Systems and methods to facilitate human/robot interaction

• US 9,889,563 B1
• Filed: 04/10/2017
• Issued: 02/13/2018
• 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: Stubbs, Andrew, Verminski, Matthew David, Caldara, Stephen, Shydo, Jr., Robert Michael
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/483,240
• Time in Patent Office: 309 Days
• 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 comprising:

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

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

a processor in communication with at least the one or more drive mechanisms;

a wearable device comprising one or more short range transmission tags, the wearable device associated with one of a worker or the robot; and

a short range transmission reader configured to read the one or more short range transmission tags and associated with the other of the worker or the robot, the short range transmission reader to detect a short range transmission interaction;

wherein the processor instructs the robot to take evasive action based at least in part on a detection of the short range transmission interaction.

2. The system of claim 1, wherein the short range transmission reader sends a signal to the processor to indicate a short range transmission interaction.

3. The system of claim 2, wherein the short range transmission reader refrains from sending the signal to the processor based at least in part on the short range transmission reader no longer reading at least one of the one or more short range transmission 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 short range transmission reader.

4. 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.

5. The system of claim 1, wherein the short range transmission reader comprises a radio frequency identification (RFID) reader;

and

wherein the one or more short range transmission tags comprise one or more RFID tags.

6. The system of claim 1, further comprising:

a transceiver associated with the short range transmission reader for wirelessly communicating with a central control;

wherein the short range transmission reader sends a first signal to the central control via the transceiver to indicate a short range transmission interaction; and

wherein the central control sends a second signal to the processor to indicate the short range transmission interaction.

7. A method comprising:

receiving, at a robot, a first route from a central control, the first route including at least a first path to a destination to perform a task in a workspace;

sending a signal, from a processor to one or more drive mechanisms on the robot, to follow the first route;

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

receiving, at the robot, a second route from the central control in response to a signal indicating a short range transmission interaction between a short range transmission reader and one or more short range transmission tags; and

sending a signal, from a processor to one or more drive mechanisms on the robot, to follow the second route;

wherein the short range transmission reader is associated with the one of the worker or the robot; and

wherein the one or more short range transmission tags are associated with the other of the worker or the robot.

8. The method of claim 7, further comprising:

receiving, at the robot, a third route from the central control in response to a signal indicating a continued short range transmission interaction between a short range transmission reader and one or more short range transmission tags; and

sending a signal, from a processor to one or more drive mechanisms on the robot, to follow the third route.

9. The method of claim 7, wherein the first route from the central control further comprises instructions to cause the robot to travel at a first speed;

wherein the second route from the central control further comprises instructions to cause the robot to travel at a second speed; and

wherein the second speed is slower than the first speed.

10. The method of claim 7, further comprising:

receiving, at the robot, instructions to stop from the central control in response to a signal indicating a continued short range transmission interaction.

11. The method of claim 7, wherein the one or more short range transmission tags are associated with the worker;

and

wherein the short range transmission tags comprise passive radio frequency identification (RFID) tags.

12. 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;

sending a signal, from a processor to one or more drive mechanisms on the robot, to take evasive action in response to a signal indicating a short range transmission interaction between a short range transmission reader and one or more short range transmission tags;

wherein the short range transmission reader is associated with one of the worker or the robot; and

wherein the one or more short range transmission tags are associated with the other of the worker or the robot.

13. The method of claim 12, wherein the one or more short range transmission tags are mounted on the robot and the short range transmission reader is associated with the worker, and further comprising:

detecting, with a processor on the robot, that the one or more short range transmission tags mounted on the robot are being read by the short range transmission reader associated with the worker indicating the short range transmission interaction.

14. The method of claim 13, wherein the one or more short range transmission tags comprise active radio frequency identification (RFID) tags.

15. The method of claim 12, wherein the short range transmission reader is mounted on the robot and the one or more short range transmission tags are associated with the worker, and further comprising:

detecting, with the short range transmission reader on the robot, the one or more short range transmission tags associated with the worker indicating a short range transmission interaction.

16. The method of claim 12, wherein sending the signal, from the processor to the one or more drive mechanisms on the robot, to take evasive action further comprises:

sending a first signal, from the processor to the one or more drive mechanisms on the robot, to take a first evasive action in response to a first signal indicating a short range transmission interaction between the short range transmission reader and a first group of one or more short range transmission tags; and

sending a second signal, from the processor to the one or more drive mechanisms on the robot, to take a second evasive action in response to a second signal indicating a short range transmission interaction between the short range transmission reader and a second group of one or more short range transmission tags;

wherein the second group is larger than the first group.

17. The method of claim 16, wherein the first evasive action comprises one of slowing down or rerouting;

and

wherein the second evasive action comprises stopping.

18. The method of claim 12, further comprising:

receiving a first instruction from the central control comprising information related to a virtual work zone around the worker in response to the short range transmission 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 enters the outer work zone;

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

or

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