Deployable sensors

• US 10,322,802 B1
• Filed: 09/07/2017
• Issued: 06/18/2019
• Est. Priority Date: 09/07/2017
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Krishnaswamy, Sarath, Brazeau, Jeremiah David
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US15/698,154
• Time in Patent Office: 649 Days
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01C 21/3423 Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
• CPC Class Codes: G05B 2219/31005 Detect obstacles on path of vehicle
• CPC Class Codes: G05B 2219/31006 Monitoring of vehicle
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: H04W 88/08 Access point devices

Abstract

Systems and methods for gathering sensor information using on-demand sensors and fixed sensors are described herein. For example, a system may include an on-demand sensor available for selective deployment within a workspace in which a plurality of mobile drive units transport a plurality of inventory holders. The system may also include a computing device that monitors movement of a mobile drive unit based on first sensor information. The computing device may also detect a triggering condition relating to the movement of the mobile drive unit. The computing device may also cause an on-demand sensor to collect second sensor information within the workspace based at least in part on detecting the triggering condition.

Claims

1. A system, comprising:

a plurality of mobile drive units configured for material transportation within a workspace;

a plurality of fixed sensors disposed at a plurality of fixed locations within the workspace, the plurality of fixed sensors configured to collect first sensor information regarding movement of the plurality of mobile drive units relative to the plurality of fixed locations;

a plurality of unmanned aerial vehicles moveable within the workspace and comprising sensors configured to collect second sensor information regarding movement of the plurality of mobile drive units; and

a management module in communication with the plurality of mobile drive units, the plurality of fixed sensors, and the plurality of unmanned aerial vehicles, the management module configured to;

monitor movement of the plurality of mobile drive units within the workspace based at least in part on the first sensor information;

receive a request for information about a condition at a location in the workspace, the location comprising a path intersection of a planned path of a mobile drive unit, and the condition comprises an obstruction condition present at the path intersection;

request, based at least in part on receiving the request, an unmanned aerial vehicle of the plurality of unmanned aerial vehicles to navigate to the location and use a sensor connected to the unmanned aerial vehicle to collect second sensor information at the location, the request identifying the location and comprising instructions for orienting a view angle of the sensor to collect the second sensor information; and

enable the unmanned aerial vehicle navigate to the location and execute the instructions.

2. The system of claim 1, wherein receiving the request for information about the condition comprises receiving the request from the mobile drive unit of the plurality of mobile drive units or from a different mobile drive unit of the plurality of mobile drive units.

3. The system of claim 1, wherein the management module is further configured to:

receive the second sensor information from the sensor of the unmanned aerial vehicle, the second sensor information providing a representation of the obstruction condition at the location in the workspace; and

determine an adjustment to the planned path of the mobile drive unit based at least in part on the obstruction condition.

4. A system, comprising:

an on-demand sensor available for selective deployment within a workspace in which a plurality of mobile drive units operate; and

a management module in communication with the on-demand sensor, the management module configured to;

monitor movement of a mobile drive unit within the workspace based at least in part on first sensor information received from a fixed sensor within the workspace, the first sensor information comprising a first representation of a fixed location where the fixed sensor is located;

detect a triggering condition relating to movement of the mobile drive unit within the workspace; and

in response to detecting the triggering condition, cause the on-demand sensor to collect second sensor information at a particular location within the workspace, the particular location being associated with the triggering condition, the second sensor information comprising a second representation of the particular location.

5. The system of claim 4, wherein:

the fixed sensor is positioned at the particular location within the workspace; and

the second representation comprises an enhanced representation of the particular location.

6. The system of claim 4, wherein:

the management module is further configured to;

monitor movement of a plurality of other mobile drive units within the workspace; and

determine a region in the workspace adjacent to the particular location where a future mobile drive unit density value will exceed a density threshold within a time period, the future mobile drive unit density value representing the number of mobile drive units with respect to an area of the workspace; and

the management module is further configured such that causing the on-demand sensor to collect the second sensor information comprises causing the on-demand sensor to collect the second sensor information within the region.

7. The system of claim 4, wherein the on-demand sensor is connected to an unmanned aerial vehicle configured for three-dimensional flight, a mobile drive unit configured for two-dimensional movement, or material handling equipment configured to manipulate items within the workspace.

8. The system of claim 4, wherein

the management module is further configured to receive a request from the mobile drive unit for additional information about the particular location;

and

the management module is further configured such that causing the on-demand sensor to collect the second sensor information comprises;

instructing an automated device including the on-demand sensor to navigate to the particular location and collect the second sensor information;

or

providing information about the request to a plurality automated devices including a plurality of on-demand sensors and allowing the plurality of automated devices to select which of the plurality of automated devices will navigate to the particular location and collect the second sensor information.

9. The system of claim 4, wherein the on-demand sensor is a mobile on-demand sensor connected to a different mobile drive unit or an unmanned aerial vehicle, or a fixed on-demand sensor connected to a robotic manipulator.

10. The system of claim 4, wherein:

the management module is further configured such that monitoring movement of the mobile drive unit within the workspace comprises monitoring movement of the mobile drive unit along a planned path for the mobile drive unit; and

the management module is further configured such that causing the on-demand sensor to collect the second sensor information comprises causing the on-demand sensor to collect the second sensor information at a region along the planned path that the mobile drive unit will enter at a future time, the second sensor information useable for detecting obstructions within the region.

11. The system of claim 4, wherein the management module is further configured such that causing the on-demand sensor to collect the second sensor information comprises sending an automated device to which the on-demand sensor is connected information identifying the particular location and instructions for orienting a view angle of the on-demand sensor to collect the second sensor information.

12. The system of claim 4, wherein the triggering condition comprises at least one of a detected obstruction, a change in conditions at the particular location, or a request from the mobile drive unit for additional route information.

13. A system, comprising:

a fixed sensor positioned at a fixed location in a workspace;

an on-demand sensor connected to an automated device, the on-demand sensor being available for selective deployment within the workspace; and

a management module in communication with the fixed sensor and the automated device, the management module configured to;

monitor conditions in the workspace based at least in part on first visual information received from the fixed sensor;

detect a triggering condition based at least in part on monitoring the conditions;

determine an information collection strategy for the automated device, the information collection strategy comprising information indicating a location within the workspace associated with the triggering condition and instructions for the automated device to orient the on-demand sensor for collecting second visual information at the location; and

provide the information collection strategy to the automated device for execution by the automated device.

14. The system of claim 13, wherein:

the first visual information comprises first image data;

the second visual information comprises second image data; and

the management module is further configured to generate a three-dimensional representation of the location based at least in part on the first visual information and the second visual information.

15. The system of claim 13, wherein the instructions for the automated device to orient the on-demand sensor comprises instructions for the automated device to orient a view angle of the on-demand sensor towards the location.

16. The system of claim 13, wherein automated device is an unmanned aerial vehicle, a mobile drive unit, or a robotic manipulator.