Random-access robotic inventory dispensary: replenishment and purge
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06F-007/00
G06F-019/00
G05B-019/10
출원번호
US-0702803
(2015-05-04)
등록번호
US-9563194
(2017-02-07)
발명자
/ 주소
Stiernagle, Chad
Kraetsch, Glendon T.
LaValle, Dean R.
Sheikholeslami, Cameron P.
출원인 / 주소
BBY SOLUTIONS, INC.
대리인 / 주소
Schwegman Lundberg & Woessner, P.A.
인용정보
피인용 횟수 :
3인용 특허 :
54
초록▼
The present invention is a robotic system for maintaining product inventory and dispensing products upon request from a customer or other user. Product items are stored in an inventory storage unit (ISU), one item per bin. Controller logic allows items to be stored in, and retrieved from, arbitraril
The present invention is a robotic system for maintaining product inventory and dispensing products upon request from a customer or other user. Product items are stored in an inventory storage unit (ISU), one item per bin. Controller logic allows items to be stored in, and retrieved from, arbitrarily-assigned storage locations. The bins hang on rails within drawers. In a replenishment operation, the system transfers empty bins to an operator station for replenishment. An operator fills the empty bins with product items. The system inserts these bins into drawers in the ISU. In a purge operation, the operator enters an identifier of a class of product to be removed. The system moves the bins containing the affected items to the operator station. After the product items are removed, the empty bins are moved to the ISU.
대표청구항▼
1. A method, comprising: receiving, by a computerized controller of a processing system of a robotic inventory dispensary, through an operator user interface, a request that triggers a replenishment operation;accessing, by the controller in computer-accessible tangible storage, a database system to
1. A method, comprising: receiving, by a computerized controller of a processing system of a robotic inventory dispensary, through an operator user interface, a request that triggers a replenishment operation;accessing, by the controller in computer-accessible tangible storage, a database system to determine locations within the robotic inventory dispensary of a plurality of bins that are empty;receiving, by a robot of the robotic inventory dispensary, a command from the controller that causes the robot to transfer the plurality of bins to an operator-access device, wherein the bins are filled while located in the operator-access device;receiving, by the controller through the operator user interface, a communication that indicates that the bins of the plurality of bins have been filled with a respective product item;receiving, by the robot, a command from the controller that causes the robot to execute a set of actions for the replenishment operation, including for each filled bin of the plurality of bins: removing the filled bin from the operator-access device; andplacing the filled bin into a respective bin location in the robotic inventory dispensary; andfor each filled bin of the plurality of bins, recording an identifier of the filled bin, an identifier of the respective product item, and an indication of the respective bin location in the database system. 2. The method of claim 1, the set of actions for the replenishment operation further including for each filled bin of the plurality of bins: scanning the respective product item within the filled bin by a scanning system; andobtaining a product item identifier from the scanning of the respective product item. 3. The method of claim 2, the set of actions for the replenishment operation further including for each filled bin of the plurality of bins: scanning the filled bin by the scanning system; andobtaining a bin identifier from the scanning of the filled bin. 4. The method of claim 1, further comprising: utilizing a storage prioritization scheme, by the controller, to select the respective bin location for each filled bin, wherein the storage prioritization scheme is represented in tangible computer-accessible storage. 5. The method of claim 4, the set of actions for e replenishment operation further including for each filled bin of the plurality of bins: before placing the filled bin in the respective bin location, transferring the bin to a temporary bin location; andtransferring the filled bin from the temporary bin location to the respective bin location in a background mode, whereby servicing requests from consumers to dispense product items from the robotic inventory dispensary has higher priority than transferring the filled bin from the temporary bin location. 6. The method of claim 5, wherein servicing requests from an operator has higher priority than transferring the filled bin from the temporary bin location, and wherein servicing requests from consumers to dispense product items has higher priority than servicing requests from the operator. 7. The method of claim 4, further comprising: displaying, through the operator user interface, a listing of a plurality of storage prioritization schemes for the robot;receiving, through the operator user interface, a selection of the storage prioritization scheme from the listing of the plurality of storage prioritization schemes; andimplementing the selection of the storage prioritization scheme by the controller. 8. The method of claim 4, further comprising; displaying, through the operator user interface, a listing of a plurality of parameter variables constraining a current storage prioritization scheme for the robotic inventory dispensary;receiving, through the operator user interface, a selection of a value of one of the plurality of parameter variables; andimplementing the selection of the value of one of he plurality of parameter variables by he controller. 9. The method of claim 1, further comprising: maintaining by the controller within the database system: data indicating a plurality of locations within the robotic inventory dispensary where bins can be stored;data indicating, for each bin of the plurality of bins: an identifier of the bin,a location of the bin within the robotic inventory dispensary,data by which the controller can determine whether the bin is empty or contains a product item, andif the bin contains a product item, an identifier of the product item; anddata indicating, for each product item stored in the plurality of bins: an identifier of the product item, andan identifier of a bin containing the product item;wherein the robot, under direction from the controller, can randomly access any location in the plurality of locations for bin extraction and for bin placement. 10. The method of claim 1, wherein the operator-access device is an operator access drawer into the robotic inventory dispensary. 11. The method of claim 10, wherein the operator access drawer provides access to a human operator for bin insertion and removal when the operator access drawer is open, and provides access to the robot for bin insertion and removal when the operator access drawer is closed. 12. The method of claim 1, wherein the operator-access device is a conveyor, and the method further comprising: moving the plurality of bins that are empty to an operator-access area using the conveyor; andmoving the plurality of bins that are filled from the operator-access area to the robot using the conveyor. 13. A method, comprising; receiving, by a computerized controller of a processing system of a robotic inventory dispensary, through an operator user interface, a request that includes a specification characterizing a set containing a plurality of product items and that triggers a purge operation;accessing, by the controller in computer-accessible tangible storage, a database system to determine locations within the robotic inventory dispensary of a plurality of bins in the robotic inventory dispensary that correspond, one product item per bin, to the product items in the set of the plurality of product items, wherein the plurality of bins are filled with the product items;receiving, by a robot of the robotic inventory dispensary: identifiers of the locations of the filled bins in the plurality of bins, anda command from the controller that causes the robot to transfer the filled bins in the plurality of bins to an operator-access device for emptying, wherein the filled bins are emptied while located in the operator-access device;receiving, by the controller through the operator user interface, a communication that indicates that the plurality of bins have been emptied; andreceiving, by the robot, a command from the controller that causes the robot to execute a set of actions, to complete the purge operation, including for each empty bin of the plurality of bins: removing the empty bin from the operator-access device, andplacing the empty bin into a respective bin location in the robotic inventory dispensary. 14. The method of claim 13, the set of actions for the purge operation further including for each empty bin of the plurality of bins: scanning the empty bin and obtaining a bin identifier from the scanning of the empty bin;transmitting the bin identifier to the controller; andreceiving, from the controller, a location identifier of the respective bin location. 15. The method of claim 14, wherein the respective bin location indicates a section of the robotic inventory dispensary directed to storage of empty bins. 16. The method of claim 13, further comprising: searching a database of the database system, by the controller, to identify the product items in the set of the plurality of product items. 17. The method of claim 16, wherein the specification characterizes all product items of a particular type. 18. The method of claim 16, wherein the specification characterizes all product items of a particular model. 19. The method of claim 16, wherein the specification characterizes all product items from a particular vendor or manufacturer. 20. The method of claim 13, further comprising: rearranging, by the robot under control of the controller, respective bins to compress locations used to store the respective bins in the robotic inventory dispensary. 21. The method of claim 20, wherein the controller gives compression lower priority than responding to consumer and operator requests. 22. The method of claim 20, wherein the locations used to store the respective bins are provided from respective drawers, and wherein the robot compresses a respective drawer by coupling to and lifting a first bin in the respective drawer and moving the first bin closer to a second bin in the respective drawer. 23. The method of claim 20, wherein the locations used to store the respective bins are provided from respective drawers, and wherein the robot compresses a respective drawer by lifting a particular bin in the respective drawer using a platform or frame under the particular bin, and then translating the particular bin forward or backward within the respective drawer. 24. The method of claim 23, wherein the robot places the particular bin by aligning pins located in tabs of the particular bin with holes in a rail of the respective drawer. 25. The method of claim 13, wherein the operator-access device is an operator access drawer into the robotic inventory dispensary. 26. The method of claim 13, wherein he operator-access device is a conveyor, and the method further comprising: moving the filled bins of the plurality of bins to an operator-access area using the conveyor; andmoving the emptied bins of the plurality of bins from the operator-access area to the robot using the conveyor.
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