Determining payload properties using actuator parameter data

• US 10,336,150 B1
• Filed: 12/02/2016
• Issued: 07/02/2019
• Est. Priority Date: 12/02/2016
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Hebert, Gabriel, Aduh, Erica, Colantonio, Peter Thomas, Wellman, Parris S.
• Primary Examiner(s): Sood, Anshul
• Application Number:
  US15/368,418
• Time in Patent Office: 942 Days
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• CPC Class Codes: G05B 19/4189 characterised by the transport system
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/2641 Fork lift, material handling vehicle
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes

Abstract

Payload properties may be determined utilizing actuator parameter data. A mobile drive unit may transport a payload around a workspace in accordance with one or more safety. To comply with safety policies, a motion controller of the mobile drive unit may limit acceleration and deceleration to safe maximums for given payload characteristics such as payload mass and payload center of gravity. The motion controller may utilize actuators to cause various motions of the mobile drive unit, including motion across a surface, vertical movements of the payload and motion rotating the payload. To ameliorate worst case assumptions about payload characteristics, in accordance with at least one embodiment of the invention, a payload characterization module may obtain information about payload characteristics based on measurements of operational parameters of the actuators. Utilizing motor current data provides a relatively inexpensive mechanism for obtaining such information compared to special purpose sensors, enabling widespread adoption.

Claims

1. A computer-implemented method, comprising:

instructing a motion controller of a mobile drive unit to move a payload utilizing an actuator;

measuring an operational parameter of the actuator during movement of the payload;

determining a mass of the payload based at least in part on a magnitude of the measurement of the operational parameter, the payload comprises a plurality of items, individual items of the plurality of items having substantially equal mass;

counting the plurality of items based at least in part on the determined mass of the payload; and

instructing the motion controller to optimize a motion of the mobile drive unit while transporting the payload based at least in part on the determined mass of the payload.

2. The computer-implemented method of claim 1, further comprising:

instructing the motion controller of the mobile drive unit to move a calibration payload utilizing the actuator, the calibration payload having predetermined mass properties;

measuring the operational parameter of the actuator during the movement of the calibration payload; and

determining a current to mass conversion parameter based at least in part on the magnitude of the measurement of the operational parameter.

3. The computer-implemented method of claim 2, wherein the current to mass conversion parameter is further based at least in part on a plurality of measurements made by a plurality of mobile drive units moving the calibration payload.

4. The computer-implemented method of claim 1, wherein the mobile drive unit is configured to couple with the payload utilizing a docking head, the docking head is coupled with a lifting mechanism, and the method further includes moving the payload at least in part by causing the lifting mechanism to vertically move the docking head.

5. The computer-implemented method of claim 1, further comprising determining a maximum safe acceleration or deceleration in accordance with a safety policy based at least in part on the determined mass of the payload.

6. The computer-implemented method of claim 1, further comprising determining a maximum safe velocity in accordance with a safety policy based at least in part on the determined mass of the payload.

7. The computer-implemented method of claim 1, wherein measuring the operational parameter of the actuator comprises measuring current going through a motor.

8. The computer-implemented method of claim 1, wherein measuring the operational parameter of the actuator comprises measuring current going through a motor during acceleration.

9. A computer-implemented method, comprising:

instructing a motion controller of a mobile drive unit to move a payload utilizing an actuator;

measuring an operational parameter of the actuator during movement of the payload;

determining a mass of the payload based at least in part on a magnitude of the measurement of the operational parameter, the payload comprises a plurality of items resulting from a sequence of payload modification operations, the sequence of payload modification operations including an item stowing operation or an item picking operation;

determining a mass of an item of the plurality of items based at least in part on a change in the determined mass of the payload between two payload modification operations of the sequence of payload modification operations; and

instructing the motion controller to optimize a motion of the mobile drive unit while transporting the payload based at least in part on the determined mass of the payload.

10. The computer-implemented method of claim 9, further comprising:

instructing the motion controller of the mobile drive unit to move a calibration payload utilizing the actuator, the calibration payload having predetermined mass properties;

measuring the operational parameter of the actuator during the movement of the calibration payload; and

determining a current to mass conversion parameter based at least in part on the magnitude of the measurement of the operational parameter.

11. The computer-implemented method of claim 10, wherein the current to mass conversion parameter is further based at least in part on a plurality of measurements made by a plurality of mobile drive units moving the calibration payload.

12. The computer-implemented method of claim 9, wherein the mobile drive unit is configured to couple with the payload utilizing a docking head, the docking head is coupled with a lifting mechanism, and the method further includes moving the payload at least in part by causing the lifting mechanism to vertically move the docking head.

13. The computer-implemented method of claim 9, further comprising determining a maximum safe acceleration or deceleration in accordance with a safety policy based at least in part on the determined mass of the payload.

14. The computer-implemented method of claim 9, further comprising determining a maximum safe velocity in accordance with a safety policy based at least in part on the determined mass of the payload.

15. The computer-implemented method of claim 9, wherein measuring the operational parameter of the actuator comprises measuring current going through a motor.

16. The computer-implemented method of claim 9, wherein measuring the operational parameter of the actuator comprises measuring current going through a motor during acceleration.