Maneuvering a mobile drive unit

• US 9,511,934 B2
• Filed: 01/03/2014
• Issued: 12/06/2016
• 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: Wurman, Peter R., D'Andrea, Raffaello, Barbehenn, Michael T., Hoffman, Andrew Edward, Koehler, David C., Mountz, Michael Cordell
• Primary Examiner(s): HESS, DANIEL A
• Application Number:
  US14/147,406
• Publication Number:
  US 20140195040A1
• Time in Patent Office: 1,068 Days
• Field of Search: 235/385, 700/216
• US Class Current: 1/1
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

Claims

1. A mobile drive unit for transporting an inventory holder, the mobile drive unit configured to:

dock with an inventory holder;

move the inventory holder towards a destination;

receive a wireless instruction from a management module, the wireless instruction comprising selectively rotating the inventory holder while moving the inventory holder towards a destination;

while docked with the inventory holder, and in response to receiving the wireless instruction to selectively rotate the inventory holder while moving the inventory holder, selectively rotate the inventory holder while moving, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit;

wherein an obstacle sensor is positioned on a first portion of the mobile drive unit and is configured to detect one or more objects located within a lateral range of motion of the mobile drive unit while rotating the inventory holder, the mobile drive unit being configured to avoid a collision based on a detection of the one or more objects during the rotation of the inventory holder, and

wherein a position sensor is located on a second portion of the mobile drive unit and is configured to detect one or more fiducial marks located above or below the mobile drive unit, the mobile drive unit being configured to determine a location of the mobile drive unit in a workspace based on information derived from the one or more fiducial marks; and

continue moving the inventory holder towards the destination.

2. The mobile drive unit of claim 1, the mobile drive unit further configured to:

receive a route to the destination;

reserve a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

3. The mobile drive unit of claim 1, wherein docking with the inventory holder comprises:

moving the mobile drive unit to a location of the inventory holder;

docking the mobile drive unit with the inventory holder at the location, and the mobile drive unit is further configured to;

undock the mobile drive unit from the inventory holder at the destination; and

move away from the inventory holder.

4. The mobile drive unit of claim 1, wherein the mobile drive unit is further configured to prevent collisions with other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area.

5. The mobile drive unit of claim 1, the mobile drive unit further configured to:

receive a request from the management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

6. The mobile drive unit of claim 1, wherein docking with the inventory holder comprises:

positioning the mobile drive unit beneath the inventory holder; and

raising a docking head of the mobile drive unit towards the inventory holder.

7. The mobile drive unit of claim 1, the mobile drive unit comprising a docking head;

and

wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of the mobile drive unit.

8. The mobile drive unit of claim 1, the mobile drive unit further configured to dock with an inventory holder using a docking head, wherein the docking head comprises a planar surface that includes a first high-friction surface, wherein the first high-friction surface is configured to make contact with a second high-friction surface of an inventory holder while the mobile drive unit is docked with the inventory holder.

9. A method for transporting inventory holders, comprising:

docking, by a mobile drive unit, with an inventory holder;

moving, by the mobile drive unit, the inventory holder towards a destination;

receiving a wireless instruction from a management module, the wireless instruction comprising selectively rotating the inventory holder while moving the inventory holder towards the destination;

while docked with the inventory holder, and in response to receiving the wireless instruction to selectively rotate the inventory holder while moving the inventory holder towards the destination, selectively rotating the inventory holder while moving, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit;

detecting, using an obstacle sensor positioned on a first portion of the mobile drive unit, one or more objects located within a lateral range of motion of the mobile drive unit while rotating the inventory holder, the mobile drive unit being configured to avoid a collision based on a detection of the one or more objects during the rotation of the inventory holder;

detecting, using a position sensor located on a second portion of the mobile drive unit, one or more fiducial marks located above or below the mobile drive unit, the mobile drive unit being configured to determine a location of the mobile drive unit in a workspace based on information derived from the one or more fiducial marks; and

continuing to move the inventory holder towards the destination.

10. The method of claim 9, further comprising:

receiving a route to the destination;

reserving a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

11. The method of claim 9, wherein docking with the inventory holder comprises:

moving a mobile drive unit to a location of the inventory holder;

docking the mobile drive unit with the inventory holder at the location, and the method further comprises;

undocking the mobile drive unit from the inventory holder at the destination; and

moving away from the inventory holder.

12. The method of claim 9, further comprising:

preventing collisions of the inventory holder with mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area.

13. The method of claim 9, further comprising:

receiving a request from the management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

14. The method of claim 9, wherein docking with the inventory holder comprises:

positioning a mobile drive unit beneath the inventory holder; and

raising a docking head of the mobile drive unit towards the inventory holder.

15. The method of claim 9, wherein selectively rotating the inventory holder while moving comprises independently rotating a docking head of a mobile drive unit.

16. A mobile drive unit for transporting an inventory holder, the mobile drive unit comprising:

an interface configured to receive a wireless instruction from a management module, the wireless instruction comprising one or more commands configured to cause a mobile drive unit to selectively rotate an inventory holder while the mobile drive unit is moving;

a first actuator that, in response to receiving the wireless instruction from the management module to selectively rotate the inventory holder while the mobile drive unit is moving, selectively rotates the inventory holder while the mobile drive unit is moving;

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different;

an obstacle sensor positioned on a first portion of the mobile drive unit configured to detect one or more objects located within a lateral range of motion of the mobile drive unit while rotating the inventory holder, the mobile drive unit being configured to avoid a collision based on a detection of the one or more objects during the rotation of the inventory holder, and

a position sensor located on a second portion of the mobile drive unit configured to detect one or more fiducial marks located above or below the mobile drive unit, the mobile drive unit being configured to determine a location of the mobile drive unit in a workspace based on information derived from the one or more fiducial marks.

17. The mobile drive unit of claim 16, wherein the mobile drive unit is configured to:

receive a route to the destination;

reserve a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

18. The mobile drive unit of claim 16, wherein the mobile drive unit is configured to:

move to a location of an inventory holder;

dock with the inventory holder at the location;

undock the mobile drive unit from the inventory holder at a destination; and

move away from the inventory holder.

19. The mobile drive unit of claim 16, wherein the mobile drive unit is further configured to prevent collisions with the other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area.

20. The mobile drive unit of claim 16, wherein the mobile drive unit is further configured to:

receive a request from the management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

21. The mobile drive unit of claim 16, wherein the mobile drive unit further comprises a docking head;

and

wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of a mobile drive unit.