Inventory system with vertically mobile drive units

• US 10,399,772 B1
• Filed: 03/30/2017
• Issued: 09/03/2019
• Est. Priority Date: 03/30/2017
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Brazeau, Jeremiah David
• Primary Examiner(s): Cumbess, Yolanda R
• Application Number:
  US15/474,808
• Time in Patent Office: 887 Days
• Field of Search: None
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/06 with means for presenting articles for removal at predetermined position or level B65G1/12 takes precedence
• CPC Class Codes: B65G 1/10 with relatively movable racks to facilitate insertion or removal of articles cabinets with means for moving compartments up and down A47B51/00; cabinet system, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets A47B53/02
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses

Abstract

Disclosed inventory systems, methods, and devices can be used to retrieve and transport resources from one location to another. Specifically, a vertically mobile drive unit including a vertical element grasping mechanism can be controlled by a management component to retrieve a resource, transport the resource from one floor to a different floor in an inventory system, and deposit the resource at a destination. The vertically mobile drive unit can transit vertically along a vertically disposed element in an inventory system, such as a structural pole or column.

Claims

1. An inventory management system, comprising:

an inventory system comprising;

a first level;

a second level above the first level; and

a vertical element extending upward from the first level and passing through or adjacent to the second level;

a drive unit comprising;

a horizontal drive mechanism;

a vertical element grasping mechanism; and

a vertical drive mechanism; and

a management component configured with executable instructions, in order to, at least;

receive information relating to a resource in the inventory system;

instruct the drive unit to retrieve the resource at a first location on the first level using the horizontal drive mechanism;

instruct the drive unit to navigate from the first location to the vertical element using the horizontal drive mechanism;

instruct the drive unit to grasp the vertical element with the vertical element grasping mechanism;

instruct the drive unit to ascend the vertical element to the second level using the vertical drive mechanism;

instruct the drive unit to translate horizontally while connected with the vertical element to position the drive unit above and proximate to the second level; and

instruct the drive unit to detach from the vertical element to place the drive unit on the second level such that the horizontal drive mechanism can operate on the second level; and

instruct the drive unit to move the resource to a second location on the second level using the horizontal drive mechanism.

2. The inventory management system of claim 1, wherein:

the management component is further configured to;

instruct the drive unit to grasp the vertical element while the drive unit is on the second level; and

instruct the drive unit to return to the first level by descending the vertical element.

3. The inventory management system of claim 1, wherein:

the drive unit further comprises a sensor operable to sense an environment of the drive unit; and

wherein the management component further comprises;

a location sensing module to determine a position of the drive unit at least in part based on the environment; and

a pathfinding module for determining a route for travel by the drive unit.

4. The inventory management system of claim 1, wherein:

the drive unit further comprises a resource retention element for holding the resource; and

wherein the management component further comprises;

a retention management module that detects when the resource is loaded on the drive unit.

5. A computer-implemented method of managing a resource, comprising:

selecting a drive unit, the drive unit comprising a horizontal drive mechanism and a vertical drive mechanism;

instructing the drive unit to transit to a vertical element using the horizontal drive mechanism;

instructing the drive unit to grasp the vertical element;

instructing the drive unit to ascend or descend the vertical element to a second level in a multi-level facility using the vertical drive mechanism;

instructing the drive unit to translate horizontally while connected with the vertical element to position the drive unit above and proximate to the second level; and

instructing the drive unit to detach from the vertical element to place the drive unit on the second level such that the horizontal drive mechanism can move the drive unit on the second level.

6. The computer-implemented method of claim 5, further comprising:

receiving information identifying a resource to be retrieved;

identifying a location of the resource;

instructing the drive unit to retrieve the resource at the location of the resource on a first level of a multi-level facility using the horizontal drive mechanism; and

instructing the drive unit to release the resource at the second level.

7. The computer-implemented method of claim 6, wherein:

instructing the drive unit to release the resource further comprises;

instructing the drive unit to transit horizontally along the second level from the vertical element after detaching from the vertical element to a destination on the second level.

8. The computer-implemented method of claim 6, wherein:

instructing the drive unit to release the resource further comprises;

instructing the drive unit to offload the resource to a receiving element on the second level prior to detaching from the vertical element.

9. The computer-implemented method of claim 5, further comprising:

receiving information identifying a resource to be retrieved;

identifying a location of the resource;

instructing the drive unit to retrieve the resource at the location of the resource; and

instructing the drive unit to displace the resource using the horizontal drive mechanism.

10. The computer-implemented method of claim 5, wherein instructing the drive unit to ascend or descend the vertical element to the second level further comprises:

instructing the drive unit to detect an environment of the drive unit by a sensing mechanism;

determining a position of the drive unit relative to the second level by the sensing mechanism; and

instructing the drive unit to move to the second level when the drive unit is positioned at the second level based on the determining.

11. The computer-implemented method of claim 5, wherein:

the vertical drive mechanism further comprises a vertical element grasping mechanism operable to grasp the vertical element, the vertical element grasping mechanism comprising;

one or more gripping elements comprising at least one of gripping rollers or geared rollers positioned to interface with the vertical element; and

one or more locking elements connected with the gripping elements and operable to engage with one another to press the gripping elements onto the vertical element.

12. The computer-implemented method of claim 5, further comprising:

instructing the drive unit to navigate around an edge of the second level while ascending or descending the vertical element.

13. A drive unit, comprising:

a body;

a horizontal drive mechanism;

a vertical element grasping mechanism;

a vertical drive mechanism; and

a management component configured to receive executable instructions, in order to, at least;

instruct the drive unit to navigate to a vertical element using the horizontal drive mechanism; and

instruct the drive unit to position the vertical element grasping mechanism at a vertical element;

instruct the vertical element grasping mechanism to engage the vertical element with a grasping means in an open position;

instruct the vertical element grasping mechanism to grasp the vertical element with the grasping means in a closed position;

instruct the drive unit to ascend or descend the vertical element from a first level of an inventory system to a second level of the inventory system by the vertical drive mechanism;

instruct the drive unit to translate horizontally while connected with the vertical element to position the drive unit above and proximate to the second level;

instruct the drive unit to detach from the vertical element to place the drive unit on the second level such that the horizontal drive mechanism can move the drive unit on the second level; and

instruct the drive unit to move a resource at one of the first or second levels of the inventory system.

14. The drive unit of claim 13, wherein the second level is above the first level;

and wherein the management component is further configured to;

instruct the drive unit to ascend the vertical element past a height of the second level;

instruct the drive unit to reorient relative to the vertical element to bring the drive unit at least partly over the second level; and

instruct the drive unit to descend to the second level prior to instructing the drive unit to detach from the vertical element.

15. The drive unit of claim 13, wherein the second level is below the first level;

and wherein the management component is further configured to;

instruct the drive unit to ascend the vertical element to lift the drive unit off of the first level;

instruct the drive unit to reorient relative to the vertical element such that the drive unit can clear the first level; and

instruct the drive unit to descend to the second level prior to instructing the drive unit to detach from the vertical element.

16. The drive unit of claim 13, wherein:

the vertical element grasping mechanism comprises at least three sets of gripping contact elements positioned to contact the vertical element; and

at least one of the sets of gripping contact elements is movable to cause the vertical drive mechanism to grasp the vertical element.

17. The drive unit of claim 13, wherein:

the vertical drive mechanism comprises one or more electromechanical motors operable to actuate one or more gripping contact elements that contact the vertical element when the vertical element grasping mechanism is grasping the vertical element in order to cause the drive unit to ascend or descent along the vertical element.

18. The drive unit of claim 13, wherein:

the vertical drive mechanism comprises one or more linear induction motors operable to interact with the vertical element in order to cause the drive unit to ascend or descent along the vertical element.

19. The drive unit of claim 13, wherein:

the vertical drive mechanism further comprises a ratcheting mechanism operable to interact with the vertical element in order to support the drive unit when the drive unit is ascending or descending the vertical element.

20. The drive unit of claim 13, wherein instructing the drive unit to move the resource at one of the first or second levels of the inventory system further comprises instructing the drive unit to:

retrieve the resource from a first location on the first level;

move the resource from the first level to the second level by ascending or descending the vertical element; and

release the resource at a second location on the second level.

21. A drive unit, comprising:

a body;

a horizontal drive mechanism;

a vertical drive mechanism; and

a management component configured to receive executable instructions, in order to, at least;

instruct the drive unit to move a first resource at a first level of an inventory system from a first location to a second location using the horizontal drive mechanism;

instruct the drive unit to navigate to a vertical element using the horizontal drive mechanism;

instruct the drive unit to move vertically along the vertical element from the first level to a second level using the vertical drive mechanism;

instruct the drive unit to translate horizontally while connected with the vertical element to position the drive unit above and proximate to the second level;

instruct the drive unit to detach from the vertical element to place the drive unit on the second level such that the horizontal drive mechanism can move the drive unit on the second level; and

instruct the drive unit to move a second resource at the second level using the horizontal drive mechanism.