Autonomous robots performing concerted operation based on shared sensory access and holistic flow of information

{
  "publication_number": "US11507071B2",
  "country": "US",
  "kind": "B2",
  "title": "Autonomous robots performing concerted operation based on shared sensory access and holistic flow of information",
  "abstract": "Increased robotic sophistication and more efficient autonomous operation is implemented by providing separate physical autonomous robots shared and remote access to the sensory array and information from the sensory array of one another. Each robot can access a sensor of any other robot, or scans or other information obtained from the sensor of any other robot. The robots leverage the shared sensory access in order to perform batch order fulfillment, dynamic rearrangement of item or tote locations, and opportunistic charging. These coordinated robotic operations based on the shared sensory access increase the efficiency and productivity of the robots without adding resources or hardware to the robots, increasing the speed of the robots, or increasing the number of deployed robots.",
  "claims": [
    "1. A method comprising: receiving a plurality of orders in a particular sequence at a robot management system, each order of the plurality of orders involving a different set of items; determining, by execution of one or more machines of the robot management system, that a first order has at least a particular item in common with a second order, wherein the second order is at least two or more orders removed from the first order in the particular sequence of the plurality of orders; determining, by execution of the one or more machines, a total quantity of the particular item ordered as part of the plurality of orders based on a first quantity of the particular item ordered as part of the first order and a second quantity of the particular item ordered as part of the second order; selecting a particular robot from a plurality of robots under control of the robot management system; controlling the particular robot in transferring an object containing at least the total quantity of the particular item from a storage location to an order fulfillment station; and performing an out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the total quantity of the particular item from the object upon transfer of the object by the particular robot to the order fulfillment station, wherein performing the out-of-order fulfillment comprises fulfilling the particular item for the first order and the second order before fulfilling an item of a third order that is received before at least one of the first order and the second order in the particular sequence.",
    "2. The method of claim 1 further comprising: determining, by execution of the one or more machines, a third quantity of a second item, that is different than the particular item, of the second order that is not ordered as part of the first order; controlling a second robot of the plurality of robots, that is different than the particular robot, in transferring a second object containing at least the third quantity of the second item from a different storage location to the order fulfillment station; and continuing the out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the third quantity of the second item from the second object before transfer of a third object containing any item of the third order.",
    "3. The method of claim 2 further comprising: fulfilling the different set of items for the first order and the second order at the order fulfillment station before any items of the third order are fulfilled at the order fulfillment station; and controlling a third robot of the plurality of robots in transferring an object containing a third item, that is ordered as part of the third order and is not ordered as part of the first order or the second order, from a storage location to the order fulfillment station in response to fulfilling the different set of items for the first order and the second order at the order fulfillment station.",
    "4. The method of claim 1 further comprising: determining that the first order has a second item, that is different than the particular item, in common with a fourth order that is at least two or more orders removed from the first order in the particular sequence of the plurality of orders; determining, by execution of the one or more machines, a total quantity of the second item ordered as part of the plurality of orders based on a third quantity of the second item ordered as part of the first order and a fourth quantity of the second item ordered as part of the fourth order; controlling a second robot of the plurality of robots, that is different than the particular robot, in transferring a second object containing at least the total quantity of the second item from a different storage location to the order fulfillment station; and continuing the out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the total quantity of the second item from the second object before transfer of a third object containing any item of the third order.",
    "5. The method of claim 1, wherein determining the total quantity of the particular item ordered as part of the plurality of orders is further based on an expected quantity of the particular item for orders arriving after the plurality orders and after commencing fulfillment of the first order and the second order.",
    "6. The method of claim 1 further comprising: returning a first object from the order fulfillment station to a first storage location with the particular robot; identifying a next item, that is ordered as part of one or more of the plurality of orders and that is stored in a second object at a storage location that is closest to the first storage location relative to storage locations of other objects containing other items of the plurality of orders, wherein the one or more orders is not a next order in the particular sequence that follows the first order or the second order; controlling the particular robot in moving from the first storage location to the second storage location after returning the first object to the first storage location.",
    "7. The method of claim 6 further comprising: determining, by execution of the one or more machines, a total quantity of the next item ordered as part of the one or more orders; and continuing the out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the total quantity of the next item from the second object.",
    "8. The method of claim 6 further comprising: identifying the first storage location based on the particular robot scanning a first identifier at the first storage location; locating storage locations of objects containing each distinct item ordered as part of the plurality of orders; determining different storage locations of objects containing each distinct item that is ordered as part of the plurality of orders; and providing the particular robot with a second identifier for locating the second object at the second storage location that is closest to the first storage location.",
    "9. The method of claim 1, wherein selecting the particular robot comprises: detecting a proximity of each robot of the plurality of robots to the storage location of the object; detecting a travel orientation of each robot of the plurality of robots relative to the storage location of the object; and assigning a first robot for said transferring of the object based on detecting the first robot to be farther away from the storage location than a second robot of the plurality of robots and based on detecting the first robot to have a travel orientation towards the storage location and the second robot to have a travel orientation away from the storage location, wherein a time to change orientation of the second robot is greater than a time for the first robot to move closer to the storage location than the second robot.",
    "10. The method of claim 1, wherein selecting the particular robot comprises: computing a first object retrieval time based on a first distance between a first robot of the plurality of robots and the storage location, and based on the first robot having a travel orientation towards the storage location; computing a second object retrieval time based on a second distance between a second robot of the plurality of robots and the storage location, and based on the second robot having a travel orientation away from the storage location, wherein the first distance is greater than the second distance; and determining that the first object retrieval time is less than the second object retrieval time due to a time to change orientation of the second robot being greater than a time for the first robot to travel a difference between the first distance and the second distance.",
    "11. The method of claim 1, wherein selecting the particular robot comprises: detecting a travel orientation of each robot of the plurality of robots relative to the storage location of the object; detecting tasks assigned by the one or more machines to each robot of the plurality of robots; and assigning a first robot of the plurality of robots for said transferring of the object based on detecting the first robot to be farther away from the storage location than a second robot of the plurality of robots and based on detecting the first robot to be available and the second robot performing a previously assigned task.",
    "12. The method of claim 1, wherein selecting the particular robot comprises: detecting a proximity of each robot of the plurality of robots to the storage location of the object; detecting tasks assigned by the one or more machines to each robot of the plurality of robots; assigning a first robot of the plurality of robots for said transferring of the object based on detecting the first robot to have a travel orientation towards the storage location and the second robot to have a travel orientation away from the storage location and based on detecting the first robot to be performing a previously assigned task and the second robot to be available, wherein a time for the first robot to complete the previously assigned task and reach the storage location is less than a time for the second robot to change orientation and reach the storage location.",
    "13. The method of claim 1, wherein the particular robot comprises a motorized base and a mechanical retriever, wherein transferring the object comprises moving the motorized base from a first location to a second location corresponding to the storage location of the object, and extracting the object from the storage location with the mechanical retriever.",
    "14. The method of claim 13, wherein the particular robot further comprises at least one scanner, and wherein transferring the object further comprises scanning an identifier identifying the object with the at least one scanner a first time to signal retrieval of the object from the storage location, and scanning the identifier a second time upon arriving at the order fulfillment station to signal transfer of the object to the order fulfillment station.",
    "15. A system comprising: a plurality of robots; an order fulfillment station; and one or more processors configured to: receive a plurality of orders in a particular sequence, each order of the plurality of orders involving a different set of items; determine that a first order has at least a particular item in common with a second order, wherein the second order is at least two or more orders removed from the first order in the particular sequence of the plurality of orders; determine a total quantity of the particular item ordered as part of the plurality of orders based on a first quantity of the particular item ordered as part of the first order and a second quantity of the particular item ordered as part of the second order; select a particular robot from the plurality of robots; control the particular robot in transferring an object containing at least the total quantity of the particular item from a storage location to the order fulfillment station; and perform an out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the total quantity of the particular item from the object upon transfer of the object by the particular robot to the order fulfillment station, wherein performing the out-of-order fulfillment comprises fulfilling the particular item for the first order and the second order before fulfilling an item of a third order that is received before at least one of the first order and the second order in the particular sequence.",
    "16. The system of claim 15, wherein the one or more processors are further configured to: determine a third quantity of a second item, that is different than the particular item, of the second order that is not ordered as part of the first order; control a second robot of the plurality of robots, that is different than the particular robot, in transferring a second object containing at least the third quantity of the second item from a different storage location to the order fulfillment station; and continue the out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the third quantity of the second item from the second object before transfer of a third object containing any item of the third order.",
    "17. The system of claim 16, wherein the one or more processors are further configured to: fulfill the different set of items for the first order and the second order at the order fulfillment station before any items of the third order are fulfilled at the order fulfillment station; and control a third robot of the plurality of robots in transferring an object containing a third item, that is ordered as part of the third order and is not ordered as part of the first order or the second order, from a storage location to the order fulfillment station in response to fulfilling the different set of items for the first order and the second order at the order fulfillment station.",
    "18. The system of claim 15, wherein the one or more processors are further configured to: return a first object from the order fulfillment station to a first storage location with the particular robot; identify a next item, that is ordered as part of one or more of the plurality of orders and that is stored in a second object at a storage location that is closest to the first storage location relative to storage locations of other objects containing other items of the plurality of orders, wherein the one or more orders is not a next order in the particular sequence that follows the first order or the second order; control the particular robot in moving from the first storage location to the second storage location after returning the first object to the first storage location.",
    "19. The system of claim 15, wherein selecting the particular robot comprises: detect a proximity of each robot of the plurality of robots to the storage location of the object; detect a travel orientation of each robot of the plurality of robots relative to the storage location of the object; and assign a first robot for said transferring of the object based on detecting the first robot to be farther away from the storage location than a second robot of the plurality of robots and based on detecting the first robot to have a travel orientation towards the storage location and the second robot to have a travel orientation away from the storage location, wherein a time to change orientation of the second robot is greater than a time for the first robot to move closer to the storage location than the second robot.",
    "20. A non-transitory computer-readable medium storing program instructions that, when executed by one or more machines of a robot management system, cause the robot management system to perform operations comprising: receive a plurality of orders in a particular sequence, each order of the plurality of orders involving a different set of items; determine that a first order has at least a particular item in common with a second order, wherein the second order is at least two or more orders removed from the first order in the particular sequence of the plurality of orders; determine a total quantity of the particular item ordered as part of the plurality of orders based on a first quantity of the particular item ordered as part of the first order and a second quantity of the particular item ordered as part of the second order; select a particular robot from a plurality of robots; control the particular robot in transferring an object containing at least the total quantity of the particular item from a storage location to an order fulfillment station; and perform an out-of-order fulfillment of the plurality of orders at the order fulfillment station by coordinating extraction of the total quantity of the particular item from the object upon transfer of the object by the particular robot to the order fulfillment station, wherein performing the out-of-order fulfillment comprises fulfilling the particular item for the first order and the second order before fulfilling an item of a third order that is received before at least one of the first order and the second order in the particular sequence."
  ],
  "description_excerpt": "The ever-increasing sophistication of robots allows them to perform more and more human roles or tasks. Order fulfillment and inventory management is a field that has benefited from this increased robotic sophistication.\n\nWith respect to order fulfillment and inventory management, robots may traverse a warehouse or distribution site in order to retrieve different items for fulfillment of different customer orders. The robots identify a path to the locations of the different items, navigate the paths while avoiding collisions with humans and other robots, identify the totes or bins that contain multiple units of an ordered item from warehouse shelving, pull the identified totes, carry the totes back to a station where a human or other robot extracts the desired quantity of items from the totes before the robots return the totes back to the warehouse shelving. This is one example of a workflow that the robots can autonomously perform.\n\nThe robots depend on multiple sensors, actuators, motors, mechanical components, processors, and algorithms to complete these tasks. As robotic sophistication increases, the efficiency by which the robots can complete the tasks increases, thereby enabling each robot to complete more tasks in less time using the same sets of resources (e.g., sensors, motors, mechanical components, processors, and algorithms). As relating to order fulfillment, the increased efficiencies reduce the average time to retrieve each tote, which in turn, allows the same number of robots to fulfill more orders in the same amount of time, thereby reducing overall cost of the warehouse administrator.",
  "cpc": [
    "G05B 19/41895",
    "B25J 9/0084",
    "B25J 9/162",
    "B25J 9/1664",
    "B25J 9/1697",
    "B65G 1/1373",
    "B65G 2203/044",
    "B65G 2209/04",
    "B66F 9/063",
    "G05D 1/0276",
    "G05D 1/0287",
    "G05D 1/0297",
    "G06K 19/06037",
    "G06Q 10/08",
    "G06Q 10/087",
    "G06Q 10/0874",
    "G06Q 10/0877",
    "G06Q 50/28",
    "Y10S 901/01",
    "Y10S 901/08"
  ],
  "ipc": [
    "B25J 9/00",
    "B25J 9/16",
    "B65G 1/137",
    "B66F 9/06",
    "G05B 19/418",
    "G05D 1/02",
    "G06K 19/06",
    "G06Q 10/08"
  ],
  "assignees": [
    "Invia Robotics LLC"
  ],
  "inventors": [
    "Randolph Charles Voorhies",
    "Lior Elazary",
    "II Daniel Frank Parks",
    "Sagar Pandya",
    "William Shane Simpson Grant"
  ],
  "filing_date": "2020-05-21",
  "publication_date": "2022-11-22",
  "grant_date": "2022-11-22",
  "priority_date": "2018-04-04",
  "application_number": "US-202016880359-A",
  "family_id": "68097113",
  "cited_by_count": 3,
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}