Systems and methods for transferring items using multiple robotic devices

1 . A system for picking up and transferring a variety of different types of merchandise items in shopping facilities, the system comprising:

a shopping facility comprising at least one merchandise order assembly area configured for assembly of part or all of a merchandise order;

an automated retrieval system configured to transport merchandise items to the at least one merchandise order assembly area;

a robotic arm at the at least one merchandise order assembly area configured to pick up and move a first set of merchandise items, the first set of merchandise items comprising items less than at least one of a predetermined size threshold and a predetermined weight threshold;

a cartesian robot with a mount for interchangeably affixing a plurality of end effectors, the cartesian robot at the at least one merchandise order assembly area configured to pick up and move a second set of merchandise items, the second set of merchandise items comprising items equal to or exceeding at least one of the predetermined size threshold and the predetermined weight threshold;

a merchandise database containing a plurality of records of merchandise items at the shopping facility, the plurality of records identifying the first set of merchandise items as transferable by the robotic arm, the second set of merchandise items as transferable by the cartesian robot, and a third set of merchandise items for manual transfer;

a control circuit communicatively coupled to the robotic arm, the cartesian robot, and the merchandise database, the control circuit to:

receive the merchandise order;

identify a merchandise item being transported to a merchandise order assembly area;

determine, from the merchandise database, if the merchandise item is in the first set, second set, or third set of items;

if the merchandise item is in the first set of items, direct the merchandise item to the robotic arm;

if the merchandise item is in the second set of items, direct the merchandise item to the cartesian robot; and

if the merchandise item is in the third set of items, direct the merchandise item to a manual transfer area.

2 . The system of claim 1 , further comprising at least one image sensor configured to capture images of each of the merchandise items being transported to the at least one merchandise order assembly area.

3 . The system of claim 1 , wherein the automated retrieval system comprises:

a plurality of containers configured to contain merchandise items in a merchandise storage area in the shopping facility; and

a transport conveyance configured to transport containers between the merchandise storage area and the merchandise order assembly area.

4 . The system of claim 3 , wherein the transport conveyance comprises at least one of a conveyor assembly and an autonomous ground vehicle.

5 . The system of claim 1 , wherein the control circuit is to:

determine whether transfer of a merchandise item in the first set of items by the robotic arm was successfully completed; and

if the merchandise item was not successfully transferred by the robotic arm, direct the merchandise item to the cartesian robot.

6 . The system of claim 5 , wherein the control circuit is to:

determine whether transfer of the merchandise item by the cartesian robot was successfully completed; and

if the merchandise item was not successfully transferred by the cartesian robot, direct the merchandise item to the manual transfer area.

7 . The system of claim 6 , wherein the control circuit is to:

if the merchandise item in the first set of items was successfully transferred by the cartesian robot, reassign the merchandise item to the second set of items; and

if the merchandise item in the first set of items was not successfully transferred by either the robotic arm or the cartesian robot, reassign the merchandise item to the third set of merchandise items.

8 . The system of claim 7 , wherein the control circuit is to:

determine whether transfer of a merchandise item in the second set of items by the cartesian robot was successfully completed; and

if the merchandise item was not successfully transferred by the cartesian robot, direct the merchandise item to the manual transfer area and reassign the merchandise item to the third set of merchandise items.

9 . The system of claim 1 , wherein the control circuit is to:

determine the merchandise items that are in each category of the first set, the second set, and the third set of merchandise items;

instruct transport of each item of the first set of items to the at least one merchandise order assembly area;

following transport of each item of the first set of items, instruct transport of each of the second set of items to the at least one merchandise order assembly area; and

following transport of each item of the first and second sets of items, instruct transport of each item of the third set of items to the at least one merchandise order assembly area.

10 . The system of claim 1 , wherein the second set of merchandise items further comprises merchandise items with a predetermined packaging material.

11 . The system of claim 1 , wherein the plurality of end effectors comprises at least two end effectors selected from suction cups or arrays, grippers, hooks, or magnets.

12 . The system of claim 1 , wherein the automated retrieval system comprises a conveyor assembly, the robotic arm and the cartesian robot being disposed along the conveyor assembly.

13 . The system of claim 12 , wherein the robotic arm is disposed at a first position along the conveyor assembly and the cartesian robot is disposed at a second position along the conveyor assembly, the first position being upstream of the second position.

14 . The system of claim 13 , wherein the control circuit is to:

determine a failure rate for at least one of the plurality of end effectors of the cartesian robot;

compare the failure rate to a failure rate threshold; and

instruct replacement of the at least one of the plurality of end effectors when the determined failure rate exceeds the failure rate threshold.

15 . A method for picking up and transferring a variety of different types of merchandise items in shopping facilities, the method comprising:

by an automated retrieval system, transporting merchandise items to at least one merchandise order assembly area at a shopping facility, the at least one merchandise order assembly area configured for assembly of part or all of a merchandise order;

by a robotic arm at the at least one merchandise order assembly area, picking up and moving a first set of merchandise items, the first set of merchandise items comprising items less than at least one of a predetermined size threshold and a predetermined weight threshold;

by a cartesian robot with a mount for interchangeably affixing a plurality of end effectors at the at least one merchandise order assembly area, picking up and moving a second set of merchandise items, the second set of merchandise items comprising items equal to or exceeding at least one of the predetermined size threshold and the predetermined weight threshold;

storing in a merchandise database a plurality of records of merchandise items at the shopping facility, the plurality of records identifying the first set of merchandise items as transferable by the robotic arm, the second set of merchandise items as transferable by the cartesian robot, and a third set of merchandise items for manual transfer;

by a control circuit:

receiving the merchandise order;

identifying a merchandise item being transported to a merchandise order assembly area;

determining, from the merchandise database, that the merchandise item is in the first set, second set, or third set of items;

directing merchandise items in the first set of items to the robotic arm;

directing merchandise items in the second set of items to the cartesian robot; and

directing merchandise items in the third set of items to a manual transfer area.

16 . The method of claim 15 , further comprising, by at least one image sensor, capturing images of each of the merchandise items being transported to the at least one merchandise order assembly area.

17 . The method of claim 15 , wherein the automated retrieval system comprises:

a plurality of containers configured to contain merchandise items in a merchandise storage area in the shopping facility; and

a transport conveyance configured to transport containers between the merchandise storage area and the merchandise order assembly area.

18 . The method of claim 17 , wherein the transport conveyance comprises at least one of a conveyor assembly and an autonomous ground vehicle.

19 . The method of claim 15 , further comprising, by the control circuit:

determining whether transfer of a merchandise item in the first set of items by the was successfully completed; and

directing merchandise items not successfully transferred by the robotic arm to the cartesian robot.

20 . The method of claim 19 , further comprising, by the control circuit:

determining whether transfer of the merchandise item by the cartesian robot was successfully completed; and

directing merchandise items not successfully transferred by the cartesian robot to the manual transfer area.

21 . The method of claim 20 , further comprising, by the control circuit:

reassigning merchandise items in the first set of items successfully transferred by the cartesian robot to the second set of items; and

reassigning merchandise items in the first set of items not successfully transferred by either the robotic arm or the cartesian robot to the third set of merchandise items.

22 . The method of claim 21 , further comprising, by the control circuit:

determining whether transfer of a merchandise item in the second set of items by the cartesian robot was successfully completed; and

directing merchandise items not successfully transferred by the cartesian robot to the manual transfer area and reassigning the merchandise item to the third set of merchandise items.