US 12,013,686 B1
Robotic workcell for interacting with goods to person systems
Aaron Joseph Parness, Mercer Island, WA (US); Sisir Babu Karumanchi, Seattle, WA (US); Joshua Rosenberg Hooks, Seattle, WA (US); Parker Owan, Lake Stevens, WA (US); Rahul Balakrishna Warrier, Kirkland, WA (US); Andres Camilo Cortes Lopez, Seattle, WA (US); Jeongseok Lee, Seattle, WA (US); Curt Salisbury, San Ramon, CA (US); and Andrew Stubbs, Seattle, WA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Dec. 3, 2021, as Appl. No. 17/541,778.
Int. Cl. G05B 19/418 (2006.01); B25J 9/16 (2006.01)
CPC G05B 19/41815 (2013.01) [B25J 9/1615 (2013.01); B25J 9/1664 (2013.01); B25J 9/1682 (2013.01); B25J 9/1687 (2013.01); G05B 2219/34348 (2013.01)] 18 Claims
OG exemplary drawing
 
6. A stow system comprising:
one or more perception sensors;
a first robotic gantry comprising a first mount and a robotic end effector attached to the first mount;
a second robotic gantry disposed between the first robotic gantry and a plurality of containers, the second robotic gantry comprising a second mount and a first end effector attached to the second mount; and
a controller configured to perform operations comprising:
analyzing an environment in each of the plurality of containers using the one or more perception sensors, wherein analyzing the environment in each of the plurality of containers comprises, for each container:
determining one or more attributes of a second item in the container; and
determining an amount of unoccupied space in the container;
selecting a first container of the plurality of containers in which to stow a first item, based in part on the analysis of the environment in each of the plurality of containers;
determining, for each container, (i) a motion strategy for creating space in the container with at least one second end effector attached to the robotic end effector, and (ii) a confidence score associated with the motion strategy, based at least in part on the amount of unoccupied space, the one or more attributes of the second item in the container, and one or more attributes of the first item;
generating a motion plan for stowing the first item into the first container, based in part on the analysis of the environment in the first container and the confidence score associated with the motion strategy determined for the first container of the plurality of containers; and
controlling movement of the first mount, the second mount, and the robotic end effector, based on the motion plan.