Localization of a mobile system

• US 9,868,214 B2
• Filed: 06/20/2016
• Issued: 01/16/2018
• Est. Priority Date: 06/20/2016
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Zevenbergen, John
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US15/187,582
• Publication Number:
  US 20170361465A1
• Time in Patent Office: 575 Days
• Field of Search: 700253
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40202 Human robot coexistence

Abstract

Systems and methods related to localizing mobile robotic devices are provided. A control system can receive a request for a particular mobile robotic device (PMRD) to travel between a first area and a cell area. After receiving the request, the control system can disable a presence sensor detecting objects traveling between the first area and the cell area. The control system can receive, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on identifiers of the mobile robotic device. The control system can verify that sensor data indicates the PMRD is in the cell area. After verifying that the PMRD is in the cell area, the control system can: disable the PMRD, enable the presence sensor, and indicate that the PMRD is disabled in the cell area.

Claims

1. A method, comprising:

receiving, at a control system, a request for a first mobile robotic device to travel between a first area and a cell area of an environment, wherein the first area is connected to the cell area;

after receiving the request for the first mobile robotic device to travel between the first area and the cell area, the control system disabling a first-area presence sensor that is configured to detect presence of objects traveling between the first area and the cell area;

receiving, at the control system from one or more identification sensors, sensor data identifying a second mobile robotic device that has moved into the cell area based on one or more identifiers on the second mobile robotic device;

verifying, by the control system, that the sensor data indicates that the second mobile robotic device is the first mobile device; and

after verifying that the second mobile robotic device is the first mobile device, the control system;

disabling the first mobile robotic device,

enabling the first-area presence sensor to detect the presence of objects traveling between the first area and the cell area, and

providing an indication that the first mobile robotic device is disabled in the cell area.

2. The method of claim 1, wherein the environment comprises a second area connected to the cell area, and wherein the method further comprises:

after verifying that the second mobile robotic device is the first mobile device, the control system disabling a second-area presence sensor that is configured to detect the presence of objects traveling between the first area and the cell area.

3. The method of claim 2, further comprising:

receiving, at the control system, an indication that the first mobile robotic device is to be enabled; and

after receiving the indication that the first mobile robotic device is to be enabled, the control system;

enabling the second-area presence sensor,

disabling the first-area presence sensor, and

enabling the first mobile robotic device.

4. The method of claim 3, further comprising:

after enabling the first mobile robotic device;

receiving, at the control system from the one or more identification sensors, additional sensor data indicating that the first mobile robotic device is not in the cell area, and

enabling the first-area presence sensor based on the additional sensor data.

5. The method of claim 2, wherein the first-area presence sensor comprises a first light curtain and the second-area presence sensor comprises a second light curtain.

6. The method of claim 2, wherein the indication that that the first mobile robotic device is disabled in the cell area comprises an indication that entry into the cell area from the second area is permitted.

7. The method of claim 6, wherein the indication that entry into the cell area from the second area is permitted is received at a cell entry/exit signaling device in the second area,

wherein the cell entry/exit signaling device is configured to generate an output within the second area upon reception of the indication that entry into the cell area from the second area is permitted;

and

wherein the cell entry/exit signaling device is configured to provide the indication that the first mobile robotic device is to be enabled.

8. The method of claim 1, wherein the control system comprises a programmable logic controller (PLC).

9. The method of claim 1, wherein the one or more identifiers comprise one or more Radio Frequency ID (RFID) devices, and wherein the one or more identification sensors are configured to read the one or more RFID devices.

10. The method of claim 9, wherein the second mobile robotic device comprises a plurality of RFID devices that include the one or more RFID devices, and wherein the method further comprises:

determining an orientation of the second mobile robotic device within the cell area based on locations of the plurality of RFID devices; and

verifying that the second mobile robotic device is contained within the cell area based on the orientation.

11. The method of claim 10, wherein the second mobile robotic device comprises a pallet jack that includes first and second tines, wherein the plurality of RFID devices comprise a first RFID device on the first tine and a second RFID device on the second tine.

12. A control system, comprising:

one or more identification sensors; and

a computing device, comprising;

one or more processors; and

data storage including at least computer-executable instructions stored thereon that, when executed by the one or more processors, cause the control system to perform functions comprising;

receiving a request for a first mobile robotic device to travel between a first area and a cell area of an environment, wherein the first area is connected to the cell area;

after receiving the request for the first mobile robotic device to travel between the first area and the cell area, disabling a first-area presence sensor configured to detect presence of objects traveling between the first area and the cell area;

receiving, from the one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on one or more identifiers on the second mobile robotic device;

verifying that the sensor data indicates that the second mobile robotic device is the first mobile device; and

after verifying that the first mobile robotic device is the particular mobile device;

disabling the first mobile robotic device,

enabling the first-area presence sensor detecting the presence of objects traveling between the first area and the cell area, and

providing an indication that the first mobile robotic device is disabled in the cell area.

13. The control system of claim 12, wherein the environment comprises a second area connected to the cell area, and wherein the functions further comprise:

after verifying that the second mobile robotic device is the first mobile device, disabling a second-area presence sensor that is configured to detect the presence of objects traveling between the first area and the cell area.

14. The control system of claim 13, wherein the functions further comprise:

receiving an indication that the first mobile robotic device is to be enabled; and

after receiving the indication that the first mobile robotic device is to be enabled, the control system;

enabling the second-area presence sensor,

disabling the first-area presence sensor, and

enabling the first mobile robotic device.

15. The control system of claim 14, wherein the functions further comprise:

after enabling the first mobile robotic device;

receiving, from the one or more identification sensors, additional sensor data indicating that the first mobile robotic device is not in the cell area, and

enabling the first-area presence sensor based on the additional sensor data.

16. The control system of claim 14, wherein the first-area presence sensor comprises a first light curtain and the second-area presence sensor comprises a second light curtain.

17. The control system of claim 12, wherein the control system further comprises a programmable logic controller (PLC).

18. The control system of claim 12, wherein the one or more identifiers comprise a plurality of Radio Frequency ID (RFID) devices, wherein the one or more identification sensors are configured to read the one or more RFID devices.

19. The control system of claim 18, wherein the second mobile robotic device comprises a plurality of RFID devices that include the one or more RFID devices, and wherein the functions further comprise:

determining an orientation of the second mobile robotic device within the cell area based on locations of the plurality of RFID devices, and

verifying that the second mobile robotic device is contained within the cell area based on the orientation.

20. A non-transitory computer readable medium having stored thereon instructions, that when executed by one or more processors of a computing device, cause the computing device to perform functions comprising:

receiving a request for a first mobile robotic device to travel between a first area and a cell area of an environment, wherein the first area is connected to the cell area;

after receiving the request for the first mobile robotic device to travel between the first area and the cell area,

disabling a first-area presence sensor configured to detect presence of objects traveling between the first area and the cell area;

receiving, from one or more identification sensors, sensor data identifying a mobile robotic device that has moved into the cell area based on one or more identifiers on the second mobile robotic device;

verifying that the sensor data indicates that the second mobile robotic device is the first mobile device; and

after verifying that the second mobile robotic device is the first mobile device;

disabling the first mobile robotic device,

enabling the first-area presence sensor to detect the presence of objects traveling between the first area and the cell area, and

providing an indication that the first mobile robotic device is disabled in the cell area.