Sensor controlled drive unit ingress and egress

• US 10,409,281 B1
• Filed: 06/09/2017
• Issued: 09/10/2019
• Est. Priority Date: 06/09/2017
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Garrett, Samuel Gardner, Mahaney, Patrick
• Primary Examiner(s): Cumbess, Yolanda R
• Application Number:
  US15/619,294
• Time in Patent Office: 823 Days
• Field of Search: None
• CPC Class Codes: B65G 2203/046 RFID
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G06K 7/10366 the interrogation device being adapted for miscellaneous applications
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A monitoring system for automated detection of egress or ingress of a drive unit between first and second spaces in an inventory system includes a path for conveying the drive unit between the first and second spaces that defines an intermediate space between the two spaces. A sensor is configured to detect passage of the drive unit between the first space and the intermediate space, and an identification sensor is arranged to read an identifier of the drive unit. In combination with an inventory management system, the monitoring system can be used to update and maintain accuracy of a virtual representation of a physical inventory space that employs automated drive units or shuttles.

Claims

1. An inventory management system, comprising:

a drive unit operable to move items within a material handling system, the drive unit comprising;

a drive element configured to move the drive unit within the material handling system; and

an identification element associated with the drive unit;

a monitoring system configured to track at least one of ingress and egress of the drive unit in relation to the material handling system, the monitoring system comprising;

a first sensor configured to sense passage of the drive unit; and

an identification sensor for sensing the identification element of the drive unit; and

a controller comprising a processor and memory containing executable instructions that, when processed by the processor, cause the controller to;

maintain a virtual representation of the material handling system indicative of at least a first location of the drive unit;

detect, via the first sensor, that the drive unit has exited the material handling system;

identify the drive unit via the identification sensor; and

in response to detecting by the first sensor that the drive unit has exited the material handling system, update the virtual representation to indicate that the identified drive unit has exited the material handling system.

2. The system of claim 1, wherein the controller is further configured to:

detect, via the first sensor, that the drive unit has approached the material handling system from an exterior space different from the material handling system;

identify the drive unit via the identification sensor subsequent to detecting that the drive unit has approached the material handling system;

detect, via the first sensor, that the drive unit has crossed from the exterior space into the material handling system; and

update the virtual representation to indicate that the drive unit has entered the material handling system based on detecting that the drive unit has crossed into the material handling system.

3. The system of claim 1, further comprising:

a first actuatable element positioned proximal to the material handling system and configured to be actuated by passage of the drive unit to and from the material handling system; and

a second actuatable element positioned distal from the material handling system with respect to the first actuatable element and configured to be actuated by passage of the drive unit to and from an exterior space different from the material handling system;

wherein

the first and second actuatable elements are operably connected by a mechanical linkage such that, when one of the first and second actuatable elements is in an open configuration, the other of the first and second actuatable elements is in a closed configuration; and

at least one of the first and second actuatable elements is operably connected with the first sensor.

4. The system of claim 3, wherein the controller is further configured to:

detect, via the first sensor or identification sensor, that the drive unit is present at the monitoring system; and

cause one or both of the first and second actuatable elements to prevent entry of a second drive unit into the monitoring system based on detecting that the drive unit is present, respectively.

5. The system of claim 1, further comprising:

a confirmation sensor operable to detect whether the drive unit is present at the monitoring system; and

wherein the controller is configured to;

detect, via the confirmation sensor, that the drive unit is present at the monitoring system.

6. The system of claim 1, wherein:

the material handling system comprises an open floor defining a 2D grid for sorting or storing items; and

the drive unit is an autonomous drive unit operable to navigate the 2D grid and to move the items throughout the 2D grid.

7. The system of claim 1, wherein:

the material handling system comprises a vertical storage system having a plurality of storage locations in a stacked configuration and one or more rails positioned to provide access to the plurality of storage locations by the drive unit; and

the drive unit is a shuttle operable to navigate the vertical storage system via the one or more rails and store or remove items from the plurality of storage locations therein.

8. The system of claim 1, wherein:

the identification element of the drive unit comprises one of an RFID code or a magnetic code; and

the identification sensor is operable to detect whether the drive unit is present in an intermediate space adjacent the material handling system by detecting the one of the RFID code or the magnetic code.

9. A computer-implemented method, comprising:

maintaining a virtual representation of a material handling system including information concerning a location of a drive unit in the material handling system;

causing the drive unit to transit to a monitoring system positioned at a location for egress or ingress with respect to the material handling system, the location defining a path between the material handling system and an exterior space different from the material handling system;

causing the drive unit to exit the material handling system at the location for egress or ingress;

detecting, via a first sensor, that the drive unit has exited the material handling system;

detecting, via an identification sensor, an identifier associated with the drive unit;

determining a specific identify of the drive unit based on the identifier; and

updating the virtual representation of the material handling system to indicate that the identified drive unit has exited the material handling system in response to detecting that the drive unit has exited the material handling system.

10. The method of claim 9, further comprising:

detecting an order in which the first sensor and the identification sensor sense the drive unit;

determining a direction of transit of the drive unit based on the order; and

updating the virtual representation of the material handling system to indicate that the identified drive unit has entered or exited the material handling system based in part on the direction of transit of the drive unit.

11. The method of claim 9, further comprising:

causing the identified drive unit to be rendered safe or inactive subsequent to detecting that the drive unit has exited the material handling system.

12. The method of claim 9, further comprising:

detecting, by a second sensor separated from the first sensor and distal from the material handling system with respect to the first sensor, that the drive unit has exited the material handling system; and

updating the virtual representation of the material handling system to indicate that the drive unit has exited the material handling system based in part on detecting that the drive unit has exited the material handling system.

13. The method of claim 9, wherein:

the drive unit is an autonomous drive unit; and

causing the drive unit to transit to the monitoring system comprises instructing the drive unit to navigate to the monitoring system.

14. The method of claim 13, further comprising:

receiving an indication containing information corresponding to a fault or maintenance requirement by the drive unit; and

causing the drive unit to transit to the monitoring system in response to the receiving.

15. The method of claim 9, further comprising:

receiving an indication that the drive unit is incapable of autonomous movement; and

causing a retrieval system to recover the drive unit.

16. The method of claim 9, wherein:

causing the drive unit to transit to the monitoring system comprises causing the drive unit to transit from an external environment outside the material handling system; and

the method further comprises;

sensing, via the first sensor, that the drive unit has transited to the monitoring system;

detecting, via the identification sensor, the identifier associated with the drive unit;

causing the drive unit to enter the material handling system at the location for egress or ingress;

sensing, via the first sensor, that the drive unit has entered the material handling system; and

updating the virtual representation of the material handling system to indicate that the drive unit associated with the identifier has entered the material handling system based on sensing that the drive unit has entered the material handling system.

17. A monitoring system for automated detection of egress or ingress of a drive unit between first and second spaces in an inventory system, the monitoring system comprising:

a first sensor for sensing passage of the drive unit from the first space to a path, the path being bounded on two sides and defining an intermediate space sized to contain the drive unit;

an identification sensor arranged to scan the intermediate space and operable to read an identifier of the drive unit when the drive unit is positioned in the intermediate space; and

a controller comprising a processor and memory containing executable instructions that, when processed by the processor, cause the controller to maintain information pertaining to the identifier of the drive unit and passage of the drive unit through the monitoring system.

18. The system of claim 17, further comprising:

a first actuatable element positioned proximate to the first space and configured to be actuated by passage of the drive unit between the first space and the intermediate space; and

a second actuatable element positioned distal from the first space with respect to the first actuatable element and configured to be actuated by passage of the drive unit between the intermediate space and the second space;

wherein

the first and second actuatable elements are operably connected by a mechanical linkage such that, when one of the first and second actuatable elements is in an open configuration, the other of the first and second actuatable elements is in a closed configuration; and

at least one of the first and second actuatable elements is operably connected with the first sensor.

19. The system of claim 17, further comprising:

a second sensor for sensing passage of a drive unit between the path and the second space;

a first actuatable element positioned proximate to the first space and configured to be actuated by passage of the drive unit the between the first space and intermediate space; and

a second actuatable element positioned distal from the first space with respect to the first actuatable element and configured to be actuated by passage of the drive unit between the intermediate space and the second space, wherein

the first actuatable element is operably connected with the first sensor; and

the second actuatable element is operably connected with the second sensor.

20. The system of claim 17, further comprising:

a charging station positioned in the intermediate space and accessible by a charging port of the drive unit when the drive unit is present in the intermediate space.

21. The system of claim 17, wherein the intermediate space is sized to contain a single drive unit at a time.