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Autonomous traction measurement of a surface

  • US 10,209,682 B1
  • Filed: 03/09/2018
  • Issued: 02/19/2019
  • Est. Priority Date: 03/09/2018
  • Status: Active Grant
First Claim
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1. An inventory management system, comprising:

  • an unmanned mobile drive unit, the unmanned mobile drive unit configured to move a container holder across a surface in a storage facility; and

    a management module configured to;

    transmit an instruction to the unmanned mobile drive unit to perform a rotation relative to the surface, the instruction comprising accelerating or decelerating the rotation of the unmanned mobile drive unit relative to the surface;

    receive wheel encoder data from the unmanned mobile drive unit, the wheel encoder data generated based at least in part on the rotation;

    receive rotation gyroscope data from a gyroscope sensor of the unmanned mobile drive unit;

    compare the wheel encoder data from the rotation with the rotation gyroscope data;

    determine a difference between the wheel encoder data and the rotation gyroscope data, the difference between the wheel encoder data and the rotation gyroscope data corresponding with a slip value;

    derive an acceleration threshold that limits the slip value to being below a slip threshold; and

    instruct the unmanned mobile drive unit to modify the acceleration or deceleration of the unmanned mobile drive unit based at least in part on the acceleration threshold of the surface.

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