Inventory system with swiveling vertically mobile drive units

• US 9,952,589 B1
• Filed: 03/30/2017
• Issued: 04/24/2018
• Est. Priority Date: 03/30/2017
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Brazeau, Jeremiah David
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/474,852
• Time in Patent Office: 390 Days
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: B66F 11/00 Lifting devices specially adapted for particular uses not otherwise provided for ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle B60S9/00
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/24 Electrical devices or systems
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Disclosed inventory systems, methods, and devices can be used to retrieve and transport resources from one location to another. Specifically, a vertically mobile drive unit including a vertical element retention mechanism can be controlled by a management component to retrieve a resource, transport the resource from one floor to a different floor in an inventory system, and deposit the resource at a destination. The vertically mobile drive unit can transit vertically along a vertically disposed element in an inventory system, such as a structural pole or column; and can rotate around the structural pole or column in order to set down on an upper level after ascending, or to clear the upper level prior to descending.

Claims

1. An inventory management system, comprising:

an inventory system comprising;

a first level;

a second level above the first level; and

a vertical element extending upward from the first level and passing through or adjacent to the second level;

a drive unit comprising;

a body;

a horizontal drive mechanism connected with the body;

a vertical element grasping mechanism connected with the body; and

a vertical drive mechanism connected with the vertical element grasping mechanism, wherein the vertical drive mechanism is operable to rotate with respect to the drive unit; and

a management component configured with executable instructions, in order to, at least;

receive information relating to a resource in the inventory system;

instruct the drive unit to retrieve the resource at a first location on the first level using the horizontal drive mechanism;

instruct the drive unit to grasp the vertical element with the vertical element grasping mechanism;

instruct the drive unit to ascend the vertical element to the second level using the vertical drive mechanism;

instruct the drive unit to rotate around the vertical element by actuating the vertical drive mechanism; and

instruct the drive unit to move the resource to a second location on the second level.

2. The inventory management system of claim 1, wherein:

the drive unit comprises a robotic arm connected with the vertical element grasping mechanism and pivotally connected with the body of the drive unit; and

wherein;

instructing the drive unit to rotate around the vertical element comprises rotating the drive unit relative to the vertical element grasping mechanism by actuating the robotic arm.

3. The inventory management system of claim 1, wherein:

the vertical drive unit comprises a plurality of contact elements capable of being rotated between a first, vertical orientation and a second orientation that is tilted or horizontal; and

wherein;

instructing the drive unit to rotate around the vertical element comprises;

instructing the drive unit to rotate the contact elements from the first orientation to the second orientation; and

instructing the drive unit to rotate around the vertical element in a helical or circular path by actuating the vertical drive mechanism.

4. The inventory management system of claim 1, wherein:

the vertical drive unit comprises a plurality of contact elements, a first subset of the contact elements being oriented vertically and a second subset of the contact elements being oriented tilted or horizontally; and

wherein;

instructing the drive unit to rotate around the vertical element comprises;

instructing the drive unit to bring the second subset of contact elements into contact with the vertical element;

instructing the drive unit to bring the first subset of contact elements out of contact with the vertical element; and

instructing the drive unit to rotate around the vertical element in a helical or circular path by actuating the vertical drive mechanism.

5. A computer-implemented method of managing a resource, comprising:

selecting a drive unit from a plurality of drive units, each of the drive units comprising a body, a horizontal drive mechanism connected with the body, a vertical element grasping mechanism connected with the body, a vertical drive mechanism connected with the vertical element grasping mechanism, and a rotating mechanism connected with the vertical element grasping mechanism;

instructing the drive unit to transit a first level of a multi-level facility using the horizontal drive mechanism to a vertical element;

instructing the drive unit to grasp the vertical element by the vertical element grasping mechanism;

instructing the drive unit to ascend or descend to a second level in a multi-level facility using the vertical drive mechanism;

instructing the drive unit to rotate around the vertical element via the rotating mechanism while grasping the vertical element to position the drive unit at least partially above the second level; and

instructing the drive unit to detach from the vertical element while on the second level.

6. The computer-implemented method of claim 5, wherein the second level is above the first level, and further comprising:

instructing the drive unit to ascend past the second level using the vertical drive mechanism;

instructing the drive unit to rotate around the vertical element using the rotating mechanism until the drive unit is at least partly positioned above the second level; and

instructing the drive unit to descend to the second level using the vertical drive mechanism prior to detaching from the vertical element.

7. The computer-implemented method of claim 6, further comprising:

instructing the drive unit to rotate around the vertical element away from the second level, via the rotating mechanism, to create clearance for the drive unit to pass by the second level.

8. The computer-implemented method of claim 5, wherein:

instructing the drive unit to rotate around the vertical element comprises;

instructing the rotating mechanism to actuate a mechanical arm connecting the vertical drive mechanism with a body of the drive unit, such that the body of the drive unit translates horizontally around the vertical element.

9. The computer-implemented method of claim 8, wherein:

the mechanical arm has a first orientation operable to orient the drive unit nearer the vertical element and a second orientation operable to orient the drive unit farther from the vertical element; and

actuating the mechanical arm causes the drive unit to extend away from the vertical element.

10. The computer-implemented method of claim 5, wherein:

instructing the drive unit to rotate around the vertical element comprises;

instructing the drive unit to rotate a set of contact elements attaching the drive unit to the vertical element from a substantially vertical, first orientation to a second orientation that is horizontal or tilted; and

instructing the drive unit to rotate around the vertical element in a circular or helical path by actuating the vertical drive mechanism.

11. The computer-implemented method of claim 5, wherein:

instructing the drive unit to rotate around the vertical element comprises;

instructing the drive unit to extend a set of contact elements into contact with the vertical element in a horizontal or tilted orientation;

instructing the drive unit to rotate around the vertical element in a circular or helical path by actuating the vertical drive mechanism.

12. The computer-implemented method of claim 5, wherein:

the second level is below the first level, and further comprising;

instructing the drive unit to ascend above the first level using the vertical drive mechanism;

instructing the drive unit to rotate around the vertical element using the rotating mechanism until the drive unit is clear of the first level; and

instructing the drive unit to descend past the first level using the vertical drive mechanism.

13. The computer-implemented method of claim 5, wherein instructing the drive unit to grasp the vertical element further comprises:

instructing the drive unit to extend a mechanical arm connecting the vertical drive mechanism with a body of the drive unit to bring the vertical drive mechanism into contact with the vertical element; and

further comprising;

instructing the drive unit to retract the mechanical arm to cause the drive unit to clear the first level.

14. The computer-implemented method of claim 5, further comprising:

detecting, via a sensor, that the drive unit is positioned above a height of the second level prior to instructing the drive unit to rotate around the vertical element.

15. The computer-implemented method of claim 5, further comprising:

receiving information identifying a resource to be retrieved;

instructing the drive unit to retrieve the resource from an origin location on a first level of the multi-level facility using the horizontal drive mechanism; and

instructing the drive unit to move the resource to a destination location on the second level of the multi-level facility using the horizontal drive mechanism.

16. A vertically mobile drive unit, comprising:

a body;

a horizontal drive mechanism connected with the body;

a vertical element grasping mechanism connected with the body and operable to grasp a vertical element;

a vertical drive mechanism connected with the vertical element grasping mechanism, the vertical drive mechanism being operable to cause the drive unit to transit vertically along the vertical element; and

a rotating element connected with the vertical element grasping mechanism and operable to cause the drive unit to rotate around the vertical element.

17. The drive unit of claim 16, further comprising a robotic arm connected with the vertical element grasping mechanism and pivotably connected with the body of the drive unit by the rotating element, the robotic arm being configured to pivot away from the body of the drive unit from a first position to a second position via the rotating element such that, when the vertical element grasping mechanism is connected with the vertical element and the robotic arm is moved from the first position to the second position, the body of the drive unit is partially rotated around the vertical element.

18. The drive unit of claim 16, further comprising a robotic arm connected with the vertical element grasping mechanism and connected with the body of the drive unit, the robotic arm configured to extend from a first position to a second position such that, when the vertical element grasping mechanism is connected with the vertical element and the robotic arm is extended from the first position to the second position, the body of the drive unit is displaced horizontally relative to the vertical element.

19. The drive unit of claim 16, wherein the vertical drive mechanism comprises a plurality of contact elements capable of being rotated by the rotating element between a first, vertical orientation and a second orientation that is tilted or horizontal, such that, when the vertical element grasping mechanism is connected with the vertical element and the contact elements are in the first orientation, the vertical drive mechanism is operable to move the drive unit vertically along the vertical element, and when the contact elements are moved to the second orientation, the vertical drive mechanism is operable to cause the drive unit to displace helically or circularly around the vertical element.

20. The drive unit of claim 16, wherein the vertical drive mechanism comprises a plurality of contact elements, a first subset of the contact elements being oriented vertically and a second subset of the contact elements being oriented tilted or horizontally, the first and second subsets being operable to independently contact the vertical element, such that, when the vertical element grasping mechanism is connected with the vertical element and the first subset of the contact elements is in contact with the vertical element, the vertical drive mechanism is operable to move the drive unit vertically along the vertical element, and when the second subset of the contact elements is in contact with the vertical element, the vertical drive mechanism is operable to cause the drive unit to displace helically or circularly around the vertical element.

21. The drive unit of claim 16, wherein the vertical element grasping mechanism is positioned within a cavity in a body of the drive unit.

22. The drive unit of claim 16, wherein the vertical element grasping mechanism comprises two or more locking features operable to lock the vertical element grasping mechanism into a locked position when the vertical element grasping mechanism is grasping the vertical element.

23. The drive unit of claim 16, further comprising a sensor operable to detect a vertical position of the drive unit.