Systems and methods for removing debris from warehouse floors

• US 9,682,483 B1
• Filed: 03/19/2015
• Issued: 06/20/2017
• Est. Priority Date: 03/19/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Romano, Joseph, Polic, Dennis, Wurman, Peter R., Mansfield, Peter K.
• Primary Examiner(s): BUTLER, RODNEY ALLEN
• Application Number:
  US14/662,679
• Time in Patent Office: 824 Days
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Robots or other machines may be used for retrieving errant objects from the floor of an automated warehouse. A system can include one or more reporting methods to alert a central control to the existence and location of an object on the warehouse floor. The central control can establish a safety zone around the object to avoid contact with normal warehouse traffic (e.g., standard warehouse robots). The system can route a cleanup robot to the location to retrieve the object. The system can include a cleanup pod comprising a convertible shelving unit with a robotic arm. The cleanup pod can have a similar form factor as shelving units used for storing inventory in the warehouse, thereby enabling standard warehouse robots to lift and transport the cleanup pod to retrieve an object.

Claims

1. A cleanup pod comprising:

a base;

an upper frame in slideable engagement with the base and comprising;

a carrying tray to receive one or more objects retrieved from a floor; and

a robotic arm to move the one or more objects from the floor to the carrying tray, the robotic arm comprising;

a turret coupled to the upper frame;

an upper beam coupled to the turret;

a lower beam slideably coupled to the upper beam and moveable between a retracted position and an extended position; and

an end effector to manipulate the one or more objects onto the carrying tray; and

one or more imaging devices disposed on one or more of the base, the upper frame, and the robotic arm;

wherein the base and the upper frame are moveable relative to each other between a raised position and a lowered position;

wherein, in the raised position, the base is disposed proximate to the floor and defines an area sized and shaped to receive a robot to lift and carry the cleanup pod; and

wherein, in the lowered position, the carrying tray is disposed proximate to the floor.

2. The cleanup pod of claim 1, wherein at least one of the turret and the upper beam is rotatable with respect to the upper frame.

3. The cleanup pod of claim 2, wherein the turret is rotatably coupled to the upper frame;

wherein the upper beam is in slideable engagement with the turret and moveable between a retracted position and an extended position;

wherein, in the respective retracted positions, the upper beam and the lower beam are approximately a same width as the upper frame (w); and

wherein, in the respective extended positions, the upper beam and the lower beam have a reach outside the upper frame of between approximately 0.5w and 1.5w.

4. The cleanup pod of claim 1, wherein the end effector further comprises:

an arm rotatably coupled to the lower beam; and

a deformable strip to conform to the floor;

wherein the arm rotates the deformable strip to manipulate the one or more objects onto the carrying tray.

5. The cleanup pod of claim 1, wherein the one or more imaging devices comprise:

one or more arm imaging devices mounted on the robotic arm; and

one or more leg imaging devices mounted on a leg of at least one of the base or the upper frame.

6. A cleanup pod comprising:

a base;

an upper frame in slideable engagement with the base and comprising;

a carrying tray to receive one or more objects retrieved from a floor; and

a robotic arm to move the one or more objects from the floor to the carrying tray; and

one or more imaging devices disposed on one or more of the base, the upper frame, and the robotic arm;

wherein the base and the upper frame are moveable relative to each other between a raised position and a lowered position;

wherein, in the raised position, the base is disposed proximate to the floor and defines an area sized and shaped to receive a robot to lift and carry the cleanup pod; and

wherein, in the lowered position, the carrying tray is disposed proximate to the floor.

7. The cleanup pod of claim 6, the carrying tray further comprising:

a substantially flat surface; and

a deformable edge disposed on a periphery of the substantially flat surface;

wherein, in the lowered position, the deformable edge substantially conforms to the floor to permit sliding the one or more objects onto the substantially flat surface.

8. The cleanup pod of claim 7, the base further comprising:

a fence, with a top edge and a bottom edge, disposed around a periphery of the base;

wherein the bottom edge of the fence is substantially even with a plane defined by the substantially flat surface in the raised position; and

wherein the top edge of the fence is above the plane in the raised position to prevent objects from falling off the substantially flat surface.

9. The cleanup pod of claim 6, further comprising:

one or more linear actuators to move the base and the upper frame relative to each other between the raised position and the lowered position.

10. The cleanup pod of claim 6, wherein the one or more imaging devices comprise one or more leg imaging devices disposed on a lower portion of one or more respective legs of the base;

wherein the one or more leg imaging devices provide imagery to a central control at least when the cleanup pod is in the raised position.

11. The cleanup pod of claim 6, wherein the one or more imaging devices comprise one or more leg imaging devices disposed on a lower portion of one or more respective legs of the upper frame;

wherein the one or more leg imaging devices provide imagery to a central control at least when the cleanup pod is in the lowered position.

12. The cleanup pod of claim 6, wherein the robotic arm further comprises:

an upper beam; and

a lower beam slideably coupled to the upper beam and moveable between a retracted position and an extended position;

wherein the one or more imaging devices comprise one or more arm imaging devices disposed on a lower surface of the lower beam to provide imagery to a central control when the robotic arm is in operation.