System and method for managing mobile drive units

• US 7,873,469 B2
• Filed: 06/19/2006
• Issued: 01/18/2011
• Est. Priority Date: 06/19/2006
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Kiva Systems, Inc (Amazon.com, Inc.)
• Inventors: D'Andrea, Raffaello, Barbehenn, Michael T., Hoffman, Andrew E., Mountz, Michael C., Wurman, Peter R.
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US11/425,042
• Publication Number:
  US 20070294029A1
• Time in Patent Office: 1,674 Days
• Field of Search: 701200-202, 701/209, 340/988, 340/995.19
• US Class Current: 701/209
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.

Claims

1. A method for moving a mobile drive unit within a workspace, comprising;

receiving a path, wherein;

the path comprises an initial segment and one or more additional segments;

the initial segment includes a portion of the path adjacent to a first point; and

at least one of the additional segments includes a portion of the path adjacent to a second point;

storing the path;

reserving the initial segment of the path;

moving away from the first point along the initial segment;

after initiating movement along the initial segment, reserving each of the additional segments of the path; and

moving toward the second point along each of the additional segments while that segment is reserved.

2. The method of claim 1, wherein the path further comprises at least a second segment adjoining the initial segment;

and wherein the mobile drive unit is further operable to reserve the second segment after reserving the first segment.

3. The method of claim 2, wherein reserving the second segment comprises reserving the second segment while moving along the initial segment.

4. The method of claim 3, wherein reserving the second segment while moving along the initial segment comprises reserving the second segment after completing a predetermined portion of the first segment.

5. The method of claim 3, wherein reserving the second segment while moving away from the first point along the initial segment comprises:

determining that less than a predetermined minimum threshold of the initial segment remains to be completed; and

in response to determining that less than the predetermined minimum threshold remains to be completed, reserving the second segment.

6. The method of claim 1, wherein at least one of reserving the initial segment and reserving the additional segments comprises:

transmitting a reservation request identifying a requested segment to a management module;

receiving a reservation response indicating the requested segment has been reserved for the mobile drive unit; and

moving along the requested segment in response to receiving the reservation response indicating that the requested segment has been reserved for the mobile drive unit.

7. The method of claim 6, wherein transmitting a reservation request comprises transmitting the reservation request and delaying movement along the requested segment until receiving a reservation response indicating that the requested segment has been reserved for the mobile drive unit.

8. The method of claim 6, wherein transmitting a reservation request comprises:

transmitting the reservation request;

receiving a reservation response indicating that the request segment has not been reserved for the mobile drive unit;

waiting a predetermined amount of time without moving along the requested segment;

transmitting a second reservation request identifying the requested segment;

receiving a reservation response indicating that the requested segment has been reserved for the mobile drive unit; and

moving along the requested segment in response to receiving the reservation request indicating that the requested segment has been reserved for the mobile drive unit.

9. The method of claim 6, wherein transmitting a reservation request comprises:

transmitting one or more reservation requests identifying a requested segment;

receiving, in response to each reservation request, a reservation response indicating that the requested segment has not been reserved for the mobile drive unit; and

in response to receiving a predetermined number of reservation response indicating that the requested segment has not been reserved for the mobile drive unit, requesting a second path to the second point.

10. The method of claim 9, wherein the second path comprises a path between a current location of the mobile drive unit and the second point.

11. The method of claim 6, wherein transmitting a reservation request comprises:

transmitting a reservation request identifying a requested segment;

waiting a predetermined amount of time for a reservation request indicating that the requested segment has been reserved for the mobile drive unit;

determining whether the predetermined amount of time has expired;

in response to determining the predetermined amount of time has expired, requesting a second path to the second point.

12. The method of claim 11, wherein the second path comprises a path between a current location of the mobile drive unit and the second point.

13. The method of claim 1, wherein transmitting a reservation request comprises wirelessly transmitting information identifying the second point to a management module.

14. The method of claim 1, wherein the first point comprises a current location of an inventory pod and wherein the second point comprises a destination for the inventory pod, and wherein moving along the first segment comprises:

docking with the inventory pod; and

moving the inventory pod along the first segment after docking with the inventory pod.

15. The method of claim 14, wherein the one or more additional segments include a final segment, and further comprising:

moving the inventory pod along the final segment to the second point;

undocking from the inventory pod substantially near to the second point; and

moving away from the inventory pod.

16. A mobile drive unit operable to:

receive a route response identifying a path between a first point and a second point, wherein;

the path comprises at least an initial segment and one or more additional segments;

the initial segment includes a portion of the path adjacent to the first point; and

at least one of the additional segments includes a portion of the path adjacent to the second point;

store the path;

reserve the initial segment of the path;

move away from the first point along the initial segment;

after initiating movement along the initial segment, reserve each of the additional segments of the path; and

move toward the second point along each of the additional segments while that segment is reserved.

17. A system for moving a mobile drive unit within a workspace, comprising;

means for receiving a path, wherein;

the path comprises at least an initial segment and one or more additional segments;

the initial segment includes a portion of the path adjacent to a first point; and

at least one of the additional segments includes a portion of the path adjacent to the second point;

means for storing the path;

means for reserving the initial segment of the path;

means for moving away from the first point along the initial segment;

means for reserving the each of the additional segments of the path after initiating movement along the initial segment; and

means for moving toward the second point along each of the additional segments while that segment is reserved.