Inventory system with mobile drive unit and inventory holder

• US 20060210382A1
• Filed: 10/14/2004
• Published: 09/21/2006
• Est. Priority Date: 10/14/2004
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Distrobot Systems, Inc. (Amazon.com, Inc.)
• Inventors: D'Andrea, Raffaello, Mountz, Michael C., Mansfield, Peter K., Amsbury, Burl W., Lyons, David P. II, LaPlante, John A.
• Granted Patent: US 7,402,018 B2
• Time in Patent Office: Days
• US Class Current: 414/498
• CPC Class Codes: B60D 1/465 comprising a lifting mechanism, e.g. for coupling while lifting
• CPC Class Codes: B60P 1/64 the load supporting or containing element being readily removable B60P1/48 takes precedence; caravan, camping, or the like vehicles characterised by living accommodation in the form of a removable body supported by the vehicle unit B60P3/34
• CPC Class Codes: B62B 3/006 for stacking objects like trays, bobbins, chains
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar

Abstract

A system for transporting inventory includes an inventory holder and a mobile drive unit. The inventory holder includes a frame capable of storing inventory items and a docking plate capable of receiving a docking head from underneath. The mobile drive unit, includes a docking head capable of coupling to the docking plate and a drive module capable of propelling the mobile drive unit. The mobile drive unit is further capable to move the inventory holder when the docking head is coupled to the inventory holder.

Claims

1. A system for transporting inventory, comprising:

an inventory holder, the inventory holder comprising;

a frame operable to store inventory items; and

a docking plate operable to receive a docking head from underneath; and

the mobile drive unit, comprising;

a docking head operable to couple to the docking plate; and

a drive module operable to propel the mobile drive unit; and

wherein the mobile drive unit is operable to move the inventory holder when the docking head is coupled to the inventory holder.

2. The system of claim 1, wherein the docking plate is further operable to, at least partially, support a weight of the frame while the inventory holder is docked with the mobile drive unit.

3. The system of claim 1, wherein the inventory holder further comprises a braking mechanism operable to disable movement of the inventory holder when the inventory holder is not docked.

4. The system of claim 3, wherein the docking head is further operable to disengage the braking mechanism when the mobile drive unit is docked with the inventory holder.

5. The system of claim 1, wherein the inventory holder further comprises a plurality of wheels.

6. The system of claim 1, wherein the frame comprises a plurality of inventory bins, each operable to store inventory items.

7. The system of claim 6, wherein the inventory bins are formed by adjustable dividers that divide the frame into the plurality of inventory bins.

8. The system of claim 1, wherein the frame further comprises a plurality of frame faces, each frame face including a device opening operable to allow the mobile drive unit to position the mobile drive unit under the inventory holder.

9. The system of claim 8, wherein the frame further comprises four legs, each leg extending from the frame, and wherein each face further comprises a device opening formed by two of the legs.

10. The system of claim 1, wherein the docking plate further comprises a control cleft operable to receive a portion of the docking head, and wherein the inventory holder is operable to be rotated by a force applied by the portion of the docking head received by the control cleft.

11. The system of claim 1, wherein the docking head further comprises a control spine, the control spine operable to rotate the inventory holder when the docking head rotates.

12. The system of claim 1, wherein the docking head is self-aligning with respect to the docking plate.

13. The system of claim 12, wherein the docking head includes a docking cone and wherein the docking plate includes a docking cavity, the docking cavity operable, during docking, to induce translational motion in one or more of the mobile drive unit and the inventory holder if the docking cone is not aligned with the docking cavity.

14. The system of claim 12, wherein the docking head includes a plurality of control spines, and wherein the docking plate includes a plurality of control clefts, wherein the control clefts are operable, during docking, to induce rotational motion in one or more of the mobile drive unit and the inventory holder if one or more of the control spines are not aligned with one or more of the control clefts.

15. A mobile drive unit for transporting inventory, comprising:

a drive module, the drive module operable to position the mobile drive unit underneath an inventory holder; and

a docking head operable to couple to the inventory holder when the mobile drive unit is positioned beneath the inventory holder; and

wherein the drive module is operable to move the mobile drive unit and, when the inventory holder is coupled to the mobile drive unit, move the inventory holder.

16. The mobile drive unit of claim 15, wherein the docking head further comprises a control spine, the control spine operable to rotate the inventory holder when the mobile drive unit is coupled to the inventory holder and the docking head rotates.

17. The mobile drive unit of claim 15, wherein the drive module further comprises a plurality of wheels, and wherein the drive module is operable to propel the mobile drive unit by rotating the plurality of wheels.

18. The mobile drive unit of claim 15, wherein the drive module is further operable to propel the mobile drive unit by propelling the mobile drive unit forward and operable to propel the mobile drive unit by moving the mobile drive unit backward.

19. The mobile drive unit of claim 15, wherein the drive module is further operable to propel the mobile drive unit by:

propelling the mobile drive unit forward;

propelling the mobile drive unit backward; and

rotating the mobile drive unit.

20. The mobile drive unit of claim 15, wherein the mobile drive unit is further operable to move the inventory holder by:

coupling to the inventory holder;

moving the inventory holder in a first direction;

rotating the mobile drive unit and the inventory holder; and

moving the inventory holder in a second direction.

21. The mobile drive unit of claim 15, wherein the mobile drive unit is further operable to move the inventory holder by:

coupling to the inventory holder;

moving the inventory holder in a first direction;

decoupling from the inventory holder;

rotating the mobile drive unit;

coupling to the inventory holder; and

moving the inventory holder in a second direction.

22. An inventory holder for storing inventory items, comprising:

a frame operable to store inventory items; and

a docking plate operable to couple to a docking head of a mobile drive unit when the docking head is positioned beneath the inventory holder.

23. The inventory holder of claim 22, wherein the docking plate is further operable to support, at least partially, a weight of the inventory holder when the mobile drive unit is coupled to the inventory holder.

24. The inventory holder of claim 22, further comprising a braking mechanism operable to disable movement of the inventory holder when the braking mechanism is activated.

25. The inventory holder of claim 22, wherein the inventory holder further comprises a plurality of wheels.

26. The inventory holder of claim 25, further comprising a plurality of legs extending from the frame, and wherein each of the plurality of wheels is attached to a leg.

27. The inventory holder of claim 22, wherein the frame comprises a plurality of inventory bins, each inventory bin operable to store inventory items.

28. The inventory holder of claim 27, wherein the inventory bins are formed by adjustable dividers that divide the frame into the plurality of inventory bins.

29. The inventory holder of claim 22, wherein the frame comprises a plurality of faces, each face including an opening operable to allow a mobile drive unit to position the docking head of the mobile drive unit beneath the braking mechanism.

30. The inventory holder of claim 22, wherein the frame further comprises four faces and each face comprises an opening operable to allow a mobile drive unit to position a docking head beneath the inventory holder and adjacent the braking mechanism.

31. The inventory holder of claim 22, wherein the docking plate further comprises:

a control cleft, the control cleft operable to receive a portion of a docking head of a mobile drive unit, and wherein the inventory holder is operable to be rotated by a force applied by the docking head; and

a brake activator, wherein the brake activator is operable to disengage the braking mechanism when the docking head is coupled to the docking plate.

32. A mobile drive unit for moving an inventory holder, comprising:

a docking head, comprising;

a self-aligning docking cone operable to;

couple to a docking plate of an inventory holder; and

align the docking head with the docking plate during coupling; and

a plurality of control spines, the control spines operable to rotate the inventory holder when the docking head is coupled to the inventory holder and the docking head is rotated; and

two motorized wheels, wherein the motorized wheels are operable to rotate in a common direction to propel the mobile drive unit and to rotate in opposite directions to rotate the mobile drive unit; and

a brake interface operable to disengage a braking mechanism of the inventory holder.

33. An inventory holder for storing inventory, comprising:

a docking plate comprising;

a plurality of control clefts, the control clefts operable to receive a docking head of a mobile drive unit, wherein the inventory holder is operable to be rotated by a force applied by the portion of the docking head positioned in the control clefts, and

a brake activator, wherein the brake activator is operable to disengage the braking mechanism when the docking head is coupled to the docking plate;

a frame comprising;

a plurality of adjustable dividers, the adjustable dividers forming a plurality of storage bins operable to hold inventory items, the adjustable dividers further operable to be adjusted to alter sizes of the storage bins;

four legs extending from a bottom of the frame; and

four faces, each face offering access to one or more inventory bins and each face including an opening between two of the legs, each opening further operable to allow a mobile drive unit to move under the frame and adjacent to the docking plate;

four wheels, each wheel attached to a bottom of one of the legs and operable to facilitate movement of the inventory holder; and

a braking mechanism operable, when activated, to prevent the wheels from rolling.

34. A method of coupling a mobile drive unit with an inventory holder, comprising:

positioning a mobile drive unit beneath an inventory holder;

raising a docking head of the mobile drive unit;

adjusting a lateral position of the mobile drive unit;

coupling the mobile drive unit to the inventory holder; and

moving the mobile drive unit and the inventory holder together.

35. The method of claim 34, wherein adjusting the lateral position of the mobile drive unit comprises adjusting a lateral position of the drive unit based on a position of a docking plate of the inventory holder.

36. The method of claim 34, wherein moving the mobile drive unit and the inventory holder comprises moving the mobile drive unit and the inventory holder to a destination and further comprising:

adjusting the lateral position of the mobile drive unit along a first axis;

lowering the docking head after arriving at the destination;

rotating the mobile drive unit;

raising the docking head; and

adjusting the lateral position of the mobile drive unit along a second axis.

37. The method of claim 34, wherein adjusting the lateral position of the mobile drive unit comprises:

detecting translational motion of the mobile drive unit; and

actively propelling the mobile drive unit in the direction of the detected translational motion.

38. The method of claim 34, wherein adjusting the lateral position of the mobile drive unit comprises:

configuring the mobile drive unit to allow the mobile drive unit to roll; and

raising the docking head to induce translational motion in the mobile drive unit.

39. The method of claim 34, further comprising adjusting an orientation of the mobile drive unit before coupling the mobile drive unit to the inventory holder.

40. The method of claim 39, wherein adjusting the orientation of the mobile drive unit comprises adjusting the orientation of the mobile drive unit based on an orientation of a docking plate of the inventory holder.

41. The method of claim 39, wherein adjusting the orientation of the mobile drive unit comprises:

detecting rotational motion of the mobile drive unit; and

actively rotating the mobile drive unit in the direction of the detected rotation.

42. The method of claim 39, wherein adjusting the orientation of the mobile drive unit comprises:

configuring the mobile drive unit to allow the mobile drive unit to roll; and

raising the docking head to induce rotational motion in the mobile drive unit.

43. The method of claim 39, wherein adjusting the orientation of the mobile drive unit comprises:

configuring the mobile drive unit to allow the docking head to rotate independently of the mobile drive unit and raising the docking head; and

raising the docking head to induce rotational motion in the docking head.

44. The method of claim 34, wherein the inventory holder comprises a plurality of faces, each face having a device opening, and wherein positioning the mobile drive unit beneath an inventory holder further comprises:

moving a mobile drive unit through any one of the plurality of device openings; and

positioning the mobile drive unit beneath a docking plate of the inventory holder after moving the mobile drive unit through one of the device openings.

46. The method of claim 41, wherein moving the mobile drive unit and the inventory holder in the second direction comprises moving the mobile drive unit and the inventory holder in a direction perpendicular to the first direction.

47. The method of claim 41, wherein decoupling the mobile drive unit from the inventory holder comprises configuring a docking head of the mobile drive unit to allow rotational movement of the docking head.

48. The method of claim 41, wherein decoupling the mobile drive unit from the inventory holder comprises physically disconnecting the mobile drive unit from the inventory holder.

49. The method of claim 41, wherein:

coupling to the inventory holder further comprises coupling to the inventory holder at a storage location; and

moving the mobile drive unit and the inventory holder in the second direction further comprises moving the mobile drive unit and the inventory holder to a specified inventory station.

50. The method of claim 41, wherein:

coupling to the inventory holder further comprises coupling to the inventory holder at an inventory station; and

moving the mobile drive unit and the inventory holder in the second direction further comprises moving the mobile drive unit and the inventory holder to a storage location.

51. The method of claim 41, wherein:

coupling to the inventory holder further comprises coupling to the inventory holder at a first storage location; and

moving the mobile drive unit and the inventory holder in the second direction further comprises moving the mobile drive unit and the inventory holder to a second storage location.

52. The method of claim 41, wherein;

coupling to the inventory holder further comprises coupling to the inventory holder at a first inventory station; and

moving the mobile drive unit and the inventory holder in the second direction further comprises moving the mobile drive unit and the inventory holder to a second storage inventory station

45. A method of moving an inventory holder, comprising:

coupling a mobile drive unit to an inventory holder;

moving the mobile drive unit and the inventory holder in a first direction;

decoupling the mobile drive unit from the inventory holder;

rotating the mobile drive unit;

coupling the mobile drive unit to the inventory holder; and

moving the mobile drive unit and the inventory holder in a second direction.