JOB MANAGEMENT SYSTEM FOR A FLEET OF AUTONOMOUS MOBILE ROBOTS

• US 20140365258A1
• Filed: 02/08/2013
• Published: 12/11/2014
• Est. Priority Date: 02/08/2012
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Adept Technology, Inc. (Omron Corporation)
• Inventors: Vestal, Matthew, LaFary, Matthew, Stopera, Peter
• Granted Patent: US 10,089,586 B2
• Time in Patent Office: Days
• US Class Current: 705/7.15
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G06Q 10/063114 Status monitoring or status determination for a person or group
• CPC Class Codes: G16H 40/20 for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

The Job Management System (JMS) of the present invention processes job requests in an automated physical environment, such as a factory, hospital, order processing facility or office building, wherein the job requests are handled by a fleet of autonomously-navigating mobile robots. The JMS includes a map defining a floor plan, a set of virtual job locations and a set of one or more virtual job operations associated with virtual job locations. The JMS automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot. The JMS also sends commands to the selected mobile robot to cause the mobile robot to automatically drive the actual job location, to automatically perform the actual job operations, or both.

Claims

1. A method of processing job requests on a job management system in a physical environment comprising the job management system and a fleet of mobile robots, the job management system including a queue manager, a memory and a network interface, the method comprising:

a) storing in the memory a map that (i) defines a floor plan corresponding to the physical environment, (ii) defines a virtual job location in respect to the floor plan, the virtual job location representing an actual job location in the physical environment, and (iii) associates a virtual job operation with the virtual job location, the virtual job operation representing an actual job operation in the physical environment;

b) receiving a job request by the queue manager, the job request including the virtual job location on the map, the virtual job operation on the map, or both;

c) with the queue manager, automatically selecting a mobile robot from the fleet to handle the received job request; and

d) transmitting one or more commands to the selected mobile robot via the network interface to cause the selected mobile robot (A) to automatically drive to the actual job location represented by the virtual job location, (B) to automatically execute the actual job operation represented by the virtual job operation, or (C) to automatically carry out both (A) and (B);

e) wherein, if the job request does not include the virtual job location, then the queue manager determines the actual job location based on the map and the virtual job operation, and

f the job request does not include the virtual job operation, then the queue manager determines the actual job operation based on the map and the virtual job location.

2. The method of claim 1, further comprising:

a) storing in the memory a status profile for each mobile robot in the fleet, the status profile defining a current status for said each mobile robot;

b) determining, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the job request.

3. The method of claim 2, wherein the status profile comprises one or more of:

a robot identifier, a robot position, a robot heading, a current robot speed, a current job identifier, a current job status, a current job location, a proximity to the current job location, a current job destination path, an estimated time of arrival, an estimated time of departure, a robot idle time, a robot performance level, a robot security level, a robot battery charge level, a robot payload status, a robot payload error condition, a robot cargo status, and a robot cargo capacity.

4. The method of claim 2, further comprising:

a) establishing on the job management system a status-based preference criteria; and

b) if two or more mobile robots in the fleet have current statuses that are compatible with the job request, selecting the mobile robot in accordance with the status-based preference criteria.

5. The method of claim 4, further comprising automatically comparing the status profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable status profile for the actual job location.

6. The method of claim 2, further comprising:

a) receiving by the queue manager a specified time for performance of the job request; and

b) determining by the queue manager, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified time for performance.

7. The method of claim 2, further comprising:

a) receiving by the queue manager a specified combination of job locations and job operations; and

b) determining by the queue manager, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified combination of job locations and job operations.

8. The method of claim 2, further comprising:

a) receiving by the queue manager a specified route between job locations; and

b) determining by the queue manager, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified route.

9. The method of claim 2, further comprising:

a) receiving by the queue manager a request to assign a particular mobile robot to handle the job request; and

b) determining by the queue manager, based on the status profile for the particular mobile robot, that the current status for the particular mobile robot is compatible with the job request.

10. The method of claim 9, further comprising automatically selecting a different mobile robot for the job request if the status profile for the particular mobile robot is not compatible with the job request.

11. The method of claim 2, further comprising periodically receiving by the queue manager a status profile update for said selected mobile robot.

12. The method of claim 2, further comprising periodically receiving by the queue manager, a status profile update for every mobile robot in the fleet.

13. The method of claim 1, further comprising:

a) storing in the memory a configuration profile for each mobile robot in the fleet, the configuration profile defining a current configuration for said each mobile robot; and

b) determining, based on the configuration profile for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the job request.

14. The method of claim 13, wherein the configuration profile comprises one or more of:

a material handling capability, a material lifting capability, a material transporting capability, a manipulating capability, an object conveying capability, a measuring capability, a sensing capability, a pumping capability, a spraying capability, a vacuum capability, a drilling capability, a video recording capability, a sound recording capability, a sound producing capability, a navigation capability, a data input capability, a data output capability, a data communication capability, a printing capability, a displaying capability, a floor plan mapping capability, an energy absorption capability, an energy production capability, a maximum payload capability, a minimum payload capability, a maximum drive speed, a minimum drive speed, a maximum height, a minimum height, a location restriction, a zone restriction, a forbidden operation, a permitted operation, and a minimum clearance requirement.

15. The method of claim 13, further comprising:

a) establishing on the job management system a configuration-based preference criteria; and

b) if two or more mobile robots in the fleet have current configurations that are compatible with the job request, selecting the mobile robot in accordance with the configuration-based preference criteria.

16. The method of claim 15, further comprising automatically comparing the configuration profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable configuration profile for the actual job operation.

17. The method of claim 13, further comprising:

a) receiving by the queue manager a specified time for performance of the job request; and

b) determining by the queue manager, based on the configuration profile stored in the memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified time for performance.

18. The method of claim 13, further comprising:

a) receiving by the queue manager a specified priority for the job request; and

b) determining by the queue manager, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified priority.

19. The method of claim 13, further comprising:

a) receiving by the queue manager a specified priority for the job request; and

b) determining by the queue manager, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified priority.

20. The method of claim 13, further comprising:

a) receiving by the queue manager a specified combination of job locations and job operations; and

b) determining by the queue manager, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified combination.

21. The method of claim 13, further comprising:

a) receiving by the queue manager a specified route that the selected mobile robot will use to drive to the actual job location; and

b) determining by the queue manager, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified route.

22. The method of claim 13, further comprising:

a) receiving by the queue manager a request to assign a particular mobile robot to handle the job request; and

b) determining by the queue manager, based on the current configuration profile stored in memory for the particular mobile robot, that the current configuration for the particular mobile robot is compatible with the job request.

23. The method of claim 22, further comprising automatically selecting a different mobile robot for the job request if the configuration profile for the particular mobile robot is not compatible with the job request.

24. The method of claim 13, further comprising periodically receiving by the queue manager a configuration profile update for said selected mobile robot.

25. The method of claim 13, further comprising periodically receiving by the queue manager, a configuration profile update for every mobile robot in the fleet.

26. The method of claim 1, further comprising:

a) receiving, by the network interface, a first planned path that the selected mobile robot plans to use to drive to the actual job location;

b) receiving, by the network interface, a second planned path that a second mobile robot in the fleet plans to use;

c) detecting, on the job management system, that the first planned path intersects the second planned path, that and

d) responsive to detecting the intersection, selecting by the queue manager a different mobile robot to handle the job request.

27. The method of claim 1, further comprising:

a) receiving, by the queue manager, a signal that no mobile robot in the fleet is available to handle the job request; and

b) automatically delaying, by the queue manager, selection of a mobile robot from the fleet to handle the job request until a mobile robot from the fleet becomes available.

28. The method of claim 1, further comprising:

c) receiving, by the queue manager, a signal that the selected mobile robot failed to handle the job request; and

d) automatically selecting, with the queue manager, a different mobile robot from the fleet to handle the job request, wherein the queue manager selects the different mobile robot based on the status profile and the configuration profile stored in the memory for the different mobile robot.

29. A job management system for processing job requests in a physical environment comprising a fleet of mobile robots, the job management system comprising:

a) a memory;

b) a microprocessor coupled to the memory;

c) a queue manager, operable with the microprocessor and the memory to;

(i) store in the memory a map that (A) defines a floor plan corresponding to the physical environment, (B) defines a virtual job location in respect to the floor plan, the virtual job location representing an actual job location in the physical environment, and (C) associates a virtual job operation with the virtual job location, the virtual job operation representing an actual job operation in the physical environment,

(ii) receive a job request, the job request including the virtual job operation on the map, the virtual job location on the map, or both,

(iii) automatically select a mobile robot from the fleet to handle the received job request,

(iv) automatically determine the actual job location based on the map and the virtual job operation if the job request does not include the virtual job location, and

(v) automatically determine the actual job operation based on the map and the virtual job location if the job request does not include the virtual job operation; and

d) a network interface to transmit one or more commands from the queue manager to the selected mobile robot to cause the selected mobile robot to (i) automatically drive to the actual job location represented by the virtual job location, (ii) automatically execute the actual job operation represented by the virtual job operation, or (iii) automatically carry out both d)(i) and d)(ii).

30. The job management system of claim 29, further comprising:

a) a status profile stored in the memory for each mobile robot in the fleet, the status profile defining a current status for said each mobile robot;

b) wherein the queue manager determines, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the job request.

31. The job management system of claim 30, wherein the status profile comprises one or more of:

a robot identifier, a robot position, a robot heading, a current robot speed, a current job identifier, a current job status, a current job location, a proximity to the current job location, a current job destination path, an estimated time of arrival, an estimated time of departure, a robot idle time, a robot performance level, a robot security level, a robot battery charge level, a robot payload status, a robot payload error condition, a robot cargo status, and a robot cargo capacity.

32. The job management system of claim 30, further comprising:

a) a status-based preference criteria; and

b) the queue manager is further configured to select the mobile robot in accordance with the status-based preference criteria if two or more mobile robots in the fleet have current statuses that are compatible with the job request.

33. The job management system of claim 32, wherein the queue manager automatically compares the status profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable status profile for the actual job location.

34. The job management system of claim 30, wherein:

a) the queue manager receives a specified time for performance of the job request; and

b) the queue manager determines, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified time for performance.

35. The job management system of claim 30, wherein:

a) the queue manager receives a specified combination of job locations and job operations; and

b) the queue manager determines, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified combination of job locations and job operations.

36. The job management system of claim 30, wherein:

a) the queue manager receives a specified route between job locations; and

b) the queue manager determines, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified route.

37. The job management system of claim 30, wherein:

a) the queue manager receives a request to assign a particular mobile robot to handle the job request; and

b) the queue manager determines, based on the status profile for the particular mobile robot, that the current status for the particular mobile robot is compatible with the job request.

38. The job management system of claim 37, wherein the queue manager automatically selects a different mobile robot for the job request if the status profile for the particular mobile robot is not compatible with the job request.

39. The job management system of claim 30, wherein the status profile stored in the memory for said selected mobile robot is periodically updated.

40. The job management system of claim 30, wherein the status profile stored in the memory for every mobile robot in the fleet is periodically updated.

41. The job management system of claim 29, wherein:

a) the memory stores a configuration profile for each mobile robot in the fleet, the configuration profile defining a current configuration for said each mobile robot; and

b) the queue manager determines, based on the configuration profile for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the job request.

42. The job management system of claim 41, wherein the configuration profile comprises one or more of:

a material handling capability, a material lifting capability, a material transporting capability, a manipulating capability, an object conveying capability, a measuring capability, a sensing capability, a pumping capability, a spraying capability, a vacuum capability, a drilling capability, a video recording capability, a sound recording capability, a sound producing capability, a navigation capability, a data input capability, a data output capability, a data communication capability, a printing capability, a displaying capability, a floor plan mapping capability, an energy absorption capability, an energy production capability, a maximum payload capability, a minimum payload capability, a maximum drive speed, a minimum drive speed, a maximum height, a minimum height, a location restriction, a zone restriction, a forbidden operation, a permitted operation, and a minimum clearance requirement.

43. The job management system of claim 41, further comprising:

a) a configuration-based preference criteria; and

b) the queue management system is configured to select the mobile robot in accordance with the configuration-based preference criteria if two or more mobile robots in the fleet have current configurations that are compatible with the job request.

44. The job management system of claim 43, wherein the queue manager is further configured to compare the configuration profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable configuration profile for the actual job operation.

45. The job management system of claim 41, wherein:

a) the queue manager receives a specified time for performance of the job request; and

b) the queue manager determines, based on the configuration profile stored in the memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified time for performance.

46. The job management system of claim 41, wherein:

a) the queue manager receives a specified priority for the job request; and

b) the queue manager determines, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the specified priority.

47. The job management system of claim 41, wherein:

a) the queue manager receives a specified priority for the job request; and

b) the queue manager determines, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified priority.

48. The job management system of claim 41, wherein:

a) the queue manager receives a specified combination of job locations and job operations; and

b) the queue manager determines, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified combination.

49. The job management system of claim 41, wherein:

a) the queue manager receives a specified route that the selected mobile robot will use to drive to the actual job location; and

b) the queue manager determines, based on the current configuration profile stored in memory for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the specified route.

50. The job management system of claim 41, wherein:

a) the job request includes a request to assign a particular mobile robot to handle the job request; and

b) the queue manager determines, based on the current configuration profile stored in memory for the particular mobile robot, that the current configuration for the particular mobile robot is compatible with the job request.

51. The job management system of claim 50, wherein the queue manager automatically determines a different mobile robot for the job request if the configuration profile for the particular mobile robot is not compatible with the job request.

52. The job management system of claim 41, wherein the configuration profile stored in the memory for said selected mobile robot is periodically updated.

53. The job management system of claim 41, wherein the configuration profiles stored in the memory for every mobile robot in the fleet are periodically updated.

54. The job management system of claim 29, wherein:

a) the job management system receives a first planned path that the selected mobile robot plans to use to drive to the actual job location;

b) the job management system receives a second planned path that a second mobile robot in the fleet plans to use;

c) the job management system detects that the first planned path intersects the second planned path, that and

d) responsive to detecting the intersection, the queue manager selects a different mobile robot to handle the job request.

55. The job management system of claim 29, wherein:

a) the queue manager receives a signal that no mobile robot in the fleet is available to handle the job request; and

b) the queue manager automatically delays selection of a mobile robot from the fleet to handle the job request until a mobile robot from the fleet becomes available.

56. The job management system of claim 29, wherein:

a) the queue manager receives a signal that the selected mobile robot failed to handle the job request; and

b) the queue manager automatically selects a different mobile robot from the fleet to handle the job request.

57. A non-transitory computer-readable storage medium with an executable program for processing job requests in a physical environment comprising a fleet of mobile robots, wherein the executable program comprises program instructions to cause one or more microprocessors on a computer system to:

a) store in a memory device on the computer system a map that (i) defines a floor plan corresponding to the physical environment, (ii) defines a virtual job location in respect to the floor plan, the virtual job location representing an actual job location in the physical environment, and (iii) associates a virtual job operation with the virtual job location, the virtual job operation representing an actual job operation in the physical environment;

b) receive on the computer system a job request, the job request including the virtual job operation on the map, the virtual job location on the map, or both;

c) automatically select a mobile robot from the fleet to handle the received job request;

d) automatically determine the actual job location based on the map and the virtual job operation if the job request does not include the virtual job location;

e) automatically determine the actual job operation based on the map and the virtual job location if the job request does not include the virtual job operation; and

f) transmit one or more commands from the computer system to the selected mobile robot to cause the selected mobile robot to (i) automatically drive to the actual job location represented by the virtual job location, (ii) automatically execute the actual job operation represented by the virtual job operation, or (iii) automatically carry out both f)(i) and f)(ii).

58. The non-transitory computer-readable storage medium of claim 57, wherein the executable program further includes program instructions to cause said one or more microprocessors to:

a) store a status profile in the memory for each mobile robot in the fleet, the status profile defining a current status for said each mobile robot; and

b) determine, based on the status profile for the selected mobile robot, that the current status for the selected mobile robot is compatible with the job request.

59. The non-transitory computer-readable storage medium of claim 58, wherein the status profile comprises one or more of:

a robot identifier, a robot position, a robot heading, a current robot speed, a current job identifier, a current job status, a current job location, a proximity to the current job location, a current job destination path, an estimated time of arrival, an estimated time of departure, a robot idle time, a robot performance level, a robot security level, a robot battery charge level, a robot payload status, a robot payload error condition, a robot cargo status, and a robot cargo capacity.

60. The non-transitory computer-readable storage medium of claim 58, wherein the executable program further includes program instructions to cause said one or more microprocessors to:

a) store in the memory a status-based preference criteria; and

b) select the mobile robot in accordance with the status-based preference criteria if two or more mobile robots in the fleet have current statuses that are compatible with the job request.

61. The non-transitory computer-readable storage medium of claim 60, wherein the executable program further includes program instructions to cause said one or more microprocessors to compare the status profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable status profile for the actual job location.

62. The non-transitory computer-readable storage medium of claim 57, wherein the executable program further includes program instructions to cause said one or more microprocessors to:

a) store in the memory a configuration profile for each mobile robot in the fleet, the configuration profile defining a current configuration for said each mobile robot; and

b) determine, based on the configuration profile for the selected mobile robot, that the current configuration for the selected mobile robot is compatible with the job request.

63. The non-transitory computer-readable storage medium of claim 62, wherein the configuration profile comprises one or more of:

a material handling capability, a material lifting capability, a material transporting capability, a manipulating capability, an object conveying capability, a measuring capability, a sensing capability, a pumping capability, a spraying capability, a vacuum capability, a drilling capability, a video recording capability, a sound recording capability, a sound producing capability, a navigation capability, a data input capability, a data output capability, a data communication capability, a printing capability, a displaying capability, a floor plan mapping capability, an energy absorption capability, an energy production capability, a maximum payload capability, a minimum payload capability, a maximum drive speed, a minimum drive speed, a maximum height, a minimum height, a location restriction, a zone restriction, a forbidden operation, a permitted operation, and a minimum clearance requirement.

64. The non-transitory computer-readable storage medium of claim 62, wherein the executable program further includes program instructions to cause said one or more microprocessors to:

a) store in the memory a configuration-based preference criteria; and

b) select the mobile robot in accordance with the configuration-based preference criteria if two or more mobile robots in the fleet have current configurations that are compatible with the job request.

65. The non-transitory computer-readable storage medium of claim 64, wherein the executable program further includes program instructions to cause said one or more microprocessors to compare the configuration profiles for said two or more mobile robots to identify which of said two or more mobile robots has a more favorable configuration profile for the actual job operation.