Invia Robotics, Inc.

Randolph Charles Voorhies

Lior Elazary

Daniel Frank Parks, Ii

William Shane Simpson Grant

Joseph Traverso

Sagar Pandya

Brandon Pennington

Joseph William Dinius

James Anderson

Corwin Carson

Joseph Ttraverso

Kaveh Kamgar

Daniel Frank Parks Ii

Disclosed is a system and associated methods for optimizing order fulfillment. The system determines the containers in a site with items for a set of received orders, and reserves different slot types of an item cache for each container based on the properties of the contained items or container. The system transfers a set of containers to the item cache by placing each of the set of containers into a slot that is associated with a slot type that matches a slot type reserved for that container. The system replaces a first container from the set of containers upon delivering a second container to the item cache and other containers from the set of containers in the slot type reserved for the second container having items for unfulfilled orders and the first container not having items for unfulfilled orders once the second container is brought to the item cache.

Systems and methods for optimizing order fulfillment

Provided is a robotic retrieval system that adapts robot operations to different densities with which containers are stored. The system determines a position of a particular container in a slot. The system selects a first side of the slot from which to gain access to the particular container based on the particular container being blocked from the first side by a first number of containers and from an opposite second side by a larger second number of containers. The system uses robots to advance the particular container to the frontmost position at the first side of the particular slot by removing the first number of containers from the first side, and by inserting the first number of containers into the second side, and to transfer the particular container to a target destination after advancing the particular container to the frontmost position at the first side.

Systems and methods for adapting robotic retrieval to increasingly dense container arrangements

Provided is a parallelized and modular planning system that controls multiple actors in performing different tasks simultaneously without conflict based on plans that are modularly created and/or updated. The system may update different parts of different plans at the same time without redefining those plans anew. The system may include a first subsystem that generates a first plan based on an assignment of a first task to a first actor, while a second subsystem provides a path for a second plan assigned to a second actor, while a third subsystem determines access ordering by which a third actor accesses a first resource from a path of a third plan, and while a fourth subsystem controls operation of a fourth actor in accessing a second resource from a path of a fourth plan based on an access ordering determined for the second resource by the third subsystem.

Parallelized and modular planning systems and methods for orchestrated control of different actors

Disclosed is a robot for performing three-dimensional ('3D') or multi-plane sortation and/or order fulfillment. The robot may include a motorized base to move about a first plane, a lift that raises and lowers a dispensing receptacle atop the lift about a second plane, and one or more actuators that modify a position of the dispensing receptacle from an upright position to a first tilted position in which the dispensing receptacle is tilted towards a first side of the robot and to a second tilted position in which the dispensing receptacle is tilted towards an opposite second side of the robot. The robot may receive and carry items when the dispensing receptacle is in the upright position, and may dispense the items to a destination on either side of the robot by tilting the dispensing receptacle to the first tilted position or the second tilted position.

Robots for three-dimensional sortation

Disclosed are systems and methods for computing an object's weight or the quantity of items within the object based on activations of different robot actuators used in retrieving the object from a storage location. Specifically, the robot may activate one or more actuators during retrieval of an object, may obtain a measurement in response to activating a particular actuator, and may derive a weight of the object based on the measurement by converting the measurement from a first range of values that are associated with activations of the particular actuator to a second range of values that are disassociated with activations of the particular actuator. The robot may then modify its operation in response to the weight that is derived for the object matching or being mismatched to an expected or last tracked weight.

Systems and methods for deriving weight and quantity based on activations of robot actuators used for object retrieval

Spatiotemporal robotic navigation may include providing a set of robots non-conflicting access to the same shared resources at different times so that the robots may operate without continually accounting for the locations of the other robots and workers operating in the particular site, without continually planning or updating paths after determining an initial path, and without continuously adjusting movements as the robots near one another. The spatiotemporal robotic navigation involves generating spatiotemporal plans. Each plan has a set of objectives that a robot is to execute by different time intervals. Each plan is generated so as to not conflict with the resources being accessed by other robots at time intervals set in the plans of other robots.

Spatiotemporal robotic navigation

Provided are robots that autonomously detect and correct individualized anomalies resulting from deviations in the sensors and/or actuators of individual robots, and environmental anomalies resulting from deviations in the environment elements that the robots rely on or use in the execution of different tasks. To do so, a robot may receive a task, may determine expected kinematics that include expected activations of a set of sensors and actuators by which the robot executes the task, may activate the set of sensors and actuators according to the expected kinematics, may track the actual kinematics resulting from activating the set of sensors and actuators according to the expected kinematics and continuing the activations until detecting one or more environment elements signaling completion of the task, and may adjust one or more sensors, actuators, or environment elements in response to the actual kinematics deviating from the expected kinematics.

Isolated and environmental anomaly detection and correction using a distributed set of robots

An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a pallet to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the pallet having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the pallet to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the pallet, and a second set of one or more robots may be used to transfer the retrieved objects into storage.

Depalletizing robots for an autonomous warehouse

A container with an alignment correcting end is provided. The alignment correcting end has angled side walls that extend from parallel flat square or rectangular sides of the container. Each angled side wall extends at an angle between 5 and 70 from one of the parallel walls towards the center of the container. Nubs may be disposed about an exterior of the angled side walls. Also, a passive displacing robotic element for performing misaligned or off-axis placement of the container with the alignment correcting end is provided. The passive displacing robotic element provides displacement of the one or more robotic actuators that are used to engage and place the container into the slot in response to the alignment correcting end of the container contacting the slot edge, wall, or other barrier.

Container with alignment correcting end for misaligned placement with a displacing robotic element

An order fulfillment system controller receives orders for different objects, generates a number of batched tasks that is less than the number of received orders, and determines a set of the orders with a total distance between them that is greater than a total distance between other sets of the orders. The controller allocates a different order from the set of order to a different batched task, and allocates each unallocated order to a selected batched task based on the distance between objects of the unallocated order and objects previously allocated to the selected batched task being less than the distance between objects of the unallocated order and objects previously allocated to other batched tasks. The controller controls different agents according to the allocation of different subsets of orders to different batched tasks.

Systems and methods for controlling order fulfillment using spatial batching

Robots and/or a robot coordinator are provided to execute an overall task by partitioning the task into subtasks and by coalescing results and/or output of the subtasks. The robot coordinator may coordinate, control, and/or program a set of robots to operate within different sections of a site and to execute subtasks associated with different tasks that fall within their respective sections in parallel. The robot coordinator may coordinate, control, and/or program the same or different set of robots to coalesce results and/or output for subtasks for a particular task from the different sections to complete the overall task. For instance, a first set of robots may retrieve objects that are stored at storage locations within the sections in which each robot operates, and a second set of robots may rotate moveable storage apparatus across the sections so that each storage apparatus stores all objects of a particular order.

Partitioning and coalescing operation of robots for coordinated autonomous execution

A virtual put wall system includes a storage apparatus with multiple containers, and different container identifiers attached to the containers. The system includes databases storing a first mapping that maps each customer order of a plurality of customer orders to a different container, a second mapping that maps each container to a different container identifier attached to that container, and a different visual identifier of each container. The system also includes a display device and a coordinating device that detects retrieval of an object, determines that the object belongs to a particular customer order, selects, based on the second mapping, a particular container that is used to store objects of the particular customer order, and directs the transfer of the object to the particular container by modifying the display device to present a particular visual identifier of the particular container.

Virtual put wall

A robot may include a spatiotemporal controller for controlling the kinematics or movements of the robot via continuous and/or granular adjustments to the actuators that perform the physical operations of the robot. The spatiotemporal controller may continuously and/or granularly adjust the actuators to align completion or execution of different objectives or waypoints from a spatiotemporal plan within time intervals allotted for each objective by the spatiotemporal plan. The spatiotemporal controller may also continuously and/or granularly adjust the actuators to workaround unexpected conflicts that may arise during the execution of an objective and delays that result from a workaround while still completing the objective within the allotted time interval. By completing objectives within the allotted time intervals, the spatiotemporal controller may ensure that conflicts do not arise as the robots simultaneously operate in the site using some of the same shared resource.

Spatiotemporal controller for controlling robot operation

Provided are systems and methods for maximizing saturation of two different sets of actors performing different sets of dependent operations at different rates over different but overlapping periods of time in a non-conflicting manner. The systems and methods may include transferring a first set of ordered items from item storage to item cache locations at a first rate during a first period of time, and fulfilling orders at a faster second rate over a later second period of time by picking items from a first set of the item cache locations at the second rate, and by replacing items at a non-overlapping second set of the item cache locations at the first rate. The transferring is commenced before the picking to create a buffer that allows a first set of actors, operating at the first rate, to continually provide the dependencies needed for a second set of actors to operate at the faster second rate without conflict and with each set of actors operating at their respective maximum rates.

Decoupled order fulfillment

Provided are systems and methods by which robots predictively detect objects that may obstruct robotic tasks prior to the robots performing those tasks. For instance, a robot may receive a task, and may obtain dimensions of a task object based on a first identifier obtained with the task or with a sensor of the robot. The robot may determine a first boundary for moving the task object based on the task object dimensions and an added buffer of space that accounts for imprecise robotic operation. The robot may detect a second identifier of a neighboring object, and may obtain dimensions of the neighboring object using the second identifier. The robot may compute a second boundary of the neighboring object based on the dimensions of the neighboring object and a position of the second identifier, and may detect an obstruction based on the second boundary crossing into the first boundary.

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Culver City, CA, United States of America

Randolph Charles Voorhies