| CPC B65G 1/1371 (2013.01) [B25J 9/1612 (2013.01); B25J 9/163 (2013.01); B25J 9/1679 (2013.01); B25J 13/08 (2013.01); B25J 19/02 (2013.01); B65G 1/0464 (2013.01); B65G 1/1378 (2013.01); G06K 7/1413 (2013.01); G06N 20/00 (2019.01); B65G 2203/042 (2013.01)] | 20 Claims |
|
1. A storage system comprising:
a first set of parallel rails or tracks extending in an X-direction, and a second set of parallel rails or tracks extending in a Y-direction transverse to the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces;
a plurality of stacks of containers located beneath the rails, and arranged such that each stack is located within a footprint of a single grid space;
at least one transporting device, the at least one transporting device being arranged to selectively move laterally in the X and Y directions above the stacks on the rails, and arranged to transport a container;
a picking station arranged to receive the container transported by the at least one transporting device; and
a control unit for operation with a robot system comprising a sensor unit, the robot system arranged to grasp an item from a first container, and the control unit comprising:
a verification unit arranged to:
receive identifying information of an item expected to be in the first container;
receive information from the sensor unit indicative of a dynamics property induced by motion of the grasped item relative to the sensor unit; and
verify whether the grasped item matches the item expected to be in the first container based on the received identifying information and dynamics property information; and
a command unit arranged to, in response to the verification unit failing to verify the grasped item, command the robot system to perform a predetermined maneuver for the verification unit to verify the grasped item based on further dynamics property information corresponding to the predetermined maneuver.
|
|
17. A method of operating a robot system comprising a sensor unit in a storage system comprising:
a first set of parallel rails or tracks extending in an X-direction, and a second set of parallel rails or tracks extending in a Y-direction transverse to the first set in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces;
a plurality of stacks of containers located beneath the rails, and arranged such that each stack is located within a footprint of a single grid space;
at least one transporting device, the at least one transporting device being arranged to selectively move laterally in the X and Y directions above the stacks on the rails, and arranged to transport a container;
a picking station arranged to receive the container transported by the at least one transporting device;
wherein the robot system is arranged to grasp an item from a first container,
the method comprising:
receiving identifying information of an item expected to be in the first container;
receiving information from the sensor unit indicative of a dynamics property induced by motion of the item grasped by the robot system; and
verifying whether the grasped item matches the item expected to be in the first container based on the received identifying information and dynamics property information; and
commanding the robot system, in response to failing to verify the grasped item, to perform a predetermined maneuver for verifying the grasped item based on further dynamics property information corresponding to the predetermined maneuver.
|