Automated warehouse

Abstract

An automated warehouse is disclosed comprising an enclosure. A robotic arm mounted above the enclosure places packages in the enclosure and removes packages from the enclosure. In embodiments, packages may be packed tightly within the enclosure to improve storage efficiency within the enclosure.

What is claimed is: 
     
         1 . An automated warehouse, comprising:
 an enclosure open on a top side;   a gantry mounted above the top side of the enclosure;   an extendable arm movably attached to the gantry; and   a warehouse controller having a memory,   wherein the warehouse controller is configured to control the gantry and extendable arm to move a package from outside of the enclosure, place the package at a location within the enclosure, and record in the memory the location of the package within the enclosure.   
     
     
         2 . The automated warehouse of  claim 1 , further comprising:
 a packet engagement mechanism mounted to an end of the extendable arm, wherein the warehouse controller is further configured to control the packet engagement mechanism to move the package.   
     
     
         3 . The automated warehouse of  claim 2 , wherein the package engagement mechanism is capable of rotating in at least one rotational dimension. 
     
     
         4 . The automated warehouse of  claim 2 , wherein the package engagement mechanism uses at least one suction cup and negative pressure to engage packages. 
     
     
         5 . The automated warehouse of  claim 2 , wherein the package engagement mechanism comprises one or more gripper or grasping mechanisms for grabbing or holding the package. 
     
     
         6 . The automated warehouse of  claim 1 , further comprising:
 a computer vision system attached to the end of the extendable arm.   
     
     
         7 . The automated warehouse of  claim 1 , further comprising:
 a second extendable arm movably attached to the gantry, wherein the first extendable arm and second extendable arm are extendable in a vertical direction.   
     
     
         8 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to determine the location based at least in part on a dimension of the package. 
     
     
         9 . The automated warehouse of  claim 8 , wherein the warehouse controller is further configured to determine the dimension of the package by:
 acquiring an image of the package with the camera, and   estimating the dimension of the package based on the image.   
     
     
         10 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to determine the location based at least in part on a weight of the package. 
     
     
         11 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to determine the location by:
 comparing a load-bearing capability of a second package beneath the location with an estimated weight of the package; and   determining that the second package can bear the load of the package based on the comparing.   
     
     
         12 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to determine the location by:
 receiving an estimated height, width, and depth of the package; and   comparing the estimated height, width, and depth of the package with a three-dimensional map of the enclosure.   
     
     
         13 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to rotate the package to fit in the location. 
     
     
         14 . The automated warehouse of  claim 1 , wherein the warehouse controller is further configured to determine the location by:
 moving a third package within the enclosure to create a space for the package.   
     
     
         15 . The automated warehouse of  claim 1 , wherein the enclosure is a rectangular cuboid inaccessible to humans. 
     
     
         16 . A method for manipulating a package, comprising:
 providing a package at a first location outside of an enclosure that is open on a top side;   maneuvering an extendable arm to the first location;   engaging the package with a package engagement mechanism mounted on the extendable arm;   determining a second location within the enclosure;   maneuvering the extendable arm to the second location;   releasing the package at the second location; and   recording the second location in a memory.   
     
     
         17 . The method of  claim 16 , wherein determining the second location within the enclosure comprises:
 determining a dimension of the package.   
     
     
         18 . The method of  claim 17 , wherein determining the dimension of the package comprises:
 acquiring an image of the package with the camera, and   estimating the dimension of the package based on the image.   
     
     
         19 . A non-transitory computer-readable medium containing instructions for package manipulation, the non-transitory computer-readable medium comprising instructions for:
 providing a package at a first location outside of an enclosure that is open on a top side;   maneuvering an extendable arm to the first location;   engaging the package with a package engagement mechanism mounted on the extendable arm;   determining a second location within the enclosure;   maneuvering the extendable arm to the second location;   releasing the package at the second location; and   recording the second location in a memory.   
     
     
         20 . The non-transitory computer-readable medium of  claim 19 , wherein determining the second location within the enclosure comprises using one or more computer vision techniques.