Abstract: Systems, methods, and computer-readable media are disclosed for fully automated order fulfillment. A method includes identifying a shelf tote having an item contained therein for transfer to an order tote; dispatching a first carrier to pick up the shelf tote and a second carrier to pick an order tote; causing the picker to pick the item from the shelf tote while the shelf tote is moving through the transfer station; and transferring the item to the order tote by the picker.

Abstract: A method includes receiving, at a robot being in communication with a control center communication module of a control center, an instruction to relocate a cart to a location where a set of items are stored. The method further includes moving, by the robot, to a second location where the cart is positioned; (2) activating, by the robot, a motor of a latch fastening system to cause movement of a latch arm resulting in a latch being exposed; (3) removably engaging, by the robot and using the latch, the cart via a latching feature of the cart; (4) moving, by the robot, the cart from the second location to the location where the set of items are stored; and (5) transitioning, by the robot, a subset of the set of items to the cart in accordance with the instruction.

Abstract: A method includes arranging, on a robot, a set of suctions cups on an actuator of the robot to allow for removable engagement of the set of suction cups to a container surface. The method further includes initiating movement of the actuator to cause the robot to (1) engage the set of suction cups to the container surface, generating a pressure within at least a subset of the set of suction cups; (2) detect the pressure within the subset of the set of suction cups; (3) connect the subset of the set of suction cups to a set of vacuum pumps to generate a vacuum, resulting in a grip on the container; and (4) move the container on to a platform of the robot to prepare the container for delivery.

Abstract: Systems, methods, and computer-readable media are disclosed for fully automated order fulfillment. A method includes identifying a shelf tote having an item contained therein for transfer to an order tote; dispatching a first carrier to pick up the shelf tote and a second carrier to pick an order tote; causing the picker to pick the item from the shelf tote while the shelf tote is moving through the transfer station; and transferring the item to the order tote by the picker.

Abstract: Systems, methods, and computer-readable media are disclosed for fully automated order fulfillment. A method includes identifying a shelf tote having an item contained therein for transfer to an order tote; dispatching a first carrier to pick up the shelf tote and a second carrier to pick an order tote; causing the picker to pick the item from the shelf tote while the shelf tote is moving through the transfer station; and transferring the item to the order tote by the picker.

Abstract: A method includes operating, at an initial stage, a fully automated warehouse in which robots handle in an automated way the transfer of items from container to container on an automated basis and receiving an indication of a change in needed throughput through the warehouse. When a spike exceeds a completely automated system threshold, the method implements a hybrid operation for the warehouse, such that (1) the movement of containers in the warehouse anticipates human interaction and a robot having a removable cart is used in the process. The system can schedule humans at particular times to take their turn in manually managing the movement of containers and so remove the cart having containers thereon from the robot for manual delivery of containers to locations. The method includes causing a pre-staging event to occur such that source containers and destination containers can be pre-staged for the characteristics of the worker.

Abstract: A multi-view stereo approach generates an inventory of objects located on an object holder. An object may be a sample tube and an object holder may be a tube rack as used in lab automation for healthcare diagnostics. A processor performs 3D tracking of the object holder and the geometric analysis of multiple images generated by a calibrated camera. A homography mapping between images is utilized to warp a second image to a viewpoint of a first image. Plane induced parallax causes a normalized cross-correlation score between the first image and the warped second image of a location on the holder that has an object that is significantly different from a normalized cross-correlation score of a location that has not an object and enables the processor to infer tube inventory and absence or presence of a tube at a location in a rack.

Abstract: Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.

Abstract: A multi-view stereo approach generates an inventory of objects located on an object holder. An object may be a sample tube and an object holder may be a tube rack as used in lab automation for healthcare diagnostics. A processor performs 3D tracking of the object holder and the geo-metric analysis of multiple images generated by a calibrated camera. A homography mapping between images is utilized to warp a second image to a viewpoint of a first image. Plane induced parallax causes a normalized cross-correlation score between the first image and the warped second image of a location on the holder that has an object that is significantly different from a normalized cross-correlation score of a location that has not an object and enables the processor to infer tube inventory and absence or presence of a tube at a location in a rack.

Abstract: Disclosed are methods adapted to aid in a calibration of a robotic end effector. The method includes providing a robotic component having an end effector and a light beam sensor provided in a fixed orientation to the end effector fingers, rotating a light beam of the light beam sensor relative to a geometrical calibration feature of a teach tool mounted in an approximately known orientation to an article, and determining a precise location (e.g., center) of the geometrical calibration feature based upon engagement of the light beam with edges of the geometrical calibration feature. In another aspect, a rotational orientation of the fingers of the end effector are calibrated using the teach tool. A novel teach tool and a robot calibration system including the teach tool are disclosed, as are other aspects.