System and method for positioning a mobile drive unit

• US 9,087,314 B2
• Filed: 01/23/2012
• Issued: 07/21/2015
• Est. Priority Date: 06/19/2006
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Hoffman, Andrew E., Barbehenn, Michael T., Mountz, Michael C., Wurman, Peter R., D'Andrea, Raffaello
• Primary Examiner(s): Lee, Michael G
• Assistant Examiner(s): ELLIS, SUEZU Y
• Application Number:
  US13/356,094
• Publication Number:
  US 20120143427A1
• Time in Patent Office: 1,275 Days
• Field of Search: 235/375, 235/385, 701 23- 28, 701 261- 263, 701 291- 293, 701/29.6, 701/34.4, 340/572.1, 340/10.1, 700/214, 700/113, 700216-218, 700/245, 700/247, 700/248, 700/258, 705/28, 414/227, 414/235, 414/252, 414/265
• US Class Current: 1/1
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/31004 Move vehicle to battery charge or maintenance area
• CPC Class Codes: G05B 2219/31005 Detect obstacles on path of vehicle
• CPC Class Codes: G05B 2219/31006 Monitoring of vehicle
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• 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 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A system for transporting inventory items includes a mobile drive unit, a management module, and a plurality of inventory holders. The management module is operable to determine a capability state of the mobile drive unit, select a location for the mobile drive unit based on the capability state of the mobile drive unit, and transmit information to the mobile drive unit identifying the selected location.

Claims

1. A system for transporting inventory items, comprising:

a mobile drive unit;

a plurality of inventory holders; and

a management module operable to;

determine a capability state of the mobile drive unit based at least in part upon a capability message transmitted by the mobile drive unit, the capability message transmitted in response to a determination by the mobile drive unit that a state associated with an ability of the mobile drive unit to complete tasks is changed to a degraded capability state;

select a task for the mobile drive unit to transport an inventory holder from a first location to a second location based on determining that the mobile drive unit is capable of transporting the inventory holder in the degraded capability state; and

transmit information to the mobile drive unit identifying the selected task to transport the inventory holder from the first location to the second location.

2. The system of claim 1, wherein the mobile drive unit is further operable to move to the first location.

3. The system of claim 1, wherein the mobile drive unit is further operable to park at the second location until the mobile drive unit receives an additional instruction.

4. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by determining that the mobile drive unit is not capable of completing a particular type of task.

5. The system of claim 4, wherein the management module is operable to determine that the mobile drive unit is not capable of completing a particular type of task by determining that the mobile drive unit needs service.

6. The system of claim 5, wherein the management module is further operable to determine that the mobile drive unit needs service by one or more of:

determining a metric associated with an energy source of the mobile drive unit;

determining that the mobile drive unit needs repair; and

determining that the mobile drive unit is scheduled for maintenance.

7. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by determining a charge on a battery associated with the mobile drive unit.

8. The system of claim 7, further comprising an energy station operable to recharge batteries associated with mobile drive units, and wherein the management module is operable to select a third location for the mobile drive unit based on a distance between the third location and the energy station.

9. The system of claim 1, wherein the management module is operable to:

determine the capability state of the mobile drive unit by detecting a degraded capability of the mobile drive unit, and

select the second location based on the capability state of the mobile drive unit by selecting a destination for an inventory holder having one or more particular characteristics such that transportation of the inventory holder to the destination is within the degraded capability of the mobile drive unit.

10. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by detecting a fuel level associated with the mobile drive unit.

11. The system of claim 1, further comprising an energy station operable to refuel mobile drive units, and wherein the management module is operable to select a third location for the mobile drive unit based on a distance between the third location and the energy station.

12. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by determining that the mobile drive unit is unable to carry an inventory holder.

13. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by determining that the mobile drive unit is unable to dock with an inventory holder.

14. The system of claim 1, wherein the management module is operable to determine the capability state of the mobile drive unit by detecting that the mobile drive unit needs to be repaired.

15. The system of claim 14, wherein the management module is further operable to select a third location for the mobile drive unit based on a distance between the third location and a repair station.

16. The system of claim 14, wherein the management module is operable to determine the capability state of the mobile drive unit by detecting that the mobile drive unit needs a particular type of repair.

17. The system of claim 16, wherein the management module is further operable to select a third location for the mobile drive unit based on a distance between the third location and a repair station operable to perform the type of repair needed by the mobile drive unit.

18. The system of claim 14, wherein the management module is operable to determine the capability state of the mobile drive unit by detecting that the mobile drive unit needs a particular type of maintenance.

19. The system of claim 18, wherein the management module is further operable to select a third location for the mobile drive unit based on a distance between the third location and a maintenance station operable to perform the type of maintenance needed by the mobile drive unit.

20. The system of claim 1, wherein the management module is further operable to select a third location for the mobile drive unit in a workspace in which the mobile drive unit is operating based on a distance between the third location and an access point to the workspace.

21. The system of claim 1, wherein the management module is further operable to select a third location for the mobile drive unit based on a traffic level associated with the third location.

22. The system of claim 1, wherein the management module is further operable to select a third location for the mobile drive unit based on determining that the third location is not otherwise available for mobile drive units to move through.

23. The system of claim 1, wherein the management module is operable to select a third location for the mobile drive unit based on determining that the third location is not otherwise available as a destination for mobile drive units.

24. The system of claim 1, wherein the management module is further operable to:

detect a change in a state of an inventory system in which the mobile drive unit is operating;

in response to detecting the change in the state of the inventory system, select a third location for the mobile drive unit based on the capability state of the mobile drive unit; and

transmit information to the mobile drive unit identifying the third selected location.

25. The system of claim 24, wherein the management module is operable to detect the change in the state of the inventory system by detecting that another mobile drive unit is attempting to move through the second location.

26. The system of claim 24, wherein the management module is operable to detect the change in the state of the inventory system by detecting that the second location is a current destination for another mobile drive unit.

27. The system of claim 1, wherein the capability state of the mobile drive unit comprises a repair status, an energy supply status, and a maintenance status of the mobile drive unit.

28. The system of claim 1, further comprising:

an energy station;

a service station;

a waiting location; and

an access point;

wherein the management module is further operable to select one of the energy station, the service station, the waiting location, and the access point for the mobile drive unit based on the determined capability state.

29. The system of claim 28, wherein the waiting location is one of a plurality of waiting locations and the waiting location is selected based on at least one of determining a traffic level associated with the waiting location, determining that the waiting location is not otherwise available for mobile drive units to move through;

and determining that the waiting location is not otherwise available as a destination for mobile drive units.

30. A method for transporting inventory items, comprising:

determining a capability state of a mobile drive unit based at least in part upon a capability message transmitted to a management module by the mobile drive unit, the capability message transmitted in response to a determination by the mobile drive unit that a state associated with an ability of the mobile drive unit to complete tasks is changed to a degraded capability state;

selecting a task for the mobile drive unit to transport an inventory holder from a first location to a second location based on determining that the mobile drive unit is capable of transporting the inventory holder in the degraded capability state; and

transmitting information to the mobile drive unit identifying the selected task to transport the inventory holder from the first location to the second location.

31. The method of claim 30, further comprising moving the mobile drive unit to the first location.

32. The method of claim 30, further comprising parking the mobile drive unit at the second location until the mobile drive unit receives an additional instruction.

33. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises determining that the mobile drive unit is not capable of completing a particular type of task.

34. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises determining a charge on a battery associated with the mobile drive unit.

35. The method of claim 34, further comprising selecting a third location based on a distance between the third location and the energy station, wherein the energy station is operable to recharge batteries associated with the mobile drive units.

36. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises detecting a degraded capability of the mobile drive unit, and the method further comprises:

selecting the second location based on the capability state of the mobile drive unit by selecting a destination for an inventory holder having one or more particular characteristics such that transportation of the inventory holder to the destination is within the degraded capability of the mobile drive unit.

37. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises determining a fuel level associated with the mobile drive unit.

38. The method of claim 30, further comprising selecting a third location based on a distance between the location and the energy station wherein the energy station is operable to refuel mobile drive units.

39. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises determining that the mobile drive unit is unable to carry an inventory holder.

40. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises determining that the mobile drive unit is unable to dock with an inventory holder.

41. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises detecting that the mobile drive unit needs to be repaired.

42. The method of claim 41, further comprising selecting a third location for the mobile drive unit based on a distance between the third location and a repair station.

43. The method of claim 41, wherein determining the capability state of the mobile drive unit comprises detecting that the mobile drive unit needs a particular type of repair.

44. The method of claim 43, further comprising selecting a third location for the mobile drive unit based on a distance between the third location and a repair station operable to perform the type of repair needed by the mobile drive unit.

45. The method of claim 30, wherein determining the capability state of the mobile drive unit comprises detecting that the mobile drive unit needs a particular type of maintenance.

46. The method of claim 45, further comprising selecting a third location for the mobile drive unit based on a distance between the third location and a maintenance station operable to perform the type of maintenance needed by the mobile drive unit.

47. The method of claim 30, further comprising selecting a third location for the mobile drive unit based on a distance between the third location and an access point to a workspace in which the mobile drive unit is operating.

48. The method of claim 30, further comprising selecting a third location for the mobile drive unit based on a traffic level associated with the third location.

49. The method of claim 30, further comprising selecting a third location for the mobile drive unit that is not otherwise available for mobile drive units to move through.

50. The method of claim 30, further comprising selecting a third location for the mobile drive unit that is not otherwise available as a destination for mobile drive units.

51. The method of claim 30, further comprising:

detecting a change in a state of an inventory system in which the mobile drive unit is operating;

in response to detecting the change in the state of the inventory system, selecting a third location for the mobile drive unit based on the capability state of the mobile drive unit; and

transmitting information to the mobile drive unit identifying the third selected location.

52. The method of claim 51, wherein the management module is operable to detect the change in the state of the inventory system by detecting that another mobile drive unit is attempting to move through the second location.

53. The method of claim 51, wherein detecting the change in the state of the inventory system comprises detecting that the second location is a current destination for another mobile drive unit.

54. A management module operable to:

determine a capability state of a mobile drive unit based at least in part upon a capability message transmitted by the mobile drive unit, the capability message transmitted in response to a determination by the mobile drive unit that a state associated with an ability of the mobile drive unit to complete tasks is changed to a degraded capability state;

select a task for the mobile drive unit to transport an inventory holder from a first location to a second location based on determining that the mobile drive unit is capable of transporting the inventory holder in the degraded capability state; and

transmit information to the mobile drive unit identifying the selected task to transport the inventory holder from the first location to the second location.

55. A system for transporting inventory items, comprising:

means for determining a capability state of a mobile drive unit based at least in part upon a capability message transmitted by the mobile drive unit, the capability message transmitted in response to a determination by the mobile drive unit that a state associated with an ability of the mobile drive unit to complete tasks is changed to a degraded capability state;

means for selecting a task for the mobile drive unit to transport an inventory holder from a first location to a second location based on determining that the mobile drive unit is capable of transporting the inventory holder in the degraded capability state; and

means for transmitting information to the mobile drive unit identifying the selected task to transport the inventory holder from the first location to the second location.