robot when it is placed on the rails 122, 124, 125. a fluid supply system 138 configured to supply a fluid, such as compressed air, to the robot 200; Thus, the fluid supply system 138 allows the robot 200 to use its pneumatic gripper. Operate the gripping tool 248 (FIG. 9A) to grip an inventory item stored in the container 110. , eliminating the need to carry a bulky on-board air compressor or vacuum generator. The fluid supply system 138 includes a fluid source S and a supply line 140. The fluid source S is connected to the supply line 140. Compressors such as air compressors for supplying compressed air to the engine 140 Alternatively, the fluid source S may be a vacuum pump or vacuum generator.

[0046] The supply line 140 is herein connected to the rails 122, 124, 125 of the grid 126. Although primarily described and illustrated as extending through When the robot is positioned on the grid, the fluid supply is 0 is accessible to vertical member 116, horizontal member 118, or horizontal member 120. formed by or extending at least partially through the channel of and attached to the exterior surface of at least one of the rail and frame structure, or If not, the frame of the storage structure 114 is coupled to or otherwise in close proximity to the rail. It will be understood that this forms:

[0047] As shown in FIG. 7A, the supply line 140 comprises a series of channels 142, conduits 144 and and port 146. The channel 142 may extend the entire length of the rails 122, 124, 125. , and preferably the channel extends along the intersection of rail 122 and rail 124. , or the length of each rail without interruption at the intersection of rail 124 and rail 125. The plurality of conduits 14 may be embedded within the lower portion of the u-channel so as to extend continuously in the longitudinal direction. 4 extends between the channel 142 and a port 146 located on the surface of each rail. In a preferred embodiment, each of the grid spaces 127 is surrounded by a At least one of the rails 122, 124, 125 has a conduit 144. Thus, the grid 126 allows for the flow of compressed air or the like to flow regardless of the robot's position on the grid. The body can be provided to the robot 200.

[0048] 8A and 8B, a plurality of valves 150 may be provided in the supply line 140, e.g., In the conduit 144 of the rails 122, 124, 125, or in the vertical members 116, horizontal members 118, and / or horizontal member 120. Each valve 15 0 is a closed state in which compressed air is contained in the supply line 140, and a closed state in which compressed air is contained in the manipulator rod. an open state in which the supply line is in fluid communication with the environment so that the bot 200 can be supplied; Each valve 150 includes a biasing member 152, such as a spring, that seals the port 146. The spring 152 may include a plug 154 coupled to the spring for neutral or biased operation. When in an unloaded state, spring 152 biases the plug into port 146, causing supply line 1 40. An alternative valve is used to seal off the compressed air in the supply line 140. For example, the valve may be configured to operate between a closed and an open state, such as an electrohydraulic servo valve. It may be constructed as any passively or actively actuated valve that is capable of transitioning.

[0049] With particular reference to FIG. 8B, the rails 122, 124, 125 of the grid 126 are The cavity 143 may define a cavity aligned with the longitudinal axis of the lens 44. tapered portions extending from the top surface 128 of the bolts 122, 124, 125 toward the port 146. The magnet 157 or other ferrous material may be fed from the supply line 140 to the robot 200. During the transfer of compressed air, a pole is used to magnetically couple the robot 200 to the grid 126. The connection between the robot 200 and the grid 126 can be tightly To seal, a gasket such as an O-ring 155 may be placed around the port 146 and / or may be any other location surrounding the valve 150 to prevent compressed air from leaking from the supply line 140. Compressed air from supply system 138 can be used to provide the necessary suction. can be selectively accessed by the mobile manipulator robot 200, The robot determines the size, shape, weight, material, surface texture, density, mass distribution, stiffness, and to enable piece-picking of inventory items within the scope of vulnerability.

[0050] 9A and 9B, the manipulator robot 200 comprises a body 202, a rail 203, a a moving assembly configured to guide the movement of the vehicle body along the rails 122, 124, and 125; assembly 204, and the picking manipulator, also referred to herein as a "picking arm" The manipulator robot 200 also includes a manipulator robot and a remote computer 103, and / or between the manipulator robot and the operator. Includes a communications interface for sending and receiving data to and from interface 102 The data may include information obtained from positioning sensors, The remote computer 103 generally relates to the position of the manipulator robot relative to the The position sensor allows the robot to control its movement around the lid 126 or warehouse. , global positioning system, local / indoor positioning system, local feature positioning system, or any of them The global positioning system may be a GPS system. The indoor positioning system detects nearby anchor nodes (WiFi / LiFi access points, Bluetooth beacons or ultra-wideband beacons, magnetic positioning, or dead reckoning Optical or radio wave measuring distance or time of flight to a node with a known fixed location (such as a rover) Indoor positioning systems that use a variety of technologies, such as cellular, magnetic, or acoustic signals, and are used by mobile devices. Chairs or tags can be actively positioned to provide location or environmental context around them. On the other hand, local feature localization systems use conductive, It can be either a capacitive, infrared (IR) or other sensor, e.g., a rail or ground A sensor to detect and count lid space intersections, a magnet in the grid 126 or Magnetic sensor designed to detect ferrous materials, barcodes or AR / Imagers, rails or other structures for reading QR Codes (these , which are then relayed to the remote processor 103 to determine the position of the mobile manipulator robot. (which can determine the location of the object) and perform simultaneous localization and mapping (SLAM) an imager that can measure the distance traveled; an encoder for the moving assembly 204; The location of each mobile robot can be determined by wireless, NFC, RFID, or a remote computer. As long as the position of each individual mobile robot can be controlled, any of the mobile robots described herein may be used. and / or any one of the other types of positioning sensors in the grid. The data includes data obtained from sensors related to inventory (hereinafter referred to as "inventory data") (e.g., Location, dimensions, shape, weight, material, porosity, surface texture, color, density, mass distribution, stiffness, vulnerabilities, etc., allowing a computer or remote operator to identify different products in the container. to help distinguish between products and / or predict grasp poses for grasping product items .

[0051] The body 202 is made up of four side walls 208a, 208b, 208c, and 208d (collectively referred to as "side walls"). 208"), an open bottom end 210, and an open top end 212. The sidewall 208 may be Preferably, the vehicle body 202 has a footprint of a single grid space 127. In other words, the robot 200 is placed on the horizontal grid 126. When the two opposing side walls (e.g., 208a, 208c) are arranged in two parallel rows extending in the X direction, adjacent rails 122, while the other two opposing side walls (e.g., 208b , 208d) are disposed on two adjacent rails 124 extending in the Y direction. In this configuration, the body 202 of the robot 200 is larger than a single grid space 127. The open lower end 210 and open upper end 212 of the vehicle body 202 may have a pitch King arm 206 extends through the body of the vehicle and targets target bin 110b ( For example, a bin placed on top of a stack of bins aligned with the vehicle body in the Z direction) Alternatively, the picking arm 206 can be used to pick up the product. As shown in A, the product contained in the target bin located laterally adjacent to the vehicle body 202 is picked up. It can be done.

[0052] One or more of the side walls 208 of the car body 202 are optionally excavated to allow for the stack 112; To pull a target bin to the top of a particular stack and / or for refill purposes A pivotable digging plate (not shown) may be included for transporting the bins. , the drilling plate is aligned with the inner or outer surface of one of the side walls 208 of the car body 202 . The collapsed state is in one plane, and the excavation plate is radially separated from each side wall of the vehicle. The drilling plate may be pivotable between a vertically extending operating state and a Z-extending operating state. 112. The stack 112 is configured to be lowered in a direction to engage any of the bins 110 positioned in the stack 112. The gripper plate 44 may be similar to the gripper plate 44 of the load handling device 30 in that it is formed Similar to the top plate 44, the drilling plate can be positioned at any depth within the stack 112. The bin 110 is then lifted upward by reeling in a length of cable sufficient to retrieve the target bin. However, the robot 200 may be adapted to pull the stack. It is not necessary to include a digging plate or other mechanism for digging the vessel from 112. The system 100 is instead configured to perform excavation tasks with a manipulator robot 200. A combination of specially adapted separate robots can be relied upon. may be a known material handling device 30 or an excavation robot 205 (FIGS. 6C and 6D). .

[0053] With particular reference to FIG. 6D, the excavation robot 205 comprises a body having a container receiving cavity. and an excavator 207 that can be extended under the vehicle body. The excavator 207 has a tong grip. It may be a lifting device or a series of telescopic beams or other components with long strokes. In this manner, the excavator 207 can move the grid 1 26 to reach a single container 110, or multiple containers (e.g., target bins 110b and the non-target bins 110a above the target bins, respectively) through the receiving cavities. and can be lifted onto the grid in a single lift. Alternatively, an excavator 207 may be located on a single exterior surface of the excavation robot 200 and on one or more sides of the vessel 110. The excavator may include a latching device such as a hook for engaging with the excavator. The cutting robot 205 can reach under the grid 126 to select a single container 110, or A plurality of containers (e.g., target bin 110b and target Each of the non-target bins 110a above the target bin can be lifted (e.g., without lifting the container through the container receiving cavity of the excavation robot). The excavator 207 of 205 may be electrically, pneumatically, or otherwise actuated. Cut.

[0054] The inner surface of the side wall 208 of the robot 200 may also be connected to one or more piece-picking robots. The number of order bin combinations has a footprint of approximately 1 grid space 127. order bins 210a, 214b (collectively "order bins") within manipulator robot body 202; latches, hooks, drilling plates or other mechanisms (as shown) for connecting the bin 214 Alternatively, latches, hooks, digging plates or other mechanisms may be attached to the vehicle body 2 9A and 9B, disposed on the exterior surface of one or more side walls 208 of One or more order bins 214 may be coupled around the vehicle body.

[0055] Each of the order bins 214 can accommodate one or more orders. If an order bin accommodates multiple orders, split the bin to separate multiple orders within a single bin Or you can mix all the items from multiple orders and leave them undivided. For example: Order bin 214a may accommodate orders from a first consumer, and order bin 214b may accommodate orders from a second consumer. Therefore, the robot 200 can pick up the product from the target bin 110b. After ordering, the product is placed directly into the order bin corresponding to the order of the consumer who purchased the product. In one embodiment, the bottom of the order bin 214 may be opened for further sorting or processing. To facilitate the dumping of items into other containers, areas, or downports 121, It may include sliding, pivoting, or bomb bay doors. It will be appreciated that the bot 200 need not carry an order bin 214. Instead, The speaking robot 200 can only be used to grasp the product, and the product , and then a "transport robot" (e.g., a robot that performs the task of carrying order bins). (not shown) can be placed in an order bin 214 carried by Both the manipulator robot 200 and the transport robot move along the grid 126, Contact can be made at a specific picking or transfer location.

[0056] With particular reference to FIG. 9B, the robot 200 can be configured to: Photographs, point clouds, videos (generally referred to herein as "images" or "image(s)") RGB or RGB-D cameras, video recorders, light sources, etc. Further includes one or more sensors 262, such as a Light Detection and Ranging (LIDAR) Although the sensor 262 is shown coupled to the picking arm 206, The sensor may alternatively be coupled to the body 202 of the robot 200 or to the gripping tool 248. (Shown in Figure 12B.) Images may be transmitted over network or non-network communication channels. 104 to the processor 103, and in some cases, In this way, the processor 103 can implicitly The data is analyzed either implicitly or explicitly and then processed by machine learning algorithms located in the storage device 105. The robot 200 executes the program to transmit the gripping posture control command to the robot 200 via the communication channel 104. Before the robot is operated, it can predict the gripping posture and grasp the desired product item. When the command is executed, it causes the robot's picking arm 206 to approach and grasp the item. Although a grasping posture may refer to a single posture, grasping an item requires a series of postures to be performed. As used herein, a set of "grasp postures" is often required. The term may refer to a single pose or a set of poses performed in succession. When the robot 200 traverses the grid 126 and is transmitted to the remote computer 103 In this way, the remote computer 103 Before the manipulator robot reaches the picking position, the picking arm of the robot 200 The robot 206 or another manipulator robot's picking arm determines the grasping posture of the robot. This allows for increased throughput of the robotic system 100.

[0057] 9C is a flow chart illustrating a method 400 for autonomously determining a gripping pose. The process for determining the attitude begins at block 402 with a A command from the processor 103 instructing the sensor 262 to capture an image of the inventory can be started.

[0058] The image is then transmitted via a network or non-network communication channel 1 in block 404. 04 to the processor 103. Upon receiving the image, the processor 103 , block 406 analyzes images and inventory data of items stored in the target container 110b It is possible.

[0059] Based on the inventory data, the processor 103 may select one or more grip posture detection algorithms. rhythm (a neural network or machine learning algorithm stored in a storage device 105) (which may be algorithms) to predict one or more candidate grasping poses in block 408. Next, the processor 103 may select one or more metrics at block 410. Checks, checks, and filters are used to determine whether the robot 200 will execute sequentially or The policy is to select one or more of the predicted grasping posture candidates to add to the queue. Next, in block 412, the processor 103 and generating, creating, or producing a signal containing processor-readable information representative of the grasped position of the object. However, the robot 200 sends a signal to the robot 200 via the channel 104. Rather than relying on remote computing and communications, It will be appreciated that the grasp model may be implemented in part or entirely on a computer.

[0060] As shown in Figures 9D and 9E, the sensor 262 and the grip model are The manipulator robots 2 can work together to identify the holding area 414. Specific areas on the packaging of a product item or an entire product item that are likely to be successfully grasped by a 00 The gripping area 414 is defined as the relatively non-porous, flat surface area of ​​the product item. and / or product packaging when the gripping tool 248 utilizes suction, The antipodal surface when the gripping tool includes a gripping element such as a universal jamming gripper. In the case of cups, uneven surfaces or edges, or specific geometric, material, and surface characteristics These are handled by a specific type of gripper that can pick and handle items with Figure 9D shows different geometric features within the target vessel 110b. FIG. 9E shows a product item of the type placed within the area of ​​the target container. The identification of the gripping area 414 is shown.

[0061] Referring to FIG. 10A, the mobile assembly 204 is mounted on the rails 122, 124, and 125. The robot 200 guides the movement of the body 202 along the The container is configured to be placed above or laterally adjacent to the bin containing the product to be packed. The mobility assembly 204 includes a plurality of wheels 216, a motor 218, and a One or more transmissions (belts or linkages) operably coupled to the motor The wheel 216 may include a smooth outer surface (e.g., cylindrical, The wheels can be configured as either discs or gears, and are rail-mounted. , 124, 125 to guide the movement of the body 202 and position the robot 200. As long as it is possible to form the casing from any material such as rubber, metal or plastic. .

[0062] Each of the wheels 216 has a direct drive in the hub with a magnetic encoder (not shown). Or a quasi-direct drive (not shown) actuator, which rotates the wheel 216 so that the wheel Hub motor for moving the car body 202 along the rails 122, 124, 125 arranged motor (not shown) and a gear-driven actuator (not shown) or a belt-driven actuator The mobility assembly 204 includes four wheels 216. One wheel is located at or adjacent to each corner of the body 202. The orientation of the 16 is controlled by a motor 218 and a transmission 220. Specifically, the transmission 220 connects the motor 218 directly or indirectly to the wheels. 216, and the rotation of the motor adjusts the orientation of each of the wheels 216. The first orientation in which the wheel is oriented, for example, along rail 122, and the second orientation in which the wheel is oriented along rail 123. 24 and a second direction (e.g., 90 degrees) that aligns with the Therefore, using the four wheels 216, the movement of the body 202 can be controlled in two directions, e.g. For example, along rail 122 (e.g., in the X direction) and along rail 124 (e.g., in the Y direction). The transmission 220 can also guide the wheels 216 in a 9 Simultaneous rotations below 0 degrees or above 90 degrees orient the wheels and allow the robot to grip. Precise control of the movement of the robot 200 in any direction when not positioned on the board 126 Thus, the robot 200 may have a second set of wheels or a known As in the case of the load handling device 30, the second It is not necessary to include a separate drive mechanism for lifting and releasing the wheels of the set. Nevertheless, the robot 200 may instead perform the two-step process described above with respect to the load handling device 30. It will be appreciated that the vehicle may be constructed with two separate sets of wheels and drive mechanisms. In one embodiment, the wheels 216 are attached to magnets or The actuators work in concert with electromagnets to slightly levitate and propel the robot along the rails. The magnet or electromagnet may be configured as follows:

[0063] The manipulator robot 200 is connected to a body 202 as shown in FIG. 10B. and a support mechanism 237 used to support the mobile assembly 204 from the drive surface. The support mechanism 237 can include one or more stands 241 attached to the robot 2. One or more linear or The linear actuator 239 preferably includes one or a housing 243 coupled to the body 202 on the inner surface of the side walls 208; and a plunger 245 retractable towards and extendable away from the housing. The jar 245 is continuous or circumferentially around the inner surface of the sidewall 208 adjacent the lower end 210 of the body 202. is connected to a stand 241 that can be discontinuously extended. A plunger 245 When extended away from the housing 243, the stand 241 is moved downward and the grid 126, and the stand is placed under the grid 126 of the wheel 216. and then transfers the load of the manipulator robot 200 from the wheel to the stand. In this regard, the wheel 216 is suspended or suspended above the drive surface. Therefore, the wheel orientation is determined by the motor 218 and transmission, as explained above. The plunger 245 can then be retracted. The stand 241 can be lifted off the drive surface, allowing the wheels to be driven. The manipulator robot can be moved to re-engage the surface.

[0064] The mobile assembly 204, or body 202, of the manipulator robot 200 is 122, 124, 125 and engages the inner drive surfaces 136a, 136b of the rails 122, 124, 125, transferring charge from the rails Transfer to a relatively small on-board battery or super / ultra capacitor, then One or more sensors for transfer to the robot's drive motor or gear-driven actuator The device may further include an electric brush or conductive element 221 (shown in FIG. 14B). Thus, the robot 200 may use its battery or It can charge super / ultra capacitors, thus reducing the system throughput. Putting can be done without the need to remove the robot 200 from the grid 126 and / or Pause to charge or replace the battery or super / ultracapacitor. This is due to the fact that there is no need for a relatively small on-board battery or a super / ultra The capacitor allows the robot 200 to be lighter, faster, and Furthermore, small batteries or super / ultra capacitors can be used to power robots. Even when 200 is removed from the grid 126 and driven from the grid 126, the drive temporarily powering the motors and / or gear-driven actuators to drive the wheels 21 For example, the robot 200 can be driven in any direction across a warehouse floor. to navigate the robot between grids 126 and / or to other areas of the warehouse. As a result, the robot can replenish, move shelves or containers (bins, totes, or other items that hold inventory). may assist with other fulfillment tasks such as picking / sorting inventory from other structures , e.g., at the picking / sorting station and / or on the picked / sorted inventory. Pack the warehouse.

[0065] Referring to FIG. 11, the robot 200 receives fluid from the fluid supply system 138, such as compressed air. The fluid passage 220 further includes a pneumatic coupler 222 adapted to receive the fluid. Preferably, in a manner that allows the coupler to selectively engage and disengage the valve 150. , extendable from a location within the side wall 208 of the vehicle body 202 to a location outside the side wall of the vehicle body. When the coupler 222 is placed in the body 202 of the robot 200, the coupler 6. Does not interfere with other structural features of other robots or storage systems placed on it. The rail 222 is disposed within the cavity 143 of the rails 122, 124, and 125. The mating end of coupler 222 may be tapered, and and / or self-aligning or locating coupler 222 within cavity 143. The mating end of coupler 222 may also include an O-ring (not shown). ), for magnetically engaging a magnet 157 or ferrous material disposed about the port 146. A magnet 223 and a device 224 for transitioning the valve 150 between a closed state and an open state. The device 224 may include, for example, a plug 154 inserted into the conduit 144 (through the port 146). A mechanical member adapted to push (or separate) an electrical , magnetically, mechanically or otherwise for transitioning valve 150 or another valve. Other devices may be used, for example, a similarly constructed coupler that provides electrical power and electrohydraulic It may include one or more conductive pads for actuating the servo valve.

[0066] The robot 200 is equipped with a small air tank 266 (FIG. 9A) for storing compressed air. In some embodiments, the air tank 266 can hold 20 cubic feet of air. The air tank 266 of the robot 200 is connected to the coupler 222. In this way, the robot 200 can There is no need to access the compressed air supply system 138 every time you want to. 200 instead relies on compressed air stored in air tank 266 for limited time use. picking inventory items between the supply system when the robot wants to refill its air tank 138. As a result, the robot 200 can be connected to the supply system 138. and / or the robot is driven from the grid to perform other grasping and sorting tasks. Temporarily operating the picking arm 206 on the grid when assisting a task. can be done.

[0067] 12A and 12B show a picking arm 20 coupled to a pneumatic gripping tool 248. 6 shows an exemplary embodiment of the picking arm 206. The picking arm 206 can be placed anywhere within the container 110. It is movable with several degrees of freedom to position the pneumatic gripping tool 248 relative to the stored inventory. The robot 200 can pick up any size item from the container and place the item in the order bin 214. It has a long stroke (Z direction) that allows you to place the picking arm. 206 may include at least six degrees of freedom. In one non-limiting example, The arm 206 has three Cartesian degrees of freedom, a fourth in yaw, and a fourth in pitch and Includes 5th and 6th degrees of freedom for increased linear stroke in roll or z direction In the exemplary embodiment, the picking arm 206 includes a base member 226, one or more A number of horizontal extensions 228, vertical extensions 230, and pneumatic gripping tools 248 are removable. The positioning arm 232 may include a positioning arm 232 configured to be secured to the may be a relatively thin tube having a smaller diameter than the gripping tool 248. The positioning arm 232 is adapted to move the container without interference from other items or compartments located within the container. The gripping tool 248 can be freely positioned within the container 110. can be coupled to the vertical extension 230 via a coupling mechanism 233, thereby positioning The determining arm moves along a "first linear path," such as a track, that extends along the length of the vertical extension. One or more fluid lines 253 (FIG. 13B) can be moved by positioning 11. The gripping tool 248 and coupler 222 (FIG. 11) are disposed within the forearm 232 to fluidly couple the gripping tool 248 and coupler 222 (FIG. 11). When multiple fluid lines 253 are utilized, the fluid lines are independently coupled to each other. It's fine.

[0068] A base member 226 is attached to the vehicle body 202 and extends above the open top end 212 of the vehicle body. The base member 226 may include a track or other suitable attachment structure extending along the length of the base member. The horizontal extension 228 may include a "second linear path" 227. 227 in a manner that allows the vertical extension 230 to be positioned vertically. The horizontal extension 228 may also be coupled to the base member 226, the joint A vertical extension 230 via a port 236, an actuator and a motor (not shown) are connected to each other. Rotationally coupled, allowing the pneumatic gripping tool to be positioned relative to the product item with several degrees of freedom. In an exemplary embodiment, the actuator is a diametrically separated rotor coupled to the motor rotor. The motor may have a magnetic encoder with a polarized magnet. The motor may be in the form of a brushless motor. Alternatively, the picking arm 206 may be air-tight. The pneumatic gripping tool 248 is actuated by a pressure or hydraulic pressure and utilizes an actuable valve to control the position of the pneumatic gripping tool 248. The actuators can be hydraulic or pneumatic rotary or linear actuators. As further described with reference to 2C, in a preferred embodiment, the first and second linear The combination of paths is at least twice the height of the vessel 110, and preferably at least three times the height of the vessel. It is more than double.

[0069] FIG. 12C shows a first relatively small item 238 (height) that is approximately the height of the container and a second 1 is a schematic cross-sectional view showing a target container 110b holding a relatively large item 240 (height) of The long stroke picking arm 206 of the robot 200 picks the target container 110b from the target container 110b. Pick both item 238 and item 240 (the target container is the top layer of stack 112) (located directly below grid 126), the item can be placed in order bin 214. For example, when picking an item 238 from the bottom of the target container 110b, the gripping tool The rod 248 is first lowered a distance equal to the height of the robot body (as shown in FIG. 9A). , and then must be lowered to approximately the height of the target vessel 110b (e.g., (a distance approximately equal to twice the height). Therefore, to pick item 238, The long portion 228 is moved to the bottom of the first linear path 227, and the positioning arm 232 is extended vertically. 230 downwardly relative to the bottom of the second linear path, causing the gripping tool 24 8 allows the gripper 238 to contact and grasp relatively small items 238. After this, the positioning arm 232 moves upward and to the top along the first linear path 227. The horizontal extension can move upward along a second linear path 227, Allows one item to be placed in the order bin 214.

[0070] Meanwhile, a relatively large second item 240 is grasped and the second item is placed in the order bin 214. To do this, the gripping tool must be tall enough to allow the bottom of the second item to pass through the top of the order bin. (e.g., the gripping tool 248 must be lifted from the top of the order bin (The container must be placed at a distance approximately equal to the height of the container.) After the second item 240 is grasped by the picking arm 206, the positioning arm 2 32 can be retracted upward relative to the vertical member 230 along a first linear path, and the horizontal member , a second linear path so that the bottom of the second item 240 can pass the top of the order bin 214. 227. Therefore, relatively small items such as item 238 and and item 240. The stroke (Z direction) should be at least twice the height of the container, preferably three times the height. The stroke length can be achieved in a single linear path, but By splitting the picking arm 206 into two or more linear paths, the picking arm 206 can be made more compact. and can have a smaller vertical profile.

[0071] Further increasing the stroke of the picking arm 206 in the z-direction will result in the non-target container 11 In the same way as above, the picking arm will move to grid 126 unless 0a is over the target container. and from target vessel 110b at the top of the stack but below the top level. It will be appreciated that this allows for items to be picked.

[0072] In a preferred embodiment, as shown in FIG. 12B, the picking arm 206 also Spring 257 (and / or back-driveable actuator, or quasi-direct drive, direct drive Force-controlled actuators, series elastic actuators, or active compliance actuators such as (a geared actuator with torque sensing that acts as a virtual spring) or Provides dynamic or active compliance, senses collisions, and is ideal for picking or high-density baling. The device includes an adaptive grasping tool 248 that can be used to assist in performing manipulation tasks such as wrapping. 257 (and / or back-drivable actuators or force-controlled actuators) , between the pneumatic gripping tool 248 and the positioning arm 232 and / or between the positioning arm A coupling mechanism 233 may be provided to couple the arm 232 and the vertical extension 230. The holding tool 248 pushes the product or infrastructure of the storage structure with too much force. The gripping tool or positioning arm 232 then recoils, causing the picking arm 206 and Compliance also requires that the gripping tool be securely attached to the item being gripped. The rule 248 can be positioned more appropriately.

[0073] The picking arm 206 is configured to pick up an inventory item stored in the target container 110b. Alternatively, the pneumatic gripping tool may be constructed and / or configured in any suitable manner, provided that it is positionable with several degrees of freedom. It is understood that the picking and The gripping tool 206 may also measure the payload of the grasped item and / or It may include a load cell or force torque sensor for sensing an applied external force. The robot 200 then immediately determines and / or verifies the identity of the grasped item. , inventory items can be picked and tightly packed.

[0074] As noted above, the gripping tool 248 is in fluid communication with the coupler 222 and, therefore, the fluid source. The fluid source S is a pneumatic compressor that provides compressed air. In an embodiment, the robot 200 may include one or more air ejectors, air aspirators, ventilators, etc. Venturi pump 244 (FIG. 11) or similar device (hereinafter "Venturi" pump”) for generating a vacuum or suction force; Compressed air can be used. See Figure 13C for an example of a pneumatic circuit. Alternatively, multiple "bypass valves" may be provided between the coupler 222 and the gripping tool 248. The bypass valve is controlled by one or more valve actuators and is in a closed state, a first In the closed state, the bypass is The valve prevents compressed air from passing to the gripping tool 248. In a first open state, the bypass valve Compressed air flows from the coupler 222 through a venturi pump 244 to a gripping tool 248. Thus, when the bypass valve is in the first open position, the valve Allows air to flow through venturi pump 244, which draws Force can be generated to actuate a grasping tool 248 that relies on suction for grasping In the second open state, the bypass valve directs compressed air from the coupler 222 to the gripping tool. 248, but bypassing the compressed air around the venturi pump 244. Therefore, when the bypass valve is in the second open state, compressed air is The robot 200 bypasses the clamping mechanism and utilizes compressed air to clamp and / or Activate a pneumatic gripping tool 248, such as one of the other tool elements described below. Additionally, air may be blown or swept away from the gripping tool 248 to remove the inventory in the container 110. Inventory items in order bin 214 for rearranging and / or for ease of packaging Additional valves such as throttle regulators ("variable valves") may be used to reposition the eye. ") upstream of the bypass valve (e.g., between coupler 222 and the "bypass valve") to The pass valve, and therefore the air flow to the gripping tool 248, can be precisely adjusted. The valves and bypass valves may be solenoid valves and may be driven by a driver or It can be selectively activated by a relay.

[0075] Referring to FIG. 13A, the positioning arm 232 is attached to a magnet 246, e.g., a ring magnet 246. 46, or a magnet arrangement that magnetically couples the gripping tool 248 to the positioning arm. The gripping tool 248 can be any pneumatically actuated tool for gripping an item. For example, The gripping tool 248 has a sidewall 25 formed of a resilient material such as rubber with a bellows 250. 1 and a suction cup having a groove 249 disposed on the bellows. The sidewalls 251 of the tool 248 are adapted to compress when the gripping tool engages an object. The gripping tool 248 may further include a lip 252 formed from a resilient material. This can also be rubber, so the lip of the gripping tool deforms to the surface of the product it engages. , adapted to form a seal. The magnet 246 of the positioning arm 232 is attracted to the gripping tool, and the gripping tool is attached to the positioning arm. The connection between the positioning arm 232 and the gripping tool can be sealed. To achieve this, a gasket such as an O-ring 256 can be provided on the gripping tool 248. In some embodiments, the gripping tool 248 is attached to a positioning arm. When the gripping tool is engaged, the gripping tool rotates and rotates axially relative to the positioning arm. To prevent movement, a groove ( In other embodiments, the gripping tool 248 may further include a push / pull Connection, snap fit connection, hook-in-slot connection, tab-in-slot connection, twist through a mechanical connection such as a lock / lock connection, or any combination of male / female mechanical connections 232.

[0076] Turning now to FIG. 13B, the grasping tool 248 begins performing its grasping task. To assist in this, one or more elements 247 may be included. When used herein, the term "tool" refers to a device attached to the picking arm 206 of the robot 200. can be combined or combined to perform fulfillment tasks such as grasping items, packing items, cutting boxes, etc. In contrast, the term "element" refers to any device designed to perform , which represent specific aspects of the overall tool. For example, the gripping tool 248 is a tool for gripping an item. It may have one or more gripping elements such as suction cups and / or fingers. In this example, the suction cups Each finger is an individual element that forms the entire tool. As shown in Figure 13A Alternatively, the entire tool 248 may be formed from a single element (e.g., a suction cup). The controller 248 may include multiple components such as suction cups, fingers, and / or other elements to complete a fulfillment task. It will be understood that the term "grasping tool" as used herein may include any number of elements. The term "tool" refers to a tool that includes at least one gripping element that is primarily designed to grip an item. However, the tool has additional elements primarily designed to complete other fulfillment tasks. Furthermore, the terms "pneumatic tool" and "pneumatic element" are used interchangeably. The term means that the tool or element is pneumatically operated.

[0077] An exemplary gripping tool 248 may include a suction cup and / or clamp with multiple pneumatically actuated fingers. The fingers may include a fingertip (not shown) in combination with a suction cup or It can be used separately from the suction cup. In some embodiments, the finger itself may include a suction cup. In another embodiment, as shown in FIG. 13B, the gripping tool 248 may be a single gripping tool. The plurality of suction cups may be arranged in an array to form a large Large and heavy inventory items can be gripped in several separate locations, allowing for a single Provides a more stable grip than suction cups. Suction cups can be positioned to grip multiple items at once. In further embodiments, other gripping elements may be utilized. These gripping elements are available in a variety of sizes, including universal jamming grippers, foam vacuum grippers, and pneumatic grippers. pneumatically actuated linkages with inflatable fingers, variable stiffness fingers, pressure actuated fingers, rigid or conforming fingers pneumatic or vacuum driven (positive or negative pressure) The gripping tool 248 may also include a conductive (negative pressure) gripper element on the gripping side of the gripping tool. The gripping tool may include a target pad and a push pin (or vice versa). Provides power and communication signals to internal sensors and / or actuators, or pneumatic grippers In another embodiment, the tool includes a gripping element for gripping an item. Instead, the tool may be a knife, a pneumatic rotary cutting tool (shown in Figure 9G). The box may include elements such as a pneumatically operated cutting tool for cutting the open box. Tools include an air caulk gun, spray gun, air chisel and punch, and air cut-off tool. air drills, air files, air grinders and sanders, air guns, air hammers , Air Nailer, Air Nibbler and Scissors, Air Riveter, Air Router, Air Scarifier Yar, Air Screwdriver, Air Stapler, Air Tapping Tool, Air Powered Includes pneumatically operated elements including but not limited to saws, air-powered ratchets and wrenches It is possible.

[0078] As shown in FIG. 13B, the positioning arm 232 of the picking arm 206 is a single A plurality of individual fluid labels that can be individually coupled to one or more elements 247 on the tool 248. For example, the picking arm 206 of the robot 200 may include When coupled to a gripping tool having a single element, such as a single suction cup, the fluid line 25 Each of the three may be in communication with a single suction cup. If the arm 206 is coupled to a gripping tool having multiple elements, such as multiple suction cups, each Fluid lines 253 communicate with each suction cup, allowing the suction cups to operate independently. Each fluid line 253 may include a venturi pump 244, a bypass valve, and a fluid line. 13C. As shown in Figures 13B and 13C, the suction force or compressed air force can be controlled. As such, multiple fluid lines 253 may be provided on the multi-element tool for actuation or gripping purposes. For example, a variable stiffness finger can be connected to two fluid lines. In communication with the input, finger position and finger stiffness can be controlled independently. The plurality of fluid lines 253 are in fluid communication with a single element tool, such as a tool with one suction cup. This allows for a higher flow rate to be provided by the tool.

[0079] Use any one of the above pneumatic elements, or a combination of them, one at a time Or, it can grasp multiple objects, pack the grasped objects, and replace the robot's battery pack. Operate the bomb bay door of the bottle, lift the order bottle, attach it to the container, cut the box and sealing, manipulating items in order bins, e.g., nudging items, blowing, etc. or perform other tasks that facilitate the fulfillment of an order. It can be done.

[0080] 9A, 9F and 9G, the body 202 of the robot 200 includes a plurality of tools. 248. The tool holder 258 may include a tool holder 258 for holding the gripper 248. A plurality of grooves, such as arcuate or rectangular cutouts, for receiving grooves 249 of the holding tool 248. The retainers 260a, 260b (collectively "retainers 260") or the bottom or bottom of the gripping tool or a holding area such as a cup for receiving side wall 251. A plurality of different tools 248 (e.g., different tool elements and / or a plurality of tool elements) or configurations, or lips of different sizes, materials, shapes, configurations or orientations When not in use, the suction cup 232 and the tool holder 258, so that the picking arm 206 can Select a specific gripping tool based on the size, shape, material, or weight of the product to perform the task. In some embodiments, the tool holder 258 secures the tool 248. The tool holder 258 may alternatively or additionally be magnetic. and a suitable fastener for securing the tool 248 within the retainer 260 via a snap fit connection. Each one of the tools 248 may include an RFID, an AR tag, a calibrated Weight, QR code, or load cell of the sensor or picking arm 206 In this way, the robot 200 can Determine whether the tool 248 is secured to the picking arm 206, and if so, It can be verified that the tool is the desired tool.

[0081] In other embodiments, the tool holder 258 may be positioned on or adjacent to a particular area of ​​the grid 126. Dedicated "tool holder stations" adjacent to the tool holders or other areas within Warehouse 101 are provided. Thus, the robot 200 can be used to change individual tools or to Tool holder 258 may be an entirely different tool holder with a different set of tools. For replacement, the tool can be driven to the tool holder station. Thus, the robot 200 does not need to carry each tool that the robot may be instructed to use. The tool holder can then be changed based on the next set of tasks so that the tool holder does not need to be changed.

[0082] Referring back to FIG. 9B, one or more sensors 264, such as scanners, may be attached to the robot. The picked product is placed on the vehicle body 202 or the picking arm 206 of the vehicle 200. The system scans the product and determines which order bin 214 the picked product should be placed in and / or The scanning field of the scanner is located on the inner surface of the side wall 208. The sensor 264 or another sensor can be used to expand the The grasped product is picked up to identify and / or determine the size and dimensions of the item. Captures the image or data after it has been ordered (and before it is placed in the order bin 214) This information can be transmitted to a remote computer 103, The remote computer 103 then instructs the manipulator robot 200 to within a specific location in one of the order bins 214 and / or to facilitate high density packing In some embodiments, the vehicle body 2 may be instructed to be placed in a particular orientation. 02 may also allow a grasped item to be temporarily placed and then re-grasped from a different orientation. It may include features such as shelves or ledges to facilitate the placement of the grasped item and the subsequent placement of the item in its container. to facilitate packing based on the characteristics of other items with one or more manipulating a gripping tool 248 having a plurality of gripping elements 247 with gimbal degrees of freedom of The gripping elements can be adjusted relative to one another to re-grapple a previously gripped item in a desired orientation. Two or more gripping tools 248 provided on two or more robots 200 can be used. , gripping, re-gripping, packing, or any other manipulation task of one or more items (or containers) It will be appreciated that this can also be achieved.

[0083] The robotic system 100 is then used to remove the individual product items from the container 110 piece by piece. The robot 200 moves its picking arm 206 202. It can be used to grasp one or more order bins 214 and attach the bins to their own vehicle body 202 or The order bin 214 can be mounted on the chassis of another robot. Alternatively, the order bin 214 can be mounted on the excavation platform. by another device on the robot or external to the robot or by the operator. With the help of a robot, the robot 200 can be attached to the robot 200. 0 are autonomously deployed on a grid 126 and operated under the control of a remote computer 103. The remote computer 103 may be configured to control the robot, the container 110, and the product contained within the container. The remote computer 103 continuously records the position of each of the robots 200. It is further designed to efficiently control the movement of the aircraft and respond to teleoperator and autonomous commands. A series of safety checks are used to verify the safety of the robots and robotic systems described herein. This prevents the machines from colliding with each other as they move around the warehouse.

[0084] Upon receiving one or more orders, the computer calculates the current order quantity and Based on the order and the location of the products in the order, the order is sent to one or more manipulator robots. If the product is placed under one or more non-target bins 110a, In this case, the robot 200, or a separate excavation robot 205 located nearby, may 10b can be pulled to the top of the stack 112. For example, the excavation robot 205 , can place itself on the stack 112 containing the target bin 110b. The excavation robot 205 is located below the excavation robot between the vertical member 116 and the stack 112 ( Extending the excavator 207 to one or both sides of the stack, the target bin 110b and the target bin and the grid 126. Each of the grasped bins can then be used to select the non-target bins, e.g., as recipients of an excavation robot. The target vial is then lifted through the cavity and held so that it is positioned within the receiving cavity. The excavation robot 205 can then move to another stack 1 that is missing a single container. 12 and the manipulator robot 200 picks the item from the target bin. The target bin 110b at the top of the stack can be released so that the target When releasing the target bin 110b, the excavation robot 205 may release only the target bin (e.g., For example, never release the non-target bin 110a), or release the target bin and the non-target bin. Release to stack non-target bins on top of the target bins, so the bottom non-target bin is placed in the receiving cavity of the excavation robot, and other non-target containers are placed in the receiving cavity of the excavation robot. Stack the non-target bins on top of the containers, secure all the non-target bins, and then return them to their original stack. The target bin is placed in the original stack in the original order excluding the target bin.

[0085] The target bin 110b at the top of the stack 112 is then used to 3 directs the assigned robot 200 to a grip positioned on or adjacent to the target bin. The mobile assembly 204 autonomously orients the robot 200 to a first position on the platform 126. navigates the rails 122, 124, 125 to a desired position on the grid 126 The robot 200 then transitions the valve 150 to its open state, Compressed air can be received and picked up from the target bin 110b.

[0086] More specifically, as shown in FIG. 14A, coupler 222 is configured such that coupler magnet 223 disposed within cavity 143 so as to engage magnet 157 surrounding port 146 The insertion of the coupler 222 into the cavity 143 is accomplished by the tapered edges of the coupler and the cavity. In this way, the coupler 222 can be inserted into the port 146. If the coupler is slightly misaligned with the cavity, the tapered edge of the coupler will overlap the tapered edge of the cavity. It slides down and guides the coupler into proper alignment with the port.

[0087] The alignment also involves magnet 223 of coupler 222 and magnet 157 or the iron surrounding port 146. This can be assisted by a magnetic coupling between the material. The device 224 secures the plug 154 to the conduit 144 (rails 122, 123). 4, 125 (away from the upper surface 128) to resist the upward force of the compressed air while the valve 150 transitions to an open configuration, thereby allowing air pressure to If the valve is an electrohydraulic servo valve, the conductive target The pads are coupled to the valve so that they provide the power to electrically transition the valve from a closed state to an open state. Alternatively, the electrohydraulic valve may be engaged by the robot 200 or When it receives a signal from the remote computer 103, it receives a voltage from the grid 126. You can migrate by doing this.

[0088] Using a fluid supply system 138 coupled to the robot 200, the robot can used to immediately grasp the object and / or store it in the air tank 266 for later use. The pneumatic gripping tool 248 relies on suction to grip an object. In this embodiment, one or more venturi pumps 244 are pumped by a pressurized air source S. The provided compressed air is used to generate suction to operate the gripping tool 248. This can be done.

[0089] Upon arriving at the desired grid space 127, the picking arm 206 and pneumatic gripper The holding tool 248 may be moved as described above with reference to FIG. 9C or as directed by a teleoperator. 103. The robot is immediately placed in a grasping position as instructed by the remote computer 103. It is possible.

[0090] A method for gripping a product item will now be described with further reference to FIG. 15 and flowchart 500. Before the robot 200 is in the picking position, the robot 200 assumes a gripping posture. If not, the method continues at 502 by determining the amount of inventory placed in the target container 110b. It begins with a command from the processor 103 instructing the sensor 262 to acquire an image. After the manipulator robot 200 receives the selected gripping posture signal, the robot 504 executes a signal to cause the picking arm 206 to execute the selected gasping position. That is, the gripping tool 248 grips the product as directed by the processor 103. The eye approaches and contacts the product item's grip area 414. After the grip attempt, the pressure sensor (FIG. 1 3C) indicates whether the grasp at 508 is successful or unsuccessful. That is, the picking arm 206 of the robot 200 successfully picks up the product item. If the target vessel 110b can be well gripped and removed, the pressure sensor indicates that the grip is successful. The processor 103 then transmits a successful grip signal via the communication channel 104. On the other hand, the picking arm 206 of the robot 200 removes the item from the container. If the robot 200 is unable to release the item, or if the processor 103 instructs the robot 200 to release the item, If the picking arm drops the item before indicating the target, the pressure sensor characterizes the grasp as unsuccessful. and sends a failed grip signal to the processor via communication channel 104. Once characterized as such, the processor 103 can do one of the following: 1) At 510a, immediately signal the teleoperator interface 102 to (2) requesting computer intervention; or (3) determining a new or changed grasp posture in 510b. and attempt to autonomously pick up product items based on new or changed gripping postures. If the processor 103 selects to autonomously determine the gripping posture, the The above steps are repeated until the grasp is characterized as successful at 512, or This may be repeated until operator intervention is required at 510a.

[0091] FIG. 21 illustrates the process of when operator intervention is requested at 510a and the computing system 103, and an operator interface 102. Which operator interface controls the movement of the piece picking robot 200 etc. 1 shows a high-level overview of an exemplary method for controlling the operation of a piece-picking robot. 21 is a flowchart 2100. As shown in block 2102, The robot performance system 103 receives performance data from the robot. associated with inventory items stored in containers within the storage structure 114, performing tasks to manipulate or grasp the inventory items. Performance data may include inventory data that indicates how well the robot is able to manipulate or otherwise manipulate objects. A request for assistance from the robot indicating that it needs assistance grasping in another way, or Other performance statistics received from the robot, such as grasp success rate, number of consecutive failed grasps, etc. Next, the computing system 103 performs the steps shown in block 2104. The notification is sent to the operator interface 102 so that the performance data The notifications may correspond to performance data and may be sent in response to the robot's manipulation or grasping. The block may contain inventory data or other information about inventory items that perform the task. As shown in block 2106, the computing system receives a control instruction. The command is received from the operator interface and a partial pose of the grasping element of the robot is , an identified handling or gripping area on an inventory item, or a location where an inventory item can be manipulated and / or gripped. The method may include at least one of: selecting a gripping element to be used by the robot to grasp the object; The computing system then calculates the inventory item's Transfer control commands to the robot to perform manipulation or grasping.

[0092] FIG. 22 shows a system such as the operator system 102 that controls the piece picking robot. An exemplary method for controlling the operation of a mobile piece-picking robot such as piece 200 22 is a flowchart 2200 showing a high level overview of the In block 2, the system outputs one or more images of the inventory item. As shown at 104, a robot control command is received based on one or more images. The system then sends the control command to the manipulator, as shown in block 2106. Transfer to the robot.

[0093] At a more detailed level, when the processor 103 sends a signal to intervene, the signal is sent directly to The operator interface 102 may be directly or indirectly transmitted to the operator interface 102. In a state where the interface 102 is communicatively coupled to a plurality of manipulator robots 200, In this situation, each of the robots communicates with an operator interface 1 through a "broker." The broker may be part of the processor 103 or may be a separate processor. processor, and receives help requests from each robot in the queue in the operator interface. The broker performs the task of ordering requests. The broker uses a "header" to determine queue priorities. Run an algorithm to determine the "report score" or generate it robotically. Directly connect teleoperators to specific robots based on their "need help" score The algorithm measures the number of pre-grasp failures, the time elapsed since the start of the task, and the duration of the task. the level of difficulty, the level of accuracy required, the products / SKUs to be operated, the tasks to be performed (picking, This may be based on several factors, including packaging, inventory audits, and correction of other errors.

[0094] When a help request signal is received by the operator interface 102, the operator The robot 200 remotely controls the picking arm 206 and assigns the The robot can be instructed to execute the specified gripping posture to grip the product item. The operator may then input the information via an output device (e.g., a display) of the operator interface 102. can see the items on the screen and directly control the picking arm 206 of the robot 200 and the operator can control the grasping of the item by operating the input device of the operator interface. Area 414 can be grasped. In some cases, the operator can also The robot 206 displays the automated motion sequence calculated by the motion planner. In this way, the operator can be prompted to grasp the product item in combination with the The data processor can simply select pixels on the image feed that represent the gripping area 414. On the other hand, the processor 103 instructs the robot 200 to select the target object selected above with reference to FIG. 9C. Autonomously decides and commands the grasping posture to be performed.

[0095] A pressure sensor or other sensor then determines whether the grasp is successful or not, as described above in 508. The operator may additionally or alternatively The same characterization can be performed on the object. If it is determined that the product item is store information (such as email, inventory data, or other sensor or robot information) for future use The robot 200 can then store the data in the device 105 at 514. To improve the automation of the robot, it can learn to infer or predict new grasping poses. do.

[0096] No single gripping tool can optimally handle a wide variety of inventory. The bot 200 may decide to switch gripping tools autonomously or teleoperated. The gripping tool 248 can be directed by the type of task or product type (each bin (which may be determined by a remote computer through inventory tracking of product types within the analysis of the data, and / or related to the successful selection of that product or similarly constructed products The selection may be based on the results of historical data collected from the remote computer 10. 3 or the operator may instruct the manipulator robot 200 to assign a particular gripping tool 248 A picker that can engage the gripping area 414 of the item with minimal leakage between the gripping tool and the surface of the item. The nucleotide sequence can be directed to bind to the nucleotide sequence of ...

[0097] 9F and 13A, the robot 200 or teleoperator may If the robot determines that it is desirable to switch between picking arms 248, 06 to move the picking arm within one of the retainers 260 of the tool holder 258. 2. Place the groove 249 and / or sidewall 251 of the gripping tool attached to the The picking arm 206 is retracted or moved upward to release the magnetic field of the picking arm. The stone 246 can be detached from the magnet 254 of the gripping tool 248. The arm 206 is placed over another gripping tool located in a tool holder 258, The picking arm is moved laterally to move the coupled gripping tools to their respective retainers 260. The picking arm can be magnetically coupled to other gripping tools before sliding out. However, replacing gripping tools such as push-pull or twist-lock connections is possible. Other mechanical mechanisms for picking the object may be used, and the picking arm 206 of the robot 200 may be The cutting of the first gripping tool in the tool holder 258 and the cutting of the second gripping tool in the tool holder It will be appreciated that the connector may be operated in any manner that facilitates connection of the connector.

[0098] When the gripping tool 248 comes into contact with the product item, suction is applied to grip the product. , the lip 252 of the gripping tool deforms and conforms to the surface of the product. 8 and / or the compliance of the picking arm 206 when contacting the product The lack of a sensing system or grasping algorithm to place the tool in a better grasping position Next, with the product grasped, the picking arm 206 picks the target product. from the container 110 and optionally place or vibrate / scan the product in front of the scanner 264. Rotate and check the bar placed on the target product to ensure the correct product is gripped. The user must scan an identifier such as a code or RFID and / or release the product. The picking arm can be notified about the order bin 214 that is being picked. One is to collect more data related to product size and dimensions and share this information with the communication channel. The image data can be transmitted to a remote computer 103 via a channel 104 .

[0099] In some cases, the remote computer 103 may be autonomously directed or may be The operator manually instructs the picking arm 206 to place the picked item in the order bin 2. 14. The gripping The tool 248 and / or other elements of the gripping tool can be used to grasp a specific position within the bin 214. The product may be forced, sprayed, or otherwise manipulated into a position or orientation. In this way, subsequently picked items may utilize smaller order bins. This allows for efficient packing into order bins 214 by a single robot. This increases the total amount of order bins that can be transported, which in turn increases the throughput of the system. This disclosure primarily focuses on implicitly or explicitly analyzing images to predict grasp poses and identify grasp areas or executes machine learning algorithms and policies to determine the desired grasping element / tool Although this document describes a processor (remote or on-board) configured to The server may implicitly or explicitly analyze images of the order containers 214 to determine the packing orientation, the size of the order bin, Further, the method may further include determining a desired packing area or a desired packing tool that facilitates high density packing. It should be understood that similar algorithms and analyses may be used to perform other operational tasks. Finally, the teleoperator can provide a visual aid to these images and / or respond to them. Data commands are recorded as being associated with specific operational tasks for future use. The robot 200 can then perform the manipulation task (e.g., can learn to guess or predict how to perform a task (e.g., grasping or packing) .

[0100] After the robot 200 sequentially picks up each of the products corresponding to a particular order, The bins 214 may be used to store, for example, shredded or unshredded items for further processing, sorting, packaging, and / or shipping. The items may be transported from the storage structure 114 via a hoist 121 and associated conveyor belt. When the robot 200 performs the task of picking orders for multiple consumers at once, The bot 200 may begin picking the order of the first consumer before picking the order of the second consumer. It is not necessary to pick all the products involved. In fact, the remote computer can In order to facilitate tight packaging of items, regardless of the consumer who ordered the product, Direct picking of items based on their location.

[0101] FIG. 16A shows a mobile manipulator robot 600 (hereinafter referred to as a mobile manipulator robot) according to another embodiment of the present disclosure. Below, we show a robot (sometimes called a "manipulator robot" or "robot"). Manipulator robot 600 may perform any of the functions described above in connection with robot 200. The robot may include any of the following functions and any of the additional functions described below: The common features between the robot 200 and the manipulator robot 600 are described in detail below. Instead, such functionality is described in relation to manipulator robot 600. When a function is used, it is simply referred to by its corresponding 600 series number. The data robot 600 includes a mobile assembly 604 and a picking arm 606. These are the mobile assembly 202 and the pin assembly 204 in relation to the manipulator robot 200. Each can be configured as described above with respect to locking arm 206.

[0102] Manipulator robot 600 includes a body 602 that may be formed from four side walls 608. The manipulator robot 600 has a body 602 with an open or closed bottom end 610 and an open The sidewalls 608 may have an open or closed top end 612. The sidewalls 608 are preferably It is sized to have a footprint of lid space 127. When the robot 600 is positioned on the horizontal grid 126, the two opposing side walls are spaced apart by X The two rails 122 are arranged on two adjacent rails 122 extending in the direction of the arrow, while the other two opposing side walls are disposed on two adjacent rails 124 extending in the Y direction. The body 602 of the bot 600 has a footprint larger than a single grid space 127. For example, the body 602 of the robot 600 may have a 1×2 grid space, a 2× It can have a footprint equal to 2 grid spaces, 3x3 grid spaces. Hardware and other components can be stored within the body cavity. For example, the cavity in the body 602 may contain a small air tank and / or a relatively small Contains a suitable battery 667 or super / ultra capacitor and / or heating element It is possible.

[0103] The picking arm 606 of the robot 600 connects the battery 667 to the conductive contacts 669. In this regard, when the battery 667 is low, King arm 606 disconnects the battery from conductive contacts 669 and places the battery in the charging state. The picking arm 606 can then be placed in a charging station (not shown). Grab the charged battery from a power supply (not shown) and connect the charged battery to a conductive Connect the power cord from a charged battery or super / ultracapacitor by contacting point 669. The battery pack can also transfer power to the various drive mechanisms of the bot. The backplane 606 can be "swapped" or replaced without the backplane 606. The Terry Pack moves the robot 200 in a first direction to place the battery in the "battery exchange port." the battery (not shown) so that it is safely engaged with the battery and the robot is Battery replacement in a way that allows you to drive away from the battery replacement port without The replacement can be performed by manipulating the robot into the port. After the battery 667 engages the battery exchange port, the plunger of the post mechanism can be extended. This then lifts the body of the robot, causing the battery to contact its conductive contacts 66 9. Alternatively, use the robot's on-board or external battery exchange mechanism. You can also replace the battery pack.

[0104] The container collection device(s) 668 may be permanently attached to the vehicle body 602 or , or detachably coupled. In other words, the manipulator robot 600 ,Container collection devices can be added or removed autonomously as needed, and at any time It is possible to carry four container collection devices from (as shown in Figure 25). If the manipulator robot 600 includes multiple container retrieval devices, Use the system to simultaneously carry multiple order bins or perform multiple excavation operations (e.g. , including returning a previously extracted vessel to the stack), and / or a combination of the foregoing. This can be done.

[0105] The container collection device 668 is attached to or connectable to the vehicle body 602. A pair of opposing support arms 670 and a wheel designed to engage and secure the container 110. 16B, the hoist plate 672 includes , a container having an open side, and a picking arm 606 secured by a hoist plate. It defines openings 674 extending through its upper and lower surfaces to allow access to the interior. The opening 674 preferably allows the hoist plate 672 to hoist the stack 11 of containers 110. 2. The outer periphery of the container 110 is slightly larger than the outer periphery of the container 110 to allow the container 110 to slide around the container 110. In this regard, the hoist plate 672 is lowered along the stack 112 of containers 110. The stack of containers autonomously aligns the hoist plate laterally relative to the containers.

[0106] The hoist plate 672 is connected to the spool, hoist, or wrench of the container retrieval device 668. A cable 676 connected to a take-up mechanism 678, such as an inch, holds the support arm 67 0 and suspended from the support arm 670. 670 and is wound, unwound, or wound in the z direction relative to the support arm. The top plate 672 can be adjusted. mechanism to measure the distance that the hoist plate 672 moves in the z direction. The spool or take-up mechanism also includes a container supported by hoist plate 672. To measure the weight of the container 110 or when the container 110 is in contact with the stack 112 Alternatively, the cable 676 or the support may include a torque sensor 682 for detecting The arm 670 may be equipped with a load cell, force sensor, strain gauge, or other device to detect the weight of the container. The container may include other sensors configured to detect when the container is being hoisted by the hoist plate 672. Autonomously perform inventory audits while being lifted or held by the Determine or confirm the number of product items dispensed, or if a container is low on a particular product type and needs to be replenished Similarly, sensors can be used to determine when a manipulator needs to move. bot 600 lifts one or more containers with a total load greater than it can handle You can be sure that they won't try to give up.

[0107] The hoist plate 672 interfaces with the top and / or one or more sides of the container 110. For example, the hoist plate 672 is adapted to engage and grip the container. a slidable or pivotable hook 686 engageable with the rim of the vessel 110 and / or the vessel; 24) formed in the rim or side of the The hooks are engaged with the container 110 by a suitable drive mechanism housed within the plate 672. This can be achieved by cable 676, a separate control cable (not shown), or It may be powered and controlled by signals carried over cable or wirelessly. Cable 676 provides power and electrical signals between hoist plate 672 and support arm 670. For transmission, it can be made from conductive metal strips.

[0108] The container retrieval device 668 includes a hoist plate for aligning the container with the top of the container 110. The camera may further include a sensor 688, such as a camera, depth imager, or similar device. The sensor can use a marker such as an AR tag or a barcode on the container 110. or alternatively, use features of the container itself to facilitate proper alignment. The sensor 688 is preferably located on the hoist plate 672. may be placed on the support arm 670. In addition to facilitating alignment, the camera , images of adjacent grid spaces can be acquired continuously, and then the manipulation As the robot 600 traverses the grid 126, it is stored in an adjacent storage container. These images can then be remotely retrieved over the network 104. processor 103 to assist in inventory audits or to allow the manipulator robot to manipulator before reaching the target vessel 110b to increase the throughput of the system. One grasping posture of the robot can be predicted. Furthermore, the sensor 688 can be used to Continuously tracking items in order bins 214 supported by hoist plate 672 In this way, inventory items related to multiple orders can be stored in a single, undivided location. If the item is contained within a new order bin 214, the item can be continuously tracked so that the processor can It is possible to know which order an item is associated with, thus eliminating the need to scan each product line item. However, you can later break down the items into individual orders.

[0109] The container retrieval device 668 is detachable from the body 602 of the manipulator robot 600. In an embodiment, the manipulator robot may be coupled to a processor 103 or Upon receiving a control command from the operator interface 102, the first hoist plate and connecting one container collection device having a hoist plate with another container collection device having a different configuration of hoist plate. Each container collection device has its own motor, actuator, and It has a set of actuators, sensors, processors, circuits, batteries, and power systems. and an electromechanical interface configured to transmit a mechanical load and electrical communication. 16A and 16B can be used to couple to the body 602 of the robot 600. The container retrieval device 668 with hoist plate 672 shown in FIGS. 1 and 16B is 6C or 16. 16D and 16E, with a container retrieval device 694 equipped with a hoist plate 696. The hoist plate 692 can be replaced with the hook 6 of the hoist plate 672. 86) each of which is shown and described with reference to FIG. 13C. and may be configured similarly to the suction cups described above to engage and lift boxes, cartons, etc. .

[0110] Hoist plate 696 can be similar to hoist plate 668 and can be extendable. and one or more suction cups attached to the plate by retractable arms 698. The arm 698 can also be configured to move the hoist plate in the X and Y directions. The hoist plate 696 can be lowered and the arm 698 can be extended. 16D), target containers 110 located at any depth within the storage structure 114. b, a non-target container 110a is placed above the target container by freely arranging suction cups with multiple degrees of freedom. It is understood that individual items can be grasped and picked from the target container unless the container is placed The arm 698 is positioned so as not to interfere with the hoist plate 696 that engages the container 110. 16E (e.g., upward in the z direction) to .

[0111] Any of the above hoist plates may be equipped with additional sensors (e.g., temperature sensors, thermal cameras) , humidity sensors, etc.) to monitor storage conditions within various sections of the storage structure 114. and the sections adjust appropriately based on the product type stored in that section. It can be confirmed that

[0112] The body 602 of the manipulator robot 600 can be moved from one or more container retrieval devices. It includes a payload management system designed to transfer payloads from the aircraft to the vehicle chassis. The payload management system must be non-back-driveable or have mechanical brakes. Use a key to de-energize the actuator while holding and transporting the bottle. Alternatively, the robot may rely on one or more actuators that allow The container is held by the hoist mechanism using a separate, non-back-driveable container engagement mechanism on the body. The container can be engaged while the device is in place.

[0113] Container retrieval device 668, or any of the other container retrieval devices mentioned herein. or a pair of opposing arms 770 designed to directly engage and secure the container 110. 16F). The container retrieval device 768 is instead permanently attached to the manipulator robot. Each arm 770 may extend laterally away from the vehicle body so that the hook can strike the target. The distal end of the arm, which may be rotatable or pivotable to surround and engage the container 110b. The arm 770 may include a hook or latch 772 at its distal end. 16F. The storage structure 114 may be placed in a warehouse (e.g., on the side or is designed to extract the target container from a shelf located on another shelf (any other shelf located within the warehouse) will be done.

[0114] Manipulator robot 600 is operated as described above with respect to robot 200. The use of the manipulator robot 600 is now with respect to the container retrieval device 668. To retrieve the target vessel 110b from the stack 112, only the manipulator The robot 600 moves around the grid 126 to locate the stack containing the target vessel 110b. The container retrieval device 668 is then placed on the hoist plate 672. The plate is adjacent to a non-target vessel located just one level above the target vessel 110b. Each non-target container 110a (if any) is passed through opening 674 until it is positioned The hoist plate 672 can then be lowered by the rewind cable 676. Once at the proper height, the hook 686 is positioned just one level above the target vessel 110b. 689 or its non-target container. It engages with other features of the target container to secure the container to the hoist plate.

[0115] Next, each of the non-target containers 110a placed above the target container 110b is A non-target container (a container fixed to a hoist plate) is placed between the support arms 670. The cable is wound upward until the hoist plate 672 lifts the The manipulator robot 600 can then be driven to a position on any other stack. The hoist plate can be rotated to release each of the non-target bins it is carrying. Port 672 is three-sided (e.g., has an open side) so that manipulator robot 60 0 indicates that the robot will not move even if one or more containers are located on the grid 126. Release all non-target containers 110a being carried and move the released non-target containers. This would not be possible if the hoist plate 672 were completely enclosed. Any of the hoist plates or drilling rigs described herein may include hoist plate 672 It will be appreciated that the manipulator robot 600 may have an open side similar to that of the After releasing the stack of non-target containers 110a, the manipulator robot (or another robot) The manipulator robot can retrieve the target vessel 110b from the stack. The bin 600 is picked from the target bin and transported by a robot or by other means. Before placing the grasped item in a nearby order bin, the robot The items are then directly transferred to the order bin secured by another container collection device 668 held by the Picking or placing the target bin 110b on top of another stack can.

[0116] Alternatively, the manipulator robot 600 can lift the target bin 110b and The single lift extraction can extract both the non-target and non-target bins 110a. Lower the hoist plate 672 around each of the target bins and fasten the hoist plate latches 6 86 is secured to the target bin, and the target bin is then secured between the support arms 670 (e.g., a container retrieval device 668) and non-target bottles are placed above the container retrieval device. This can be achieved by lifting the hoist plate until the manipulator is seated. The robot 600 then moves its container retrieval device 668 to lower and release all containers. Before, exactly one container can be placed on top of another stack of containers that lack A target container 110b is positioned directly below the grid 126 (e.g., it can be picked). At the top level, each of the non-target containers is placed on top of the target container and stacked on top of the grid. The hoist plate 672 then moves the non-target container 110a above it. and move the non-target container to any other stack, which also Also, the amount of containers secured by the manipulator robot 600 is greater than or equal to the amount of non-target containers secured by the manipulator robot 600. In other words, the manipulator robot 60 0 is optional, even if one or more containers are placed on the grid, and non-target Each of the containers can be released simultaneously because the opening of the hoist plate 672 The release side is when the manipulator robot 600 is released to perform other tasks. This allows the manipulator to be driven away from the non-target container 110a. If the data robot 600 has multiple container retrieval devices 668, the container retrieval devices , the excavation operations can be performed independently or simultaneously (as shown in FIG. 24).

[0117] In a variant embodiment, the manipulator robot is a manipulator robot 200 and a manipulator robot 201. It may include any and all of the features of manipulator 600, as described below. The details of the pneumatic system are as follows. This variation is shown diagrammatically in Figure 17. In this variation, the robot relies on air pressure from the storage structure. Instead, the robot uses a modified pneumatic system coupled to the robot's body. The pneumatic system may have a single layer or single suction cup or modified gripping mechanism. A first vacuum 302 and a second vacuum in selective communication with a gripping tool, such as gripping tool 348. The first vacuum 302 may have a high flow rate (large volume per minute). The second vacuum 304 may be a vacuum with a pressure of 1000 W or less (capable of displacing the air in the atmosphere), while the second vacuum 304 may be a vacuum with a pressure of 1000 W or less (capable of displacing the air in the atmosphere). It may be a powerful vacuum generator that can generate a larger pressure difference with the (This increases the payload or force that the suction cup can hold). The pneumatic system 300 also , two valves 306a, 306b (collectively "valves 306"), e.g., servo valves, This involves the application of first and second vacuums to the gripping tool 248 or modified gripping tool 348. The valves can be switched between an open and a closed state to control communication therebetween.

[0118] As shown in FIG. 18, the modified gripping tool 348 includes a first suction cup 308 and a second suction cup 308. The first suction cup may include two suction cups 310, which may be concentrically arranged within the first suction cup. 308 and second suction cup 310 are otherwise as described above with respect to the suction cups of gripping tool 248. The same is generally formed as above and therefore will not be described in detail again. The only difference is that The modified gripping tool 348 has dual suction cups as opposed to the single suction cup of gripping tool 248. The first vacuum 302, or high flow vacuum, is the first suction cup 30 8, while a second vacuum 304, or high pressure vacuum, can be selectively connected to the second The manipulator robot 200 and the manipulator Any of the battery exchange mechanisms described with respect to the robot 600 may be used in conjunction with the single Even single or double layer vacuum systems (or on-board compressor systems) require external manipulator robot 200 or manipulator that accesses a pneumatic supply from a It uses significantly more batteries than the robot 600 and is equipped with a pneumatic system 300. It is emphasized that it can be incorporated into a transforming robot.

[0119] The use of the pneumatic system 300 allows the transforming robot to As previously described for the robot 600, the robot will be operated in other ways, so we will only discuss it with respect to the grasping task. Before gripping the product, the valve 306a is moved to its open position to release the first suction cup. When the first suction cup 308 correspondingly deforms to conform to the surface of the target product, After the initial sealing is initiated, the valve 306b is opened. By shifting the vacuum to the high pressure vacuum line 304, the high pressure suction force This allows the picking arm to carry a larger payload than would be possible with high flow vacuum alone. In this way, a firmer grip can be provided. Of course, valve 3 Both 306a and 306b are used during the initial grasping of the target product and when the robot Alternatively, valves 30 can be set in their open position until it is desired to release them. 6a and 306b can be moved back and forth and in the open position to achieve the desired grip of the target product. , closed, and partially closed states.

[0120] Two relatively small vacuum sources, a high flow vacuum and a high pressure vacuum, are used to create the initial seal. to reduce the physical size of the vacuum by creating a tight grip on the product. Therefore, there is no need to dramatically change the robot's body. and stored in the storage structure 114 or frame structure 14 discussed with respect to the prior art. You can pick out the selected products.

[0121] FIG. 19 illustrates a variable speed storage system configured to efficiently store multiple stacked containers 110'. FIG. 1 is a perspective view of a modified robotic system 100′. ' includes all of the above features of system 100 as well as additional features described below. For example, additional rails 122', 124', 125' are provided on the grid 126 (manipulator robot 200, manipulator robot 600 and / or excavator robot 205 and may be used alone or in combination with additional support members to support the gantry frame. This allows the picking arm 206' to move around the gantry frame. and pneumatic gripping in a manner that allows for piece picking of inventory from the container 110'. Supporting one or more robotic picking arms 206' with tools 248'. In this way, compressed air is directed to the rails 122', 124', 125' and / or through an additional rail to a picking arm 20 for picking products from the container 110'. 6' to the pneumatic gripping tool 248'. 25', or an additional support member disposed above the grid, may also be provided. Alternatively, it may include a plurality of valves, and the valves may be connected to the manipulator robot 200 or the manipulator robot. The robot has access to 600 (arranged on a grid) and is manipulator robot. The robot or manipulator robot 600 can be selectively coupled to a pneumatic supply system. To do so.

[0122] Alternatively, the robot's picking arm 206' is fixed to a frame above the grid. The excavation robot 205 or another bin-carrying robot may place the target container 110' in a fixed position. The item may be transported to a king arm, which may then grab the desired item and transport the grabbed item to a transporter. - can be placed in an order bin carried by a robot. In this way, the container 110' There is no need for transport back and forth down the port from the sorting station.

[0123] FIG. 20 illustrates yet another embodiment of a storage system configured for efficient storage of multiple stacked containers. 1 is a perspective view of an alternative robotic system 100 ″. This includes all of the above features of the Internet system 100 and additional features described below. manipulator robot 200, or another manipulator robot such as manipulator robot 600. The data robots are placed in stations on the grid 126 (e.g., configured to move only within a specific area of ​​the grid, or otherwise positioned or These robots may be configured to move around the warehouse 101. Permanently or selectively coupled to a supply line 140 ′ hanging from a structure such as or otherwise extend toward the surface of the grid 126 or the warehouse floor, are placed on a grid, or off-grid in a warehouse, e.g. on the warehouse floor. If so, it may provide access to an air supply. The line 140'' may be a drag line, for example, to manage cable slack in the supply line. Retracted via a chain cable carrier, cable reel retractor or similar device The supply line 140'' can be connected to the manipulator when the robot is coupled to the supply line. The robot may further include a power cord or other mechanism to provide voltage to the robot. The container handling robot, such as the cutting robot 205 or the robot 600, is As explained above with respect to 00, inventory is picked from the bin and placed in order bin 214, etc. Before being placed in other containers, manipulator robots placed within a specific area of ​​the grid The container 110 can be transported to the site.

[0124] Referring to FIG. 23, the manipulator robot may leave the grid 126 and move to other areas of the warehouse. Located in the area of, handling product and / or picking pieces and / or packing When facilitating other tasks such as packaging, non-packaging, manufacturing, or production tasks, compressed air is It can also be provided to a manipulator robot such as robot 200 or robot 600. For example, it will be understood that the compressed air supply line may be Within the shelves and / or warehouse floor, as long as one of the robot's couplers is accessible and / or a line extending downward from a structure above the robot towards the robot can be provided in the hose. In this way, the robot can be driven from the grid 126 , picking inventory from shelves and / or picking at picking / sorting stations When assisting with other fulfillment tasks such as packing sorted inventory, the robot uses pneumatic tools. The robot has access to a pneumatic supply to operate the controls. The system can be used in different areas of the warehouse to perform different order fulfillment tasks, allowing for arbitrary It can be driven in any direction, and is equipped with a large on-board air compressor and Permanently tethered to flexible supply lines that may become entangled with other supply lines during transport. There is no need to be afraid.

[0125] FIG. 26 is a flowchart 2600 illustrating steps in an exemplary order fulfillment process. As shown in block 2602, the inventory is transported to a warehouse dock door. The containers arrive at a warehouse, such as warehouse 101, via truck. The containers are delivered manually or by truck. The robotic system in the At block 2606, a conveyor or another operator places the container in warehouse 1. 01 and any of the robots described herein can be used to retrieve their containers. The vise is used to pick the container and place it in the These can be transported to different desired areas of the warehouse. To ship items from the warehouse, In other words, the containers are transferred to the conveyor by the robot's container collection device. It is then transported to a truck.

[0126] FIG. 27 is a flowchart 2700 illustrating steps in another exemplary order fulfillment process. As shown in block 2702, the truck delivers inventory to a warehouse, such as warehouse 101, Arrives under a frame or "grid" structure similar to grid 126 above. The rack may be fitted with a convertible top, a floor that can be moved relative to the top, or a removable pallet. At block 2704, the truck removes its top. Remove, move the floor relative to the top, or otherwise disassemble the pallet, pod, or the shipping container can be exposed. Then, the container retrieval device described herein 2706, wherein any of the robots having to retrieve containers directly from the truck bed, pallet, pod, or shipping container. Again, the reverse steps are performed to ship the item from the warehouse. Specifically, the robot carries the container from the warehouse to a grid on the truck and then transfers the container to the truck. It can be unloaded directly onto the loading platform.

[0127] To summarize the above, a storage system for robotic picking consists of a support member, a moving a first set of parallel rails for supporting the manipulator robot; a fluid supply line; and a storage structure including a plurality of valves disposed in the fluid supply line, each valve The closed state where the line is isolated from the external environment and the fluid supply line is connected to the mobile manipulator The fluid supply line is connected to the external environment so as to supply fluid to the robot. and / or

[0128] The storage structure includes a second set of parallel rails extending substantially perpendicular to the first set of parallel rails. wherein the first set of parallel rails and the second set are spaced apart by a plurality of grid spaces. forming a grid with holes; and / or

[0129] The grid is a first grid and the plurality of grid spaces is a first plurality of grid spaces. If the storage structure is a third set of parallel rails and a third set of parallel rails The system may further include a fourth set of parallel rails extending substantially perpendicular to the third and fourth sets of parallel rails. The fourth set may form a second grid that is higher than the first grid, and the third set may form a third grid that is higher than the first grid. The second grid may have a plurality of second grid spaces. The ramp can connect the first grid and the second grid, or can be used to access the elevator. The data converter may connect the first grid and the second grid; and / or

[0130] The storage structure may include a fluid source in fluid communication with the fluid supply line, the fluid source being a pneumatic source. and / or

[0131] The fluid supply lines may be attached to an outer surface of the first set of parallel rails; and / or teeth

[0132] The fluid supply lines are embedded within the first set of parallel rails and extend longitudinally therethrough. a plurality of conduits adjacent to the channel and the surface of the first set of parallel rails; and / or

[0133] At least one of the plurality of valves is disposed at least partially within a respective one of the conduits. and / or

[0134] At least one of the plurality of valves may include a biasing member coupled to the plug, such that the valve is in a closed state. When in the biasing position, the biasing member may bias the plug into the port; and / or

[0135] The storage system includes a mobile manifold for picking inventory items stored within the storage structure. The robot may further include a robotic robot, the robot being coupled to the body and configured to a mobile assembly configured to guide the movement of the robot along parallel rails; and a valve sized to receive fluid from the fluid supply line. equipped with a sized and configured coupler and a pneumatic gripping tool for picking inventory items. and / or

[0136] The first set of parallel rails is configured to receive voltage from a live or grounded power source. and / or

[0137] Some conductive metal surfaces are coated to prevent the transmission of voltage through the coated surface. , anodized or otherwise coated.

[0138] A mobile manipulator robot for retrieving inventory is also provided, and stores processor-readable data. to transmit data to a central processor and receive processor-executable instructions from the central processor. a body having an interface configured as described above; a mobile assembly coupled to the body; a coupler matable with the port for receiving a fluid supply from the body supply line; The picking arm is designed to pick inventory items. and / or

[0139] The robot may further include a tool holder attached to the body, The holder may have multiple retainers; and / or

[0140] The robot may further comprise a second pneumatic gripping tool having a different size, configuration, or material than the first pneumatic gripping tool. The pneumatic gripping tool may further include two pneumatic gripping tools, the first pneumatic gripping tool and the second pneumatic gripping tool. The tool is interchangeably coupleable to the picking arm and is one of the plurality of retainers. may be acceptable to one of them; and / or

[0141] The first pneumatic gripping tool may have additional tool elements; and / or

[0142] The robot is connected to a ventilator located downstream of the coupler and upstream of the first pneumatic gripping tool. and / or

[0143] The robot further includes a conductive contact configured to receive a voltage from the charged surface. and / or

[0144] The mobility assembly includes a plurality of wheels, a motor, and a motor for connecting the motor to the plurality of wheels. The motor may include a transmission operatively coupled to each wheel, and the motor may control the orientation of each wheel. The wheel may be arranged to control rotation between a first orientation and a second orientation. simultaneously rotatable; and / or

[0145] The robot can determine the gripping area of ​​an inventory item by measuring the surface shape, surface texture, and a sensor for collecting inventory data relating to at least one of color or porosity. and / or

[0146] The first pneumatic gripping tool may be a suction cup; and / or

[0147] The robot may further include an air tank coupled to the body, the air tank comprising: two may be less than 0 cubic feet; and / or

[0148] The inventory can be stored in a container having a height, and the picking arm can pick up the inventory by adjusting the height of the container. The end effector may have a vertical stroke that is at least twice as long as the vertical stroke. and / or

[0149] The picking arm includes a base member connected to the main body, a horizontal extension connected to the base member, and a a vertical extension connected to the horizontal extension; a vertical member connected to the vertical member and movable relative to the vertical extension; positioning arms, as well as springs, back-driveable actuators, force-controlled actuators, or a suitable gripping element may be attached to the positioning arm. Together, they can provide passive or active compliance.

[0150] An order fulfillment system is also provided, which is configured to process inventory stored in containers or on shelves. A mobile manipulator capable of moving in two dimensions within a storage system for picking items The mobile manipulator robot includes a body and a wheel coupled to the body. The wheel assembly includes a plurality of wheels and a body within the storage system. and an actuator for moving the wheel assembly, and a body disposed on the wheel assembly. a sensor for determining the location of the body relative to the storage system and processor-readable data wirelessly transmitting to a remote processor and wirelessly receiving from the remote processor processor-executable instructions an interface configured to receive an image of the inventory item; and an imaging device for acquiring an image of the inventory item. and a device, the imaging device being configured to collect inventory data. a picking manipulator coupled to the body; The controller is a picking manipulator with at least three degrees of freedom and a picking manipulator with a first pneumatic gripping element and a second pneumatic gripping element coupleable to the pneumatic gripping element; At least one of the first pneumatic gripping element or the second pneumatic gripping element is formed of a compatible material. Each of the first pneumatic gripping element and the second pneumatic gripping element is a tertiary pneumatic gripping element. It can be moved by the picking manipulator in the original workspace and can be placed in one or more containers. a first pneumatic gripping element and a second pneumatic gripping element for accessing and gripping an inventory item stored on one of the shelves; and a second pneumatic gripping element, and one of the first pneumatic gripping element and the second pneumatic gripping element a coupler having a mating end in fluid communication with at least one of the valve and selectively engage at least one of the first pneumatic gripping element or the second pneumatic gripping element; and the system is configured to access a pneumatic supply for operating the coupler mating. the end of the first pneumatic gripping element or the second pneumatic gripping element. configured to selectively place one of the pneumatic gripping elements in communication with the pneumatic supply; and / or

[0151] The first pneumatic gripping element and the second pneumatic gripping element are mounted on the picking manipulator. and / or

[0152] The picking manipulator includes a first pneumatic line in communication with the first gripping element; and a second pneumatic line in communication with the second pneumatic gripping element, The valve may be isolated from the first pneumatic line; and / or

[0153] The first pneumatic gripping element may be disposed on the first tool, and the second pneumatic gripping element may be disposed on the second tool. and / or may be located on a second tool different from the first tool.

[0154] The picking manipulator picks up the first tool and the second tool. and / or

[0155] The picking manipulator is connected to the first tool and the second tool via a mechanical connection. may be selectively and removably connectable; and / or

[0156] The system includes a first retainer for holding the first tool and a second tool, respectively. The tool holder may further include a tool holder having a first tool and a second tool retainer. The tool is accessible to the robotic picking manipulator and can be picked up. may be interchangeably connectable to a manipulator; and / or

[0157] The tool holder can be coupled to the body of the mobile manipulator robot. and / or

[0158] At least one of the first pneumatic gripping element or the second pneumatic gripping element is a suction cup. Possibly. and / or

[0159] At least one of the first pneumatic gripping element or the second pneumatic gripping element is a pneumatic and / or

[0160] of the picking manipulator or the first pneumatic gripping element or the second pneumatic gripping element The components that combine one into a picking manipulator are springs, back-driveable actuators, and and / or

[0161] The body includes a robotic arm configured to engage and move the container into a receiving cavity of the robot. and / or

[0162] The processor-executable instructions include instructions for selecting a pneumatic gripping element for manipulating an inventory item. , instructions to manipulate inventory items, instructions to grasp inventory items, or instructions to pack inventory items and / or

[0163] The system further includes a teleoperator interface for generating control commands. and / or

[0164] The wheel assembly is configured to move along a first profiled track extending in a first direction. and a plurality of wheels configured to guide movement of the body through the / or

[0165] The plurality of wheels have a second profile extending in a second direction substantially perpendicular to the first direction. The device may be further configured to guide movement of the body along the guided track. / or

[0166] The robot is downstream of the coupler and the first pneumatic gripping element or the second pneumatic gripping element may further include a venturi pump disposed upstream of at least one of and / or

[0167] The robot may further include a conductive contact for receiving a voltage from the charged surface. and / or

[0168] The system may further include one of the container or the shelf, the container or the shelf having a height; The first pneumatic gripping element grips the inventory item with the mobile manipulator robot. and / or

[0169] The robots are designed to retrieve inventory items stored within a grid-based storage system. The grid-based storage system may be configured to accommodate stacks of vertical containers. a frame placed on the first cell; and a grid placed on the frame, The first set of parallel rails and the second set of parallel rails are arranged so as to collectively define a grid space. a first set of parallel rails extending in one direction and a second set of parallel rails extending in a second direction substantially perpendicular to the first direction; and a second set of parallel rails extending from the first set of parallel rails. wheel assemblies along a first set of parallel rails and a second set of parallel rails a grid that may have a profiled track to guide the movement of the inventory items; A plurality of containers configured to be stacked on top of each other to form a plurality of vertical pipes. Vertical stacks can be formed, with each vertical stack located below its respective grid space. Multiple containers that can be placed in a single frame or grid can be combined into one an air pressure supply line; an air pressure source in fluid communication with the air pressure supply line; and A plurality of valves capable of fluid communication, each valve is configured to isolate a pneumatic supply line from the external environment. In the closed state, the pneumatic supply line communicates with the external environment, and the first pneumatic gripping element and the second pneumatic gripping element are connected to each other. a mobile manipulator robot to operate at least one of the pneumatic gripping elements of the and a plurality of valves, each valve having an open state configured to supply air to the nozzle. and / or

[0170] The robot can move the valve from a closed state to an open state mechanically, magnetically, electrically, or wirelessly. and / or

[0171] The first set of parallel rails and the second set receive voltage from a charged or grounded power source. and / or

[0172] The air pressure supply lines are embedded inside the first set of parallel rails and run along their length. The plurality of conduits may include a channel extending from the first set of parallel rails adjacent to the channel and the surface of the first set of parallel rails. Each of the plurality of valves may extend between adjacently arranged ports. , may be at least partially disposed within a respective one of the conduits; and / or

[0173] The channel may extend continuously for a distance of about two grid spaces or more; and / or

[0174] At least one of the plurality of valves may include a biasing member coupled to the plug, such that the valve is in a closed state. When in the biasing position, the biasing member may bias the plug into the port; and / or

[0175] Each grid space consists of four rail sides and four and at least one of the four rail sides or one of the four corners. may include one of the valves; and / or

[0176] The air pressure supply lines may be attached to the outer surface of the frame or the outer surface of the grid. and / or

[0177] The air supply lines are surface mounted, away from the grid and accessible to the coupler. It can be done.

[0178] An order fulfillment system is also provided, which uses the A mobile manipulator robot that can move within a warehouse is included, The vehicle includes a body and a wheel assembly coupled to the body, the wheel assembly including: A wheeled assembly including a plurality of wheels and an actuator for moving the body within a warehouse. an assembly and a sensor for determining the location of the body relative to a warehouse in which the body is located; wirelessly transmitting processor-readable data to a remote processor and from the remote processor to the processor; an interface configured to wirelessly receive executable instructions and an image of an inventory item; an imaging device for acquiring the inventory data; and a picking manipulator coupled to the main body. Therefore, the picking manipulator has at least three degrees of freedom. a first pneumatic gripper formed of a compliant material and connectable to a picking manipulator; a first pneumatic gripping tool configured to pick a target object within the three-dimensional workspace; a first pneumatic gripper movable by the gripper to access and grasp the inventory item; a holding tool; and a container retrieval device connectable to the body and having a container receiving space, The container retrieval device includes a hoist having a top surface, a bottom surface, and openings extending through the top and bottom surfaces. the hoist plate is extendable in a direction perpendicular to the body and is adapted to receive the container; a container retrieval device that engages and moves with the container within the receptacle space; and / or

[0179] The container retrieval device may include a set of latches or hooks for engaging the container. The hook or hoist plate may be slidable or pivotable relative to the hoist plate. and / or

[0180] The hoist plate may have an open side; and / or

[0181] The system further includes a second pneumatic gripping tool that can be coupled to the picking manipulator. a second pneumatic gripping tool for accessing and gripping the inventory item; and / or

[0182] The mobile manipulator robot includes a first pneumatic gripping tool and a second pneumatic gripping tool. a tool having a first retainer and a second retainer for holding a respective one of the wheels; and / or

[0183] The mobile manipulator robot is equipped with an imaging device or a picking manipulator. The pick-up may further include an on-board processor in communication with at least one of the The manipulator receives processor-executable instructions from a remote processor, or or upon execution of instructions from an on-board processor, a first pneumatic gripping tool and a second pneumatic gripping tool. and / or may be configured to interchangeably couple to two pneumatic gripping tools.

[0184] The system may further include a storage structure and a plurality of containers for storing the inventory items. and / or multiple containers may be arranged in a vertical stack within the storage structure. teeth

[0185] The system may further include a tool holder coupled to the storage structure, The holder may have multiple retainers; and / or

[0186] The system may further include a grid disposed over the container, the grid comprising: a first set and a second set of parallel rails, collectively defining a grid space. a first set of parallel rails extending in a direction substantially perpendicular to the first direction; and a second set of parallel rails extending from the first set of parallel rails. wheel assemblies along a first set of parallel rails and a second set of parallel rails Each vertical stack may have a profiled track to guide the movement of the Each grid space can be placed under the container collection device. each of the grid spaces, and a plurality of containers within the receiving cavity. and / or

[0187] If one of the multiple containers is a target container located below multiple non-target containers, The openings in the hoist plate allow the hoist plate to slide around the perimeter of each of the non-target containers. and / or

[0188] The container retrieval device may be a first container retrieval device, and may be configured to retrieve a first container from a first stack. The mobile manipulator device may be disposed on the first side of the body for lifting the vessel. a body for lifting a second container from a second stack different from the first stack; The container may further include a second container retrieval device disposed on a second side of the container.

[0189] An order fulfillment system is also provided, the order fulfillment system comprising a storage structure in a warehouse including: The first set of parallel rails and the second set collectively define a grid space. a first set of parallel rails extending in a first direction and a second set of parallel rails extending substantially perpendicular to the first direction; a grid including a second set of parallel rails extending in the direction of the container; and a stand for vertically arranged containers. a stack configured to be positioned below each of the grid spaces; stack and a mobile picking machine for picking inventory items stored in one of the bins. a manipulator robot, the mobile manipulator robot including a wheel assembly a main body coupled to the grid, the wheel assembly including a plurality of wheels and a grid; and an actuator for moving the body along the body; and a groove on which the body is disposed. A sensor for determining the position of the body relative to the lid and transmitting processor-readable data to a remote processor. configured to wirelessly transmit and wirelessly receive processor-executable instructions from a remote processor an interface configured to capture images of the inventory items; and an imaging device for capturing images of the inventory items, The imaging device is configured to collect inventory data. A picking manipulator connected to a body, the picking manipulator being at least Both have three degrees of freedom, and are connected to a picking manipulator. Possible first pneumatic gripping element and second pneumatic gripping element, Each of the first and second pneumatic gripping elements is configured to move the picking manipulator within the three-dimensional workspace. can be moved by a robot to access inventory items stored in one of the containers. The first pneumatic gripping element includes a first suction cup, and the first pneumatic gripping element and the second pneumatic gripping element two pneumatic gripping elements, conductive contacts for receiving power from an energy source, and an imaging device. an on-board processor that communicates with at least one of the and a processor executable instruction processor for executing the picking manipulator from the remote processor. After receiving a command or executing a command from an on-board processor, the first pneumatic gripper element or the second pneumatic gripping element is configured to engage the inventory item; and / or

[0190] The manipulator robot has an on-board compressor to operate the first suction cup. and / or a vacuum.

[0191] The energy source may be the electrically charged surface of the grid; and / or

[0192] The energy source may be an on-board battery; and / or

[0193] The storage structure includes a pneumatic supply line coupled to the storage structure, and a fluid The system may further include a plurality of valves in communication, each valve being movable between a closed state and an open state. The mobile manipulator robot further includes a coupler having a mating end in fluid communication with the suction cup. a mating end of the coupler for accessing a pneumatic supply from a pneumatic supply line. and / or

[0194] The second pneumatic gripping element may include a second suction cup. A first fluid line extending between the coupler and the first suction cup, and a second fluid line extending between the coupler and the second suction cup. The air pressure or flow rate in the first fluid line may be controlled by: The air pressure or flow rate in the second fluid line may be independently controllable; and / or or

[0195] The first suction cup and the second suction cup can be disposed on a single pneumatic gripping tool. and / or

[0196] The first suction cup may be disposed on the first pneumatic gripping tool, and the second pneumatic gripping element may be disposed on the second pneumatic gripping tool. and / or or

[0197] The robot includes a first venturi pump in fluid communication with the first fluid line and a second venturi pump in fluid communication with the first fluid line. and a second venturi pump in fluid communication with the fluid line. and / or

[0198] Movement for picking inventory items from bins stored within a storage structure having rails A manipulator robot is also provided, which transmits processor-readable data to a remote processor. and configured to transmit processor-executable instructions to a remote processor and receive processor-executable instructions from the remote processor. a body including an interface; and a wheel assembly coupled to the body, The wheel assembly consists of several wheels and an actuator that moves the body along the rails of the storage structure. a wheel assembly including a controller; and an imaging sensor for capturing images of the inventory items. a tool holder coupled to the body, the tool holder having a first retainer and a second retainer; and a first retainer positionable within the first retainer. a second tool positionable within the second retainer; and a pick-up connected to the body. a picking arm and at least one of a wheel assembly, an imaging sensor, or a picking arm; and an on-board processor communicating with one of the remote processors. or receives instructions from one of the on-board processors, the first tool and the second tool and / or

[0199] The first tool may have a different size, configuration, or material than the second tool. and / or

[0200] The picking arm is connected to a first pneumatic line and a second pneumatic line separated from the first pneumatic line. and / or a positioning arm having two pneumatic lines.

[0201] The first tool may include a single pneumatic gripping element; and / or

[0202] The first tool can be coupled to the positioning arm and can include a first pneumatic line and a second pneumatic line. Two pneumatic lines may communicate with a single pneumatic gripping element; and / or

[0203] The second tool is a pneumatic gripper having a first pneumatic gripping element and a second pneumatic gripping element. and / or

[0204] The second tool may be coupled to the positioning arm, and the first pneumatic line may The second pneumatic line may be in communication with the gripping element and separate from the second pneumatic gripping element. and / or

[0205] The robot includes a first venturi pump in communication with the first pneumatic line and a second pneumatic a second venturi pump in communication with the pneumatic line; and / or

[0206] The tool holder secures a first tool within the first retainer and a second tool within the second retainer. May include at least one of a magnetic material or a compliant material for securing within the retainer and / or

[0207] The picking arm removes the first tool and the second tool from the picking arm. and / or

[0208] The picking arm operates via a non-magnetic push / pull or twist lock connection The tool may be selectively and removably coupleable to the first tool and the second tool. and / or

[0209] The robot also has a coupler that can be mated to the port to receive the fluid supply from the supply line. It may also include.

[0210] Mobile manipulator robot for picking inventory items from tall bins Also provided is a container having a first set of rails extending in a first direction and a second set of rails. a second set of rails extending in a second direction perpendicular to the grid; The robot transmits processor-readable data to the remote processor and receives the processor-readable data from the remote processor. a body including an interface configured to receive processor-executable instructions; The coupled wheels and the body are moved along the first and second sets of rails. an actuator configured to move the wheel assembly; and an imaging sensor for acquiring an image of the object; and an imaging sensor connected to the body and selectively connectable to the grasping tool. A picking arm that picks inventory items from a container by using a , so that the gripping tool has a vertical stroke that is at least twice the height of the container. and / or a picking arm that is movable.

[0211] The gripping tool may be pneumatically actuated and formed of a compliant material; and / or

[0212] The stroke of the vertical gripping tool may be at least three times the height of the container. and / or

[0213] The picking arm includes a base member coupled to the main body and a base a first extension movable along a first linear path relative to the member, the first linear path a first extension having a vertical component and defining a first maximum vertical distance; a positioning arm coupled to the first extension and movable along a second linear path relative to the first extension; The second linear path may have a vertical component and define a second maximum vertical distance. and / or a positioning arm for

[0214] The combination of the first maximum vertical distance and the second maximum vertical distance shall be at least 1 / 2 of the height of the container. can also be twice as large. and / or

[0215] The robot's picking arm is positioned to provide passive compliance. and / or

[0216] The robot was coupled to a positioning arm to provide active compliance. At least one of a backdrivable actuator or a force-controlled actuator and / or

[0217] The gripping tool can be a suction cup, foam vacuum gripper, universal jamming gripper, or a combination The finger may include at least one of a number of pneumatically actuated fingers.

[0218] Movement for picking inventory items from bins stored within a storage structure having rails A manipulator robot is also provided, which transmits processor-readable data to a remote processor. and configured to transmit processor-executable instructions to a remote processor and receive processor-executable instructions from the remote processor. a body including an interface; and a wheel assembly coupled to the body, The wheel assembly consists of several wheels and an actuator that moves the body along the rails of the storage structure. a wheel assembly including a controller and an imaging sensor for capturing images of the inventory items. a tool holder coupled to the body, the tool holder including a first retainer and a second retainer; a tool holder having a first tool positionable within the first retainer; a second tool that can be placed in the wheel; a picking arm connected to the body; and a wheel arm. On-board sensors that communicate with at least one of the assembly, imaging sensor, or picking arm and a picking arm connected to the remote processor or the on-board processor. and a second tool that is interchangeably coupled to the first tool and the second tool upon receiving a command from one of the first and second tools. and / or

[0219] The first tool may have a different size, configuration, or material than the second tool. and / or

[0220] The picking arm is connected to a first pneumatic line and a second pneumatic line separated from the first pneumatic line. and / or a positioning arm having two pneumatic lines.

[0221] The first tool may include a single pneumatic gripping element; and / or

[0222] The first tool may be coupled to a positioning arm, and the first and second pneumatics may be a single pneumatic and / or

[0223] The second tool is a pneumatic gripper having a first pneumatic gripping element and a second pneumatic gripping element. and / or

[0224] The second tool may be coupled to the positioning arm, and the first pneumatic line may The second pneumatic line may be in communication with the gripping element and separate from the second pneumatic gripping element. and / or

[0225] The robot includes a first venturi pump in communication with the first pneumatic line and a second pneumatic a second venturi pump in communication with the pneumatic line; and / or

[0226] The tool holder secures a first tool within the first retainer and a second tool within the second retainer. Further comprising at least one of a magnetic material or a compliant material for securing within the retainer. and / or

[0227] The picking arm removes the first tool and the second tool from the picking arm. and / or

[0228] The picking arm operates via a non-magnetic push / pull or twist lock connection The tool may be selectively and removably coupleable to the first tool and the second tool. and / or

[0229] The robot also has a coupler that can be mated to the port to receive the fluid supply from the supply line. It may also include.

[0230] Mobile manipulator robot for picking inventory items from tall bins Also provided is a container having a first set of rails extending in a first direction and a second set of rails. a second set of rails extending in a second direction perpendicular to the grid; The robot transmits processor-readable data to the remote processor and receives the processor-readable data from the remote processor. a body including an interface configured to receive processor-executable instructions; The coupled wheels and the body are moved along the first and second sets of rails. an actuator configured to move the wheel assembly; and an imaging sensor for acquiring an image of the object; and an imaging sensor connected to the body and selectively connectable to the grasping tool. A picking arm that picks inventory items from a container using a picking function, Ensure that the gripping tool has a vertical stroke that is at least twice the height of the container. and / or a picking arm that is movable to

[0231] The gripping tool may be pneumatically actuated and formed of a compliant material; and / or

[0232] The stroke of the vertical gripping tool may be at least three times the height of the container. and / or

[0233] The picking arm includes a base member coupled to the main body and a base a first extension movable along a first linear path relative to the member, the first linear path has a vertical component and defines a first maximum vertical distance; a positioning arm coupled to the first extension and movable along a second linear path relative to the first extension. and the second linear path has a vertical component and defines a second maximum vertical distance. and / or

[0234] The combination of the first maximum vertical distance and the second maximum vertical distance shall be at least 1 / 2 of the height of the container. can also be twice as large. and / or

[0235] The robot was coupled to a positioning arm to provide passive compliance. It may further comprise an elastic element; and / or

[0236] The robot was coupled to a positioning arm to provide active compliance. At least one of a backdrivable actuator or a force-controlled actuator and / or

[0237] The gripping tool can be a suction cup, foam vacuum gripper, universal jamming gripper, or a combination The finger may include at least one of a number of pneumatically actuated fingers.

[0238] Although the disclosure herein has been described with reference to particular embodiments, these embodiments may , to be understood as merely illustrative of the principles and applications of the present disclosure. Numerous modifications can be made to the exemplary embodiments and are defined by the appended claims. Other arrangements may be devised without departing from the spirit and scope of this disclosure as defined herein. I want you to understand that it is possible. [Industrial Applicability]

[0239] The systems and methods described herein involve the distribution of inventory items in a warehouse or distribution fulfillment center. Allows for efficient storage and retrieval.

Claims

1. A storage system for robotic picking, comprising:

1. A storage structure configured to house a plurality of containers, the storage structure comprising: a support member a first set of parallel rails for supporting the mobile manipulator robot; a storage structure including a body supply line; a plurality of valves disposed in the fluid supply line, each valve of the plurality of valves being adapted to supply the fluid; a closed state in which the fluid supply line is isolated from the external environment, and configured to supply fluid to a mobile manipulator robot, a plurality of valves having an open state in which the supply line communicates with the external environment; Including, the system.

2. The storage structure includes a second set of parallel rails extending substantially perpendicular to the first set of parallel rails. and a second set of parallel rails. The system of claim 1 , wherein the first and second grid spaces form a grid having a plurality of grid spaces.

3. The grid is a first grid, and the plurality of grid spaces are a first plurality of grids. Lid space and a third set of parallel rails and a second set of parallel rails extending substantially perpendicular to the third set of parallel rails; Four sets of parallel rails, the third set of parallel rails and the fourth set of parallel rails The balls form a second grid above the first grid, and the second grid a third set of parallel rails and a fourth set of parallel rails having a plurality of second grid spaces; Parallel rails and a fifth set of rails connecting the first grid and the second grid; or a ramp including an elevator connecting the first grid and the second grid; The system of claim 2 , comprising:

4. further comprising a fluid source in fluid communication with the fluid supply line, the fluid source being a pneumatic source; The system of claim 1 .

5. the fluid supply lines are attached to the outer surfaces of the first set of parallel rails; Item 1. The system according to item 1.

6. The fluid supply lines are embedded within the first set of parallel rails and extend longitudinally therethrough. a channel extending through the first set of parallel rails and disposed adjacent the channel and a surface of the first set of parallel rails; and a plurality of conduits extending between respective ports.

7. At least one of the plurality of valves is provided in a respective one of the conduits. The system of claim 6 , wherein both the first and second electrodes are partially disposed.

8. At least one of the plurality of valves includes a biasing member coupled to a plug, wherein the biasing member biases the plug toward the port when the plug is in the closed state.

8. The system described in 7.

9. said mobile manipulator for picking inventory items stored within said storage structure; further comprising a tarot, The mobile manipulator robot comprises: The main body and a first set of parallel rails coupled to the body, the first set of parallel rails coupled to the body, the second set of parallel rails coupled to the body, the first ... a mobile assembly configured to guide movement of the robot; a valve that is engaged with at least one of the plurality of valves and receives fluid from the fluid supply line; a coupler sized and configured to take a picking arm with a pneumatic gripping tool for picking inventory items; The system of claim 6 , comprising:

10. The first set of parallel rails receives voltage from a charged or grounded power source. The system of claim 1 , comprising a configured conductive metal.

11. A portion of the conductive metal surface is coated with the conductive metal to transmit the voltage through the coated surface.

11. The method of claim 10, wherein the metal is anodized or otherwise coated to prevent system.

12. 1. A mobile manipulator robot for retrieving inventory, comprising: transmitting processor-readable data to a central processor, and a body including an interface configured to receive executable instructions; a mobile assembly coupled to the body; a coupler mateable with the port for receiving a fluid supply from the fluid supply line; a picking arm connected to the body, the picking arm being adapted to pick up an inventory item; a picking tool coupled to a first pneumatic gripping tool configured to pick the Guarm and A mobile manipulator robot, including:

13. Further comprising a tool holder attached to the body, the tool holder comprising a plurality of 13. The mobile manipulator robot of claim 12 having a retainer.

14. a second pneumatic gripping tool having a different size, configuration, or material than the first pneumatic gripping tool; The first pneumatic gripping tool and the second pneumatic gripping tool further comprise a pneumatic gripping tool. Each of the plurality of retainers is interchangeably connectable to the picking arm.

14. The mobile manipulator of claim 13, wherein the Emulator robot.

15. 13. The movement of claim 12, wherein the first pneumatic gripping tool has additional tool elements. Manipulator robot.

16. A venturi lip provided downstream of the coupler and upstream of the first pneumatic gripping tool 13. The mobile manipulator robot of claim 12, further comprising a pump.

17. 13. The method of claim 12, further comprising: conductive contacts for receiving a voltage from the charged surface. Mobile manipulator robot.

18. The mobility assembly includes a plurality of wheels, a motor, and a drive mechanism for connecting the motor to the plurality of wheels. a transmission operatively coupled to each of the wheels, arranged to control the orientation of each of the wheels, whereby said wheels is simultaneously rotatable between a first orientation and a second orientation. Manipulator robot.

19. Surface shape, surface texture, color or other factors that can determine the grip area of ​​the inventory item and a sensor for collecting inventory data relating to at least one of the porosities.

13. The mobile manipulator robot of claim 12.

20. 13. The mobile manipulator of claim 12, wherein the first pneumatic gripping tool is a suction cup. robot.

21. further comprising an air tank coupled to the body, the air tank having a capacity of less than 20 cubic feet; 13. The mobile manipulator robot of claim 12, wherein:

22. The inventory is stored in a container having a height, and the picking arm 10. The method of claim 1, wherein the end effector has a vertical stroke that is at least twice its height.

3. The mobile manipulator robot according to claim 2.

23. The picking arm a base member coupled to the body; a horizontal extension coupled to the base member; a vertical extension coupled to the horizontal extension; a positioning arm coupled to the vertical member, the positioning arm being adapted to position the vertical member; a positioning arm movable relative to the extension; Including, Springs, back-drivable actuators, force-controlled actuators, or adaptive gripping elements At least one of the positioning arms is coupled to the positioning arm to provide passive or active compliance.

13. The mobile manipulator robot of claim 12, wherein the mobile manipulator robot provides a

24. 1. An order fulfillment system, comprising: In the storage system to pick inventory items stored in bins or on shelves a mobile manipulator robot capable of moving in two dimensions in a The mobile manipulator robot comprises: The main body and a wheel assembly coupled to the body, the wheel assembly comprising: a number of wheels and an actuator for moving the body within the storage system; a wheel assembly including: To determine the location of the body relative to the storage system in which the body is located sensors, wirelessly transmitting processor-readable data to a remote processor and receiving the processor-readable data from the remote processor; an interface configured to wirelessly receive processor-executable instructions; an imaging device for capturing an image of the inventory item, said imaging device an imaging device configured to collect inventory data; a picking manipulator coupled to the body, a picking manipulator having at least three degrees of freedom; a first pneumatic gripping element and a second pneumatic gripping element coupleable to the picking manipulator; a pneumatic gripping element, the first pneumatic gripping element or the second pneumatic gripping element At least one of the first pneumatic gripping element and the second pneumatic gripping element is formed of a compliant material. Each of the pneumatic gripping elements controls the picking manipulator within the three-dimensional workspace. and the inventory stored in one of the containers or one of the shelves. a first pneumatic gripping element and a second pneumatic gripping element for accessing and gripping an item; At least one of the first pneumatic gripping element or the second pneumatic gripping element a coupler having a mating end in fluid communication with the first air; a pneumatic gripping element for operating at least one of the pneumatic gripping element or the second pneumatic gripping element; a coupler configured to selectively mate with the valve to access the pneumatic supply; Including, The system aligns the mating end of the coupler with the valve and changes the valve from a closed state to an open state. state, and one of the first pneumatic gripping element or the second pneumatic gripping element is moved to the previous state. an order fulfillment system configured to selectively place in communication with said pneumatic supply;

25. The first pneumatic gripping element and the second pneumatic gripping element are 25. The system of claim 24, wherein the system is on a computer.

26. The picking manipulator has a first pneumatic line in communication with the first gripping element. and a second pneumatic line in communication with the second pneumatic gripping element, 25. The system of claim 24, wherein a second pneumatic line is separate from the first pneumatic line. Tem.

27. The first pneumatic gripping element is disposed on a first tool, and the second pneumatic gripping element 25. The system of claim 24, wherein the first tool is located on a second tool that is different from the first tool. Tem.

28. The picking manipulator moves the first tool and the second tool to the picking position.

28. The method of claim 27, further comprising: system.

29. The picking manipulator is connected to the first tool and the second tool via a mechanical connection.

28. The system of claim 27, wherein the system is selectively and removably coupleable to two tools.

30. a first retainer and a second retainer for holding the first tool and the second tool, respectively; and a second retainer, A second tool is attached to the picking manipulator of the mobile manipulator robot. a picking manipulator that is accessible and interchangeably coupleable to the picking manipulator; Item 28. The system described in Item 27.

31. The tool holder is coupled to the body of the mobile manipulator robot.

31. The system of claim 30.

32. At least one of the first pneumatic gripping element or the second pneumatic gripping element 25. The system of claim 24, which is a suction cup.

33. At least one of the first pneumatic gripping element or the second pneumatic gripping element , a pneumatically actuated finger.

34. The picking manipulator or the first pneumatic gripping element or the second pneumatic The components connecting one of the pressure gripping elements to the picking manipulator include a spring, a counter-drive 25. The system of claim 24, including a variable actuator or a force-controlled actuator. 。

35. The body engages a container with a receiving cavity of the mobile manipulator robot. a latch device configured to move the receiving cavity, the receiving cavity being open at the top; 25. The system of claim 24,

36. The processor executable instructions select a pneumatic gripping element for manipulating the inventory item. instructions to manipulate said inventory item; instructions to grasp said inventory item; or instructions for packing the inventory items, 25. The system of claim 24,

37. and a teleoperator interface for generating said control instructions.

25. The system described in 24.

38. The wheel assembly is mounted on a first profiled track extending in a first direction.

25. The method of claim 24, further comprising: The system described in

39. The plurality of wheels may include a second direction extending in a second direction substantially perpendicular to the first direction. further configured to guide movement of the body along a profiled track.

39. The system of claim 38.

40. The mobile manipulator robot is connected downstream of the coupler and the first pneumatic gripper. a bench positioned upstream of at least one of the elements or the second pneumatic gripping element; 25. The system of claim 24, further comprising a uripump.

41. The mobile manipulator robot has a conductive surface for receiving a voltage from a charged surface.

25. The system of claim 24, further comprising a contact.

42. The method further includes one of a container or a shelf, wherein the container or the shelf has a height, and the A pneumatic gripping element is provided for gripping the inventory item by the mobile manipulator robot.

25. The method of claim 24, wherein the device is vertically movable a distance of at least twice the height to support the device. The system described in

43. The mobile manipulator robot is stored in a grid-based storage system. configured to retrieve inventory items; The grid-based storage system comprises: a frame arranged to accommodate a stack of vertical containers; a grid disposed on the frame, the grid comprising a first set of parallel rails and a second set of parallel rails; Two sets of parallel rails extend in a first direction so as to collectively define a grid space. the first set of parallel rails extending in a second direction substantially perpendicular to the first direction; the second set of parallel rails, and the first set of parallel rails and the second set of parallel rails. The parallel rails of the set are connected to the first set of parallel rails and the second set of parallel rails. a profiled track to guide the movement of said wheel assembly along a grid; a plurality of containers configured to store the inventory items, the plurality of containers comprising: can be stacked on top of each other to form multiple vertical stacks, each vertical stack having a respective group A plurality of containers that can be placed under the lid space; an air pressure supply line coupled to one of the frame or the grid; an air pressure source in fluid communication with the air pressure supply line; a plurality of valves in fluid communication with the pneumatic supply line, each valve of the plurality of valves comprising: , a closed state in which the air pressure supply line is isolated from the external environment, and A line communicates with the external environment, and the first pneumatic gripping element and the second pneumatic gripping element and a mobile manipulator robot configured to operate at least one of the a plurality of valves having an open state configured to deliver 25. The system of claim 24, comprising:

44. the mobile manipulator robot moves the plurality of valves from the closed state to the open state; 44. The method of claim 43, wherein the transition is configured to be mechanical, magnetic, electrical, or wireless. system.

45. The first set of parallel rails and the second set of parallel rails are either charged or grounded.

44. The system of claim 43, comprising a conductive metal configured to receive a voltage from an attached power source. Stem.

46. The air pressure supply line is embedded in the first set of parallel rails and extends longitudinally. and a channel extending in a direction perpendicular to the first set of parallel rails. and a plurality of conduits extending between the plurality of valves and the respective ports, 44. The method of claim 43, wherein the first and second electrodes are at least partially disposed within a respective one of the conduits. The system.

47. 44. The method of claim 43, wherein the channel extends continuously for a distance of about two grid spaces or more. The system.

48. At least one of the plurality of valves includes a biasing member coupled to a plug, wherein the biasing member biases the plug toward the port when the plug is in the closed state.

43. The system described in

49. Each grid space consists of four rail sides and four and at least one of the four rail sides or the four corners is defined by the corners of 44. The system of claim 43, wherein one of the plurality of valves comprises one of the plurality of valves.

50. The air pressure supply line is attached to the outer surface of the frame or the outer surface of the grid.

44. The system of claim 43,

51. The air pressure supply line is spaced from the grid and is accessible to the coupler.

44. The system of claim 43, wherein the system is mounted on a surface.

52. 1. An order fulfillment system, comprising: A mobile manipulator robot that can move around the warehouse to pick inventory items. Including, The mobile manipulator robot comprises: The main body and a wheel assembly coupled to the body, the wheel assembly comprising: and an actuator for moving the body within the warehouse. a roller assembly; a sensor for determining the location of the body relative to the warehouse in which the body is located; and, wirelessly transmitting processor-readable data to a remote processor and receiving the processor-readable data from the remote processor; an interface configured to wirelessly receive processor-executable instructions; an imaging device for capturing an image of the inventory item, said imaging device an imaging device configured to collect inventory data; A picking manipulator coupled to a main body, a picking manipulator having at least three degrees of freedom; a first pneumatic gripper formed of a compliant material and connectable to the picking manipulator; a tool, the first pneumatic gripping tool being configured to position the pick in a three-dimensional workspace; a first manipulator movable by the manipulator to access and grasp an inventory item; a pneumatic gripping tool; a container retrieval device connectable to the body and having a container receiving space, The container retrieval device has an upper surface, a lower surface, and an opening extending through the upper surface and the lower surface. a hoist plate extending perpendicular to the body; a container retrieval device that can be extended to engage and move with a container within the container receiving space. and, an order fulfillment system, including:

53. The container retrieval device includes a set of latches or hooks for engaging the container. The latch or the hook is slidable or pivotable relative to the hoist plate.

53. The order fulfillment system of claim 52, wherein:

54. 53. The order fulfillment system of claim 52, wherein the hoist plate has an open side.

55. a second pneumatic gripping tool coupleable to the picking manipulator; The second pneumatic gripping tool is adapted to grip the picking tool to access and grip the inventory item.

53. The order fulfillment system of claim 52, wherein the order fulfillment system is movable by a control manipulator.

56. The mobile manipulator robot includes the first pneumatic gripping tool and the second pneumatic gripping tool. a first retainer and a second retainer for holding a respective one of the pneumatic gripping tools; 56. The order fulfillment system of claim 55, further comprising a tool holder with a nozzle.

57. The mobile manipulator robot may be configured to and an on-board processor in communication with at least one of the processors, The picking manipulator receives the processor-executable instructions from the remote processor. When the first empty space is received or when an instruction is executed from the on-board processor. and configured to interchangeably couple to the pneumatic gripping tool and the second pneumatic gripping tool.

56. The order fulfillment system of claim 55.

58. The method further includes a storage structure and a plurality of containers for storing inventory items, the plurality of containers comprising: , arranged in vertical stacks within the storage structure.

59. Further comprising a tool holder coupled to the storage structure, the tool holder comprising a plurality of 59. The order fulfillment system of claim 58, comprising a retainer.

60. Further comprising a grid disposed above the container, the grid comprising a first set of parallel the first rail and the second set of parallel rails collectively define a grid space. the first set of parallel rails extending in a direction substantially perpendicular to the first direction; the second set of parallel rails extending in the direction of the first set of parallel rails and The second set of parallel rails is connected to the first set of parallel rails and the second set of parallel rails. profiled to guide the movement of said wheel assembly along a row rail a track, each vertical stack positioned below a respective grid space; The container retrieval device extends beneath the grid and within each grid space. and a receiving cavity configured to receive and lift one of the plurality of containers within the receiving cavity.

59. The order fulfillment system of claim 58, wherein:

61. one of the plurality of containers is a target container disposed below a plurality of non-target containers; The openings in the hoist plate allow the hoist plate to access each of the non-target containers.

61. The order fulfillment of claim 60, sized to be slidable around said system.

62. The container retrieval device is a first container retrieval device for retrieving a first container from a first stack. a first side of the body for lifting the container; The mobile manipulator device is configured to move a second stack different from the first stack. a second container retrieval device disposed on a second side of the body for lifting the second container from the 61. The order fulfillment system of claim 60, further comprising a device.

63. 1. A warehouse including a storage structure, The first set of parallel rails and the second set of parallel rails collectively form a grid space the first set of parallel rails extending in a first direction so as to define a a grid including the second set of parallel rails extending in a second direction substantially perpendicular to the first set of parallel rails; A stack of vertically arranged containers, said stack comprising: a stack configured to be disposed beneath each of the a warehouse, a mobile manipulator for picking an inventory item stored in one of said bins; A robot A body coupled to a wheel assembly, the wheel assembly comprising a plurality of a wheel; and an actuator for moving the body along the grid. Hmm, the main body and a sensor for determining the position of the body relative to the grid on which the body is disposed; 、 wirelessly transmitting processor-readable data to a remote processor and receiving the processor-readable data from the remote processor; an interface configured to wirelessly receive processor-executable instructions; an imaging device for capturing an image of the inventory item, said imaging device an imaging device configured to collect inventory data; a picking manipulator coupled to the body, a picking manipulator having at least three degrees of freedom; a first pneumatic gripping element and a second pneumatic gripping element coupleable to the picking manipulator; pneumatic gripping elements, the first pneumatic gripping element and the second pneumatic gripping element Each of these can be moved by the picking manipulator within the three-dimensional workspace. accessing and grasping the inventory item stored in one of the containers and The pneumatic gripping element includes a first suction cup, a first pneumatic gripping element, and a second pneumatic gripping element. and, a mobile manipulator robot, a conductive contact for receiving power from an energy source; communicating with at least one of the imaging device or the picking manipulator; an on-board processor, and the picking manipulator is after receiving the processor-executable instructions from the on-board processor or After executing the command, one of the first pneumatic gripping element or the second pneumatic gripping element is an on-board processor configured to engage the inventory items; an order fulfillment system, including:

64. The mobile manipulator robot has an on-board controller for operating the first suction cup.

64. The order fulfillment system of claim 63, further comprising a compressor or vacuum source.

65. 64. The order fulfillment method of claim 63, wherein the energy source is an electrically charged surface of the grid. Line system.

66. 64. The order fulfillment system of claim 63, wherein the energy source is an on-board battery. Hmm.

67. a pneumatic supply line coupled to the storage structure; a plurality of valves in fluid communication with the pneumatic supply line, each valve of the plurality of valves comprising: The mobile manipulator robot is configured to move the suction cup between a closed state and an open state. a coupler having a mating end in fluid communication with the cavity, the mating end of the coupler being a valve selectively engaging one of said plurality of valves to access the air pressure supply from the air pressure supply line; a plurality of valves configured to mate together; 64. The order fulfillment system of claim 63, further comprising:

68. the second pneumatic gripping element includes a second suction cup; a first fluid line extending between the coupler and the first suction cup; a second fluid line extending between the first suction cup and the second suction cup; The air pressure or flow rate is controlled independently of the air pressure or flow rate in the second fluid line.

64. The order fulfillment system of claim 63, wherein:

69. The first suction cup and the second suction cup are disposed on a single pneumatic gripping tool.

69. The order fulfillment system of claim 68.

70. The first suction cup is disposed on a first pneumatic gripping tool, and the second pneumatic gripping element is disposed on a second pneumatic gripping tool different from the first pneumatic gripping tool.

69. The order fulfillment system of claim 68.

71. a first venturi pump in fluid communication with the first fluid line; 69. The order fulfillment system of claim 68, further comprising: a second venturi pump in fluid communication with the Line system.

72. Movement to pick inventory items from bins stored within a storage structure equipped with rails A manipulator robot, transmitting processor-readable data to a remote processor, and a body including an interface configured to receive executable instructions; a wheel assembly coupled to the body, the wheel assembly comprising a plurality of and an actuator for moving the body along the rails of the storage structure. a wheel assembly including a an imaging sensor for capturing images of the inventory items; a tool holder coupled to the body, the tool holder including a first retainer; a tool holder having a first retainer and a second retainer; a first tool positionable within the first retainer; a second tool positionable within the second retainer; and a picking arm connected to the main body; At least one of the wheel assembly, the imaging sensor, or the picking arm an on-board processor in communication with another remote processor, Upon receiving an instruction from one of the on-board processors, the first tool an on-board processor configured to interchangeably couple to the tool and the second tool; Sa and, A mobile manipulator robot, including:

73. The first tool has a different size, configuration, or material than the second tool.

73. The mobile manipulator robot of claim 72.

74. The picking arm is connected to a first pneumatic line and a 73. The transfer device of claim 72, further comprising a positioning arm having a separate second pneumatic line. Dynamic manipulator robot.

75. 75. The mobile manipulator of claim 74, wherein the first tool includes a single pneumatic gripping element. Emulator robot.

76. When the first tool is coupled to the positioning arm, the first pneumatic line and and the second pneumatic line is in communication with the single pneumatic gripping element.

2. A mobile manipulator robot according to claim 1.

77. The second tool includes a pneumatic gripping element having a first pneumatic gripping element and a second pneumatic gripping element.

75. The mobile manipulator robot of claim 74, comprising a pressure gripping tool.

78. When the second tool is coupled to the positioning arm, the first pneumatic line , in communication with the first pneumatic gripping element and separated from the second pneumatic gripping element, A second pneumatic line communicates with the second pneumatic gripping element and 78. The mobile manipulator robot of claim 77, wherein the mobile manipulator robot is separated from the

79. a first venturi pump in communication with the first air pressure line; 75. The transfer system of claim 74, further comprising: a second venturi pump in communication with the line. Dynamic manipulator robot.

80. The tool holder holds the first tool in the first retainer and the second tool in the second retainer. and at least one of a magnetic material and a compliant material for securing the cable within the second retainer.

73. The mobile manipulator robot of claim 72 comprising one.

81. The picking arm is configured to pick the first tool and the second tool.

73. The mobile manipulator of claim 72, including a magnet for removably coupling to the arm. Radar robot.

82. The picking arm is connected via a non-magnetic push / pull or twist lock connection. and selectively and removably coupleable to the first tool and the second tool.

73. The mobile manipulator robot of claim 72.

83. a coupler matable with the port to receive the fluid supply from the supply line.

73. The mobile manipulator robot of claim 72.

84. Mobile manipulator robot for picking inventory items from tall bins the container includes a first set of rails extending in a first direction; a second set of rails extending in a second direction perpendicular to the rails; R, The mobile manipulator robot comprises: transmitting processor-readable data to a remote processor, and a body including an interface configured to receive executable instructions; a plurality of wheels coupled to the body; and a front end of the body connected to the first set of rails and the front end of the body. and an actuator configured to move the wheel along the second set of rails. a roller assembly; an imaging sensor for capturing images of the inventory items; a gripping tool connected to the body and selectively connectable to the gripping tool for picking inventory items from the container; a picking arm for picking a container, the picking arm being configured to pick a container with the gripping tool; and a vertical stroke that is at least twice the height of the vessel. A picking arm and A mobile manipulator robot, including:

85. 85. The gripping tool of claim 84, wherein the gripping tool is pneumatically actuated and formed of a compliant material. Mobile manipulator robot.

86. The stroke of the gripping tool in the vertical direction is at least 85. The mobile manipulator robot of claim 84, wherein the rotational speed is three-fold.

87. The picking arm, a base member coupled to the body; a first linear path coupled to the base member and movable relative to the base member; a first extension, the first linear path having a vertical component, the first maximum vertical distance being a first extension defining a a second linear path coupled to the first extension and adapted to move along the second linear path relative to the first extension; a second linear path having a vertical component, the second maximum vertical a positioning arm defining the distance; 85. The mobile manipulator robot of claim 84, comprising:

88. The combination of the first maximum vertical distance and the second maximum vertical distance is 88. The mobile manipulator robot of claim 87, wherein the height is at least equal to two times the height.

89. a resilient element coupled to the positioning arm to provide passive compliance; 88. The mobile manipulator robot of claim 87 further comprising:

90. a back-drivable actuator coupled to the positioning arm to provide active compliance; and a force control actuator.

88. The mobile manipulator robot of claim 87.

91. The gripping tool may be a suction cup, a foam vacuum gripper, a universal jamming gripper, or 85. The mobile device of claim 84, wherein the at least one of the plurality of pneumatically actuated fingers. Manipulator robot.

92. Movement to pick inventory items from bins stored within a storage structure equipped with rails A manipulator robot, transmitting processor-readable data to a remote processor, and a body including an interface configured to receive executable instructions; a wheel assembly coupled to the body, the wheel assembly comprising a plurality of and an actuator for moving the body along the rails of the storage structure. a wheel assembly including: an imaging sensor for capturing images of the inventory items; a tool holder coupled to the body, the tool holder including a first retainer; a tool holder having a first retainer and a second retainer; a first tool positionable within the first retainer; a second tool positionable within the second retainer; and a picking arm connected to the main body; At least one of the wheel assembly, the imaging sensor, or the picking arm an on-board processor in communication with another remote processor, Upon receiving an instruction from one of the on-board processors, the first tool an on-board processor configured to interchangeably couple to the tool and the second tool; A mobile manipulator robot including:

93. The first tool has a different size, configuration, or material than the second tool.

93. The mobile manipulator robot of claim 92.

94. The picking arm is connected to a first pneumatic line and a second pneumatic line separated from the first pneumatic line.

93. The mobile machine of claim 92, including a positioning arm having a second pneumatic line. Manipulator robot.

95. 95. The mobile manipulator of claim 94, wherein the first tool includes a single pneumatic gripping element. Emulator robot.

96. When the first tool is coupled to the positioning arm, the first pneumatic line and and the second pneumatic line is in communication with the single pneumatic gripping element.

2. A mobile manipulator robot according to claim 1.

97. The second tool includes a pneumatic gripping element having a first pneumatic gripping element and a second pneumatic gripping element.

95. The mobile manipulator robot of claim 94, comprising a pressure gripping tool.

98. When the second tool is coupled to the positioning arm, the first pneumatic line , in communication with the first pneumatic gripping element and separated from the second pneumatic gripping element, A second pneumatic line communicates with the second pneumatic gripping element and 98. The mobile manipulator robot of claim 97 wherein the mobile manipulator robot is separated from the

99. a first venturi pump in communication with the first air pressure line; 95. The method of claim 94, further comprising: a second venturi pump in communication with the line. Manipulator robot.

100. The tool holder holds the first tool in the first retainer and the second tool in the second retainer. and at least one of a magnetic material and a compliant material for securing the cable within the second retainer.

93. The mobile manipulator robot of claim 92 comprising one.

101. The picking arm is configured to pick the first tool and the second tool.

93. The mobile manipulator of claim 92, including a magnet for removably coupling to the arm. Radar robot.

102. The picking arm is connected via a non-magnetic push / pull or twist lock connection. and selectively and removably coupleable to the first tool and the second tool.

93. The mobile manipulator robot of claim 92.

103. and a coupler matable with the port to receive the fluid supply from the supply line.

93. The mobile manipulator robot of claim 92.

104. Mobile manipulator robot for picking inventory items from tall bins The container has a first set of rails extending in a first direction and a a second set of rails extending in a second direction perpendicular to the rails; R, The mobile manipulator robot comprises: transmitting processor-readable data to a remote processor, and a body including an interface configured to receive executable instructions; a plurality of wheels coupled to the body; and a front end of the body connected to the first set of rails and the front end of the body. and an actuator configured to move the wheel along the second set of rails. a roller assembly; an imaging sensor for capturing images of the inventory items; a gripping tool connected to the body and selectively connectable to the gripping tool for picking inventory items from the container; a picking arm for picking a container, the picking arm being configured to pick a container with the gripping tool; and a vertical stroke that is at least twice the height of the vessel. A picking arm and A mobile manipulator robot, including:

105. 105. The method of claim 104, wherein the gripping tool is pneumatically actuated and is made of a compliant material. Mobile manipulator robot.

106. The stroke of the gripping tool in the vertical direction is at least 105. The mobile manipulator robot of claim 104, wherein the rotational speed is three times greater.

107. The picking arm a base member coupled to the body; a first linear path coupled to the base member and movable relative to the base member; a first extension, the first linear path having a vertical component, the first maximum vertical distance being a first extension defining a a second linear path coupled to the first extension and adapted to move along the second linear path relative to the first extension; a second linear path having a vertical component, the second maximum vertical a positioning arm defining the distance; 105. The mobile manipulator robot of claim 104, comprising:

108. The combination of the first maximum vertical distance and the second maximum vertical distance is 108. The mobile manipulator robot of claim 107, wherein the height is at least equal to two times the height.

109. a resilient element coupled to the positioning arm to provide passive compliance; 108. The mobile manipulator robot of claim 107, further comprising:

110. a back-drivable actuator coupled to the positioning arm to provide active compliance; and a force control actuator. The mobile manipulator robot of claim 107.

111. The gripping tool may be a suction cup, a foam vacuum gripper, a universal jamming gripper, and and a plurality of pneumatically actuated fingers.

2. A mobile manipulator robot according to claim 1.

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