Systems and Methods to Facilitate Human/Robot Interaction

• US 20160271800A1
• Filed: 03/17/2015
• Published: 09/22/2016
• Est. Priority Date: 03/17/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Caldara, Stephen, Stubbs, Andrew, Verminski, Matthew David, Shydo, Robert Michael Jr.
• Granted Patent: US 9,649,766 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G06K 7/10366 the interrogation device being adapted for miscellaneous applications
• CPC Class Codes: G06K 7/10376 the interrogation device being adapted for being moveable
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Short range transmissions are used to identify potential interactions between warehouse workers and warehouse robots in automated warehouses. The robot can be equipped with one or more short range transmission tags, such as radio frequency identification (RFID) tags, while the warehouse worker can be equipped with a short range transmission reader, such as an RFID reader. The robot can detect a warehouse worker that is within range when the RFID tags on the robot are written to by the RFID reader. The warehouse robots and warehouse workers can also be equipped with one or more cameras to identify fiducials in the automated warehouse and to report their positions. A central control or interaction server can ensure that warehouse robots and warehouse workers are routed appropriately to avoid incidents.

Claims

1. A system for maintaining a threshold distance between a robot and a worker in workspace, the system comprising:

a wearable device comprising one or more radio frequency identification (RFID) tags, the wearable device associated with the worker;

a robot to perform one or more tasks in the workspace, the robot comprising;

one or more drive mechanisms to move the robot throughout the workspace;

an RFID reader configured to read the one or more RFID tags; and

a processor in communication with the RFID reader;

wherein the RFID reader sends a signal to the processor based at least in part on the RFID reader reading at least one of the one or more RFID tags; and

wherein the processor instructs the robot to take evasive action based at least in part on receiving the signal from the RFID reader.

2. The system of claim 1, wherein the RFID reader refrains from sending the signal to the processor based at least in part on the RFID reader no longer reading at least one of the one or more RFID tags;

and

wherein the processor instructs the robot to resume normal operation based at least in part on the processor no longer receiving the signal from the RFID reader.

3. The system of claim 1, wherein taking evasive action comprises the processor instructing the robot to at least one of stop, slow down, or reroute.

4. The system of claim 1, wherein the one or more RFID tags comprise a first group of one or more RFID tags, and the signal comprises a first signal;

the robot further comprising;

a second group of one or more RFID tags disposed on the robot;

wherein the RFID reader sends a second signal to the processor based at least in part on the RFID reader reading at least one of the second group of one or more RFID tags;

wherein the RFID reader refrains from sending the second signal to the processor when the RFID reader no longer reads at least one of the second group of one or more RFID tags; and

wherein the processor instructs the robot to stop based at least in part on the processor no longer receiving the second signal from the RFID reader.

5. The system of claim 4, wherein the RFID reader comprises a first RFID reader, and further comprising:

a second RFID reader comprising an indicator, and associated with the worker;

wherein the indicator is activated when the second RFID reader no longer reads a predetermined number of the first group of one or more RFID tags.

6. A system comprising:

a short range transmission reader associated with a worker;

a robot to perform one or more tasks in a workspace, the robot comprising;

one or more short range transmission tags mounted in one or more locations and orientations on the robot; and

a processor in communication with the one or more short range transmission tags;

wherein the processor receives a signal from a first short range transmission tag of the one or more short range transmission tags based at least in part on the first short range transmission tag being written to by the short range transmission reader;

wherein the first short range transmission tag being written to by the short range transmission reader indicates a short range transmission interaction between the robot and the worker.

7. The system of claim 6, wherein the processor instructs the robot to take evasive action based at least in part on receiving the signal.

8. The system of claim 7, wherein taking evasive action comprises the processor instructing the robot to at least one of stop, slow down, or reroute.

9. The system of claim 6, the robot further comprising:

a transceiver for wirelessly communicating with a central control;

wherein the processor sends the signal to the central control via the transceiver; and

wherein the transceiver receives one or more instructions from the central control for the robot to take evasive action.

10. The system of claim 9, wherein taking evasive action comprises the processor instructing the robot to at least one of stop, slow down, or reroute.

11. The system of claim 6, wherein the first short range transmission tag refrains from sending the signal to the processor when the first short range transmission tag is no longer being written to by the short range transmission reader;

and

wherein the processor instructs the robot to resume normal operation based at least in part on the processor no longer receiving the signal from first short range transmission tag.

12. The system of claim 6, wherein the short range transmission reader comprises a first short range transmission reader and the robot further comprises:

a second short range transmission reader disposed on the robot;

wherein the second short range transmission reader writes to the one or more short range transmission tags to verify operation of the one or more short range transmission tags;

wherein each of the one or more short range transmission tags sends a confirmation signal to the processor when the second short range transmission reader writes to the each of the one or more short range transmission tags, respectively; and

wherein the processor instructs the robot to seek maintenance when the processor no longer receives the confirmation signal from a predetermined number of the one or more short range transmission tags.

13. The system of claim 6, wherein the short range transmission tags comprise radio frequency identification (RFID) tags;

and

wherein the short range transmission reader comprises an RFID reader.

14. A method comprising:

receiving, at a robot, routing instructions from a central control, including at least a destination, to perform a task in a workspace;

receiving, at the robot, a signal from the central control that a worker has entered the workspace;

receiving a first instruction, at the robot from the central control, to take evasive action in response to a detection, by a radio frequency identification (RFID) reader, of an RFID interaction with one or more RFID tags between the robot and the worker; and

receiving a second instruction, at the robot from the central control, to resume normal operation in response to a detection, by the RFID reader, that the RFID interaction with the one or more RFID tags between the robot and the worker has ended.

15. The method of claim 14, wherein the one or more RFID tags are mounted on the robot and the RFID reader is associated with the worker, and further comprising:

detecting, with a processor on the robot, that the one or more RFID tags mounted on the robot are within range of the RFID reader associated with the worker; and

sending a detection signal from the robot to the central control indicating the RFID interaction between the robot and the worker.

16. The method of claim 14, wherein the RFID reader is mounted on the robot and the one or more RFID tags are associated with the worker, and further comprising:

detecting, with the RFID reader on the robot, the one or more RFID tags associated with the worker; and

sending a detection signal from the robot to the central control indicating the RFID interaction between the robot and the worker.

17. The method of claim 14, further comprising:

detecting, with an RFID reader on the robot, one or more RFID tags attached to a floor in the workspace;

sending data associated with the one or more RFID tags from the robot to the central control; and

receiving, at the robot, an instruction from the central control to take evasive action based at least in part on a range calculation for at least one of the RFID reader or the one or more RFID tags based at least in part on the data associated with the one or more RFID tags;

wherein the data associated with the one or more RFID tags comprises at least location information for the one or more RFID tags.

18. The method of claim 14, wherein the first instruction further comprises information related to a virtual work zone around the worker in response to the RFID interaction.

19. The method of claim 18, wherein the virtual work zone further comprises at least one of:

an outer work zone, an intermediate work zone, or an inner work zone.

20. The method of claim 19, wherein the evasive action further comprises at least one of:

a first evasive action when the robot crosses the outer work zone;

a second evasive action when the robot crosses the intermediate work zone;

or

a third evasive action when the robot crosses the inner work zone.