Safety compliance for mobile drive units

• US 9,927,797 B2
• Filed: 08/29/2014
• Issued: 03/27/2018
• Est. Priority Date: 08/29/2014
• 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, Barbehenn, Michael T., Tinka, Andrew Brenden, Mansfield, Peter K., Wurman, Peter R.
• Primary Examiner(s): Heinle, Courtney D
• Application Number:
  US14/472,717
• Publication Number:
  US 20160062345A1
• Time in Patent Office: 1,306 Days
• Field of Search: 701 23
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/0428 Safety, monitoring G05B19/0423 takes precedence
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• 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 2219/40173 Stop robot if no command received within interval
• 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 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Techniques for making a physical area safe for a human to enter when mobile drive units (e.g., robots) are operating in the physical area are described. A management device may send an activity message to the mobile drive units instructing the mobile drive units to perform a set of activities. If a human is detected in the physical area, the management device may stop sending the activity command. If the mobile drive units do not receive the activity command, the mobile drive units may stop performing the set of activities. After the management device determines that the human has left the physical area, the management device may resume sending the activity message.

Claims

1. A system comprising:

one or more processors; and

one or more non-transitory computer-readable storage media storing instructions executable by the one or more processors to perform acts comprising;

determining one or more drive unit locations corresponding to one or more mobile drive units;

receiving a query message from individual mobile drive units of the one or more mobile drive units, the query message requesting permission to perform a set of activities;

transmitting an activity message to the one or more mobile drive units in response to the query message, the activity message instructing individual mobile drive units of the one or more mobile drive units to perform the set of activities within a physical area;

determining, via a locator device associated with a human, that a first location of the human is within the physical area;

determining that a first mobile drive unit of the one or more mobile drive units is within a first distance from the first location of the human;

ceasing transmission of the activity message to the first mobile drive unit, thereby causing the first mobile drive unit to stop performing the set of activities; and

at least partially in response to ceasing transmission of the activity message to the first mobile drive unit, causing the first mobile drive unit to perform a new action including at least one of a performance of at least a portion, but not all, of the set of activities by the first mobile drive unit, or relocation of the first mobile drive unit to a distance greater than the first distance from the first location of the human.

2. The system of claim 1, the acts further comprising:

determining that a second mobile drive unit is within a second distance from the first location of the human; and

transmitting a slow speed message instructing the second mobile drive unit to reduce a speed at which the second mobile drive unit is travelling within the physical area.

3. The system of claim 1, the acts further comprising:

determining, via the locator device associated with the human, that the human has moved to a second location within the physical area,

determining that a third mobile drive unit of the one or more mobile drive units is within the first distance from the second location of the human; and

ceasing transmission of the activity message to the third mobile drive unit, thereby causing the third mobile drive unit to stop performing the set of activities.

4. The system of claim 1, wherein the query message includes a unique identifier associated with each mobile drive unit, and the activity message transmitted in response to the query message includes the unique identifier.

5. The system of claim 1, the acts further comprising:

determining that the human has moved to a third location that is outside the physical area within which the one or more mobile drive units are performing the set of activities; and

resuming transmission of the activity message instructing individual mobile drive units of the one or more mobile drive units to perform the set of activities within the physical area.

6. The system of claim 1, further including transmitting an instructional message to the first mobile drive unit to cause the first mobile drive unit to perform the new action.

7. The system of claim 1, wherein the causing the first mobile drive unit to perform the new action is based at least in part on a detected change in the location of the human with respect to the mobile drive unit.

8. The system of claim 1, further comprising interrupting a connection of a power source of the first mobile drive unit in response to determining that the first mobile drive unit is within a second distance from the first location of the human.

9. A computer-implemented method, comprising:

determining a drive unit location of a mobile drive unit that is performing a set of activities in a physical area;

determining, via a locator device associated with a human, a location of the human within the physical area;

determining whether the drive unit location is less than a predetermined distance from the location of the human;

in response to determining that the drive unit location is less than the predetermined distance from the location of the human, ceasing transmission of an activity message instructing the mobile drive unit to perform the set of activities, thereby causing the mobile drive unit to stop performing the set of activities; and

at least partially in response to ceasing transmission of the activity message to the first mobile drive unit, causing the drive unit to perform a standby operation that includes pausing the drive unit to await transmission of a command to resume the set of activities.

10. The method of claim 9, further comprising:

in response to determining that the drive unit location is greater than or equal to the predetermined distance from the location of the human, transmitting a message instructing the mobile drive unit to at least one of continue performing the set of activities, navigate away from the location of the human, move to a new location, or reduce a speed of the mobile drive unit.

11. The method of claim 9, further comprising:

in response to determining that the location of the human is outside the physical area, resuming transmission of the activity message instructing the mobile drive unit to perform the set of activities.

12. The method of claim 9, further comprising:

receiving a query message from the mobile drive unit that is performing the set of activities in the physical area, the query message requesting permission for the mobile drive unit to perform the set of activities.

13. The method of claim 12, wherein determining the drive unit location of the mobile drive unit is based at least partly on the query message and comprises:

retrieving a set of location coordinates within the physical area from the query message; and

determining the drive unit location based on the set of location coordinates.

14. The method of claim 12, wherein determining the drive unit location of the mobile drive unit is based at least partly on the query message and comprises:

determining the drive unit location based at least partly on a fiducial marker identifier included in the query message, the fiducial marker identifier corresponding to a location of a fiducial marker read by an imaging device on the mobile drive unit.

15. The method of claim 9, further comprising:

determining the location of the human based at least partly on receiving, from the locator device associated with the human, location data that includes a fiducial marker identifier associated with a fiducial marker read by the locator device.

16. The method of claim 9, further comprising:

determining the location of the human based at least partly on imaging data received from one or more imaging devices located within the physical area, the one or more imaging devices including at least one of a stationary camera fixed in the physical area or a mobile camera mounted on the mobile drive unit, and the imaging data including data associated with at least one of the human or the locator device associated with the human.

17. The method of claim 9, further comprising:

determining the location of the human based at least partly on sensor data provided by one or more sensors located within the physical area, the one or more sensors including at least one of a heat sensor, an infrared sensor, a motion sensor, or a radio frequency identifier (RFID) reader, and the sensor data including data associated with at least one of the human or the locator device associated with the human.

18. A system, comprising:

a mobile drive unit;

a locator device associated with a human; and

a management device configured to perform acts comprising;

initiating transmission of an activity message instructing the mobile drive unit to perform a set of activities within a physical area;

determining a drive unit location of the mobile drive unit;

determining, via the locator device, a location of the human within the physical area;

in response to determining that the drive unit location is less than a predetermined distance from the location of the human, ceasing the transmission of the activity message instructing the mobile drive unit to perform the set of activities, thereby causing the mobile drive unit to stop performing the set of activities; and

at least partially in response to ceasing the transmission of the activity message instructing the mobile drive unit to perform the set of activities, transmitting an instructional message to the mobile drive unit to perform a new action including a relocation of the mobile drive unit to a second drive unit location located greater than the predetermined distance from the location of the human.

19. The system of claim 18, the acts further comprising:

receiving, from the locator device, a fiducial marker identifier associated with a fiducial marker from a plurality of fiducial markers that are located within the physical area; and

determining the location of the human based at least partly on the fiducial marker identifier.

20. The system of claim 18, the acts further comprising:

receiving sensor data from one or more sensors located within the physical area, the one or more sensors including at least one of a heat sensor, an infrared sensor, a motion sensor, an optical sensor, or a radio frequency identifier (RFID) reader; and

determining the location of the human based at least partly on the sensor data, and the sensor data including data associated with at least one of the human or the locator device associated with the human.