Amazon Technologies, Inc.

Joseph W Durham

Peter R Wurman

John Joseph Enright

Michael Cordell Mountz

Eryk Brian Nice

Michael Harrison Decker

Steven Augustine Wilson

Jonathan Harris Schechter

Jeremiah David Brazeau

Pardeep Singh Farwaha

Ryan Alexander Holt

Alex Glazkov

Jared Brian Holcomb

Parris S Wellman

Diane Grieselhuber Mills

John Gregory Longtine

Zhouzhou Peng

Scott Dresser

Caroline F Mallary

Robert Raymond Ambrogi

Jon B Taylor

Timothy Aaron Bragg

Jong Jin Park

Ibolya Horvath

Samer Nashed

Brendon Bielat

Embodiments herein describe a robotic system that uses range sensors to identify a vector map of an environment. The vector map includes lines that outline the shape of objects in the environment (e.g., shelves on the floor of a warehouse). The system identifies one or more line segments representing the boundary or outline of the objects in the environment using range data acquired by the range sensors. The robotic system can repeat this process at different locations as it moves in the environment. Because of errors and inaccuracies, line segments formed at different locations may not clearly align even when these line segments correspond to the same object. To account for this error, the robotic system match line segments identified at a first location with line segments identified at a second location. The matched line segments can be merged into a line that is stored in the vector map.

Physical models for hierarchical clustering and symbolic inference

An inventory system can include a workspace in which is defined different areas and different stations at which tasks can be performed. A receipt receptacle received from a shipping vehicle can be moved to a rack without separating items from the receipt vehicle. A mobile drive unit can move the rack to an area on the workspace depending on information known about the items. Items from the receipt receptacle can be removed from the receipt receptacle and placed in inventory holders for movement or storage or in other receptacles for performance of other tasks such as order processing.

Inventory system with efficient operator handling of inventory items

Tote

A transfer rack on one floor of an inventory system can receive multiple containers each carrying an inventory item designated for an operation on a different floor of the inventory system. A vertical lift can move the transfer rack carrying the multiple containers from the one floor to the different floor. On the different floor, the multiple containers may be swapped for different multiple containers each carrying an inventory item designated for an operation on the one floor. The vertical lift may return the transfer rack carrying the different multiple containers to the one floor.

Amassing pick and/or storage task density for inter-floor transfer

An inventory system can include multiple floors. The system can assign operations involving inventory items to a floor based on information about the floor, other floors, the operations, and/or the inventory items. In one example, the system may assign an order to be assembled on a floor based on the floor containing items for the order. Items may be moved to the floor from other floors to complete the order. In another example, a receipt receptacle received from a shipping vehicle can be moved to a rack without separating inventory items from the receipt vehicle. A mobile drive unit can move the rack to a floor based on information known about the inventory items matching criteria about the floor.

Item information such as an identity or arrangement of a selected inventory item of an inventory system can be determined. A classification of the selected inventory item can be obtained based at least in part on the item information. The selected inventory item can be routed based at least in part on the classification of the selected inventory item. For example, the selected inventory item may be routed for manual handling if the classification of the selected inventory item indicates that the selected inventory item is designated for an operation to be performed relative to the selected inventory item by a human operator. Alternatively, the selected inventory item may be routed for automated handling if the classification of the selected inventory item indicates that the selected inventory item is designated for an operation to be performed relative to the selected inventory item by a robotic manipulator.

Routing based on automation capabilities in inventory system

A system includes a inventory pier and a mobile drive unit. The inventory pier includes a first side and a second side. The first side includes defined areas at which inventory holders are designated to be stationed. The inventory pier is operable to receive inventory items from at least one of the inventory holders at least one of the defined areas. The mobile drive unit is operable to transport an order holder along the second side of the inventory pier, wherein the order holder is operable to receive an inventory item from the inventory pier at a location along the second side of the inventory pier.

Filling an order at an inventory pier

Inventory holders in an inventory system can be moved among differing storage positions. The moves can be performed by mobile drive units not otherwise transporting inventory holders directly to or from inventory stations. A free mobile drive unit can move an inventory holder not likely to be useful soon at any nearby station from a storage position near the station to a position farther away from the station. A mobile drive unit can move an inventory holder likely to be useful soon from a storage position farther away from one or more stations to a storage position nearby one or more stations.

Re-arrange stored inventory holders

An inventory system can receive a receipt receptacle from a shipping vehicle. The receipt receptacle can be moved to a case shuttle without separating or sorting inventory items in the receipt receptacle. A mobile drive unit can move the case shuttle to a receiving station, where the receipt receptacle can be removed and where the inventory items can be stowed in a pickable inventory holder. A mobile drive unit can move the pickable inventory holder to an order-compiling station, where inventory items can be picked from the inventory holder into order receptacles. A mobile drive unit can move an order shuttle carrying order receptacles with completed orders to a shipping station, where the completed order receptacles can be transferred to a shipping vehicle.

A system includes an inventory pier, a mobile drive unit, and a management module. The inventory pier includes a defined area arranged to station an inventory holder. The inventory holder stores an inventory item. The mobile drive unit is operable to transport an order holder. The management module is operable to calculate a metric associated with demand for the inventory item. Based at least in part upon the metric, the management module is operable to select, from a plurality of inventory holders, the inventory holder storing the inventory item to be stationed at the defined area of the inventory pier. The management module is further operable to receive an order for the inventory item and instruct the mobile drive unit to transport the order holder to the inventory pier. The order holder is operable to receive the inventory item from the inventory holder proximate to the defined area.

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Somerville, MA, United States of America

Joseph W Durham