System and method for maneuvering a mobile drive unit

• US 8,649,899 B2
• Filed: 06/19/2006
• Issued: 02/11/2014
• Est. Priority Date: 06/19/2006
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Wurman, Peter R., D'Andrea, Raffaello, Barbehenn, Michael T., Hoffman, Andrew E., Koehler, David C., Mountz, Michael C.
• Primary Examiner(s): Hess, Daniel
• Application Number:
  US11/425,076
• Publication Number:
  US 20070290040A1
• Time in Patent Office: 2,794 Days
• Field of Search: 235/375, 235/385, 705/22, 705/28, 180/21, 180/23, 700/24, 700/26
• US Class Current: 700/216
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

Claims

1. A method of rotating an inventory holder, comprising:

moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction, wherein the rotation area comprises a portion of a workspace designated for rotation of inventory holders;

moving, by a mobile drive unit, the inventory holder into the rotation area along a first arced segment of a curved path with an orientation of the first face facing the direction of movement of the inventory holder;

executing a rotation maneuver within the rotation area, wherein executing the rotation maneuver comprises selectively rotating, by the mobile drive unit, the inventory holder while the mobile drive unit is on the curved path; and

moving, by the mobile drive unit, the inventory holder out of the rotation area along a second arced segment of the curved path with a second face facing the direction of movement of the inventory holder as a result of executing the rotation maneuver.

2. The method of claim 1, further comprising selecting a rotation maneuver from a group comprising a ninety-degree rotation, a one-hundred-and-eighty-degree rotation, and a two-hundred-and-seventy-degree rotation, and wherein executing a rotation maneuver comprises executing the selected rotation maneuver.

3. The method of claim 1, wherein executing a rotation maneuver comprises:

receiving information identifying a face to be presented;

selecting a rotation maneuver based on the received information; and

executing the. selected rotation maneuver within the rotation area.

4. The method of claim 3, further comprising, after executing the rotation maneuver, presenting a particular face of the inventory holder to an inventory station where inventory items are processed.

5. The method of claim 1, wherein executing a rotation maneuver comprises:

executing a rotation maneuver in which the mobile drive unit rotates without the inventory holder rotating; and

executing a rotation maneuver in which both the mobile drive unit and the inventory holder rotate.

6. The method of claim 1, further comprising:

moving a mobile drive unit to the inventory holder; and

docking the mobile drive unit with the inventory holder, and wherein moving the inventory holder towards the rotation area along the straight segment comprises transporting the inventory holder with the mobile drive unit after the mobile drive unit docks with the inventory holder.

7. The method of claim 6, wherein docking the mobile drive unit with the inventory holder comprises:

docking the mobile drive unit with the inventory holder;

moving the mobile drive unit and the inventory holder in a first preliminary direction;

rotating the mobile drive unit without rotating the inventory holder; and

moving the mobile drive unit and the inventory holder in a second preliminary direction.

8. The method of claim 1, further comprising:

transmitting a reservation request from the mobile drive unit to a management module identifying a portion of the workspace;

receiving, at the management module, the reservation request; and

in response to receiving the reservation request at the management module, designating the identified portion. of the workspace as a rotation area.

9. The method of claim 8, wherein:

the workspace comprises a grid-based workspace that includes a plurality of cells; and

transmitting the reservation request comprises transmitting a reservation request from the mobile drive unit to the management module identifying a plurality of cells in the workspace.

10. The method of claim 8, further comprising determining based on a location of the mobile drive unit to terminate the designation of the identified portion as a rotation area.

11. The method of claim 8, further comprising reserving the identified portion of the workspace for the mobile drive unit, in response to receiving the reservation request at the management module.

12. The method of claim 11, further comprising deciding, based on a location of the mobile drive unit, to terminate a reservation of the identified portion of the workspace.

13. A system for transporting inventory items, comprising:

a plurality of inventory holders operable to store inventory items;

a workspace comprising a plurality of workspace cells and one or more rotation areas;

a plurality of mobile drive units, each mobile drive unit operable to transport an inventory holder without rotating the inventory holder while moving through one or more workspace cells and to selectively rotate the inventory holder while moving through a reserved one of the rotation areas, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit.

14. The system of claim 13, wherein each mobile drive unit is operable to selectively rotate the inventory holder by at least one of:

executing a rotation maneuver in which the mobile drive unit rotates without the inventory holder rotating; and

executing a rotation maneuver in which both the mobile drive unit and the inventory holder rotate.

15. The system of claim 14, further comprising a management module operable to transmit a task assignment to one of the mobile drive units, the task assignment identifying a location associated with an inventory holder, and wherein each mobile drive unit is further operable to:

receive the task assignment from the management module;

move to the location identified by the task assignment; and

dock with an inventory holder at the identified location.

16. The system of claim 15, wherein the mobile drive units are each operable to transport an inventory holder without rotating the inventory holder while moving through one or more workspace cells by:

docking with the inventory holder;

moving the inventory holder in a first direction;

rotating the mobile drive unit without rotating the inventory holder; and

moving the inventory holder in a second direction.

17. The system of claim 13, wherein each mobile drive unit is further operable to receive information identifying a face to be presented and wherein each mobile drive unit is operable to selectively rotate the inventory holder by:

selecting a rotation maneuver based on the received information; and

executing the rotation maneuver while moving through one of the rotation areas.

18. The system of claim 17, further comprising one or more inventory stations where inventory items are processed, and wherein each mobile drive unit is operable to present a particular face of the inventory holder to the inventory station after executing a selected rotation maneuver.

19. The system of claim 13, wherein each mobile drive unit is operable to selectively rotate the inventory holder while moving through one of the rotation areas by:

moving the inventory holder towards the rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction;

moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face facing the direction of movement of the inventory holder;

executing a selected rotation maneuver within the rotation area; and

moving the inventory holder out of the rotation area along a second arced segment with a second face facing the direction of movement of the inventory holder as a result of executing the rotation maneuver.

20. The system of claim 13, wherein each mobile drive unit is operable to execute the selected rotation maneuver within the rotation area by:

selecting a rotation maneuver from a group comprising a ninety-degree rotation, a one-hundred-and-eighty-degree rotation, and a two-hundred-and-seventy-degree rotation; and

executing the selected rotation maneuver.

21. The system of claim 13, wherein at least one mobile drive unit is further operable to transmit a reservation request from that mobile drive unit to a management module identifying a portion of the workspace, and further comprising the management module operable to:

receive the reservation request; and

in response to receiving the reservation request, designate the identified portion of the workspace as a rotation area.

22. The system of claim 21, wherein the workspace comprises a grid-based workspace that includes a plurality of cells, and wherein the transmitting mobile drive unit is operable to transmit the reservation request by transmitting a reservation request from the transmitting mobile drive unit to the management module identifying a plurality of cells in the workspace.

23. The system of claim 21, wherein the management module is further operable to determine based on a location of the transmitting mobile drive unit to terminate the designation of the identified portion as a rotation area.

24. The system of claim 21, wherein the management module is further operable to reserve the identified portion of the workspace for the transmitting mobile drive unit, in response to receiving the reservation request at the management module.

25. The system of claim 24, wherein the management module is further operable to decide, based on a location of the transmitting mobile drive unit, to terminate a reservation of the identified portion of the workspace.

26. The system of claim 13, wherein the mobile drive unit comprises:

a first actuator that selectively rotates the inventory holder while the mobile drive unit moves through one or more workspace cells; and

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different.

27. The system of claim 13, wherein the mobile drive unit comprises an actuator that applies torque to the inventory holder about an axis of rotation of the inventory holder.

28. A mobile drive unit for transporting an inventory holder, operable to:

move an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction, wherein the rotation area comprises a portion of a workspace designated for rotation of inventory holders;

move the inventory holder into the rotation area along a first arced segment of a curved path with an orientation of the first face facing the direction of movement of the mobile drive unit;

execute a rotation maneuver within the rotation area, wherein executing the rotation maneuver comprises selectively rotating, by the mobile drive unit, the inventory holder while the mobile drive unit is on the curved path; and

move the inventory holder out of the rotation area along a second arced segment of a curved path with a. second face facing the direction of movement of the mobile drive unit as a result of executing the rotation maneuver.

29. A system for transporting inventory items, comprising:

means for moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction, wherein the rotation area comprises a portion of a workspace designated for rotation of inventory holders;

means for moving, by a mobile drive unit, the inventory holder into the rotation area along a first arced segment of a curved path with an orientation of the first face facing the direction of movement of the mobile drive unit;

means for executing a rotation maneuver within the rotation area, wherein the means for executing the rotation maneuver comprises means for selectively rotating, by the mobile drive unit, the inventory holder while the mobile drive unit is on the curved path; and

means for moving, by the mobile drive unit, the inventory holder out of the rotation area along a second arced segment of the curved path with a second face facing the direction of movement of the mobile drive unit as a result of executing the rotation maneuver.

30. A method for moving inventory items, comprising:

docking a mobile drive unit to an inventory holder;

moving the mobile drive unit and the inventory holder in a first direction;

while the mobile drive unit is docked with the inventory holder, disengaging a rotation lock, wherein the rotation lock prevents the mobile drive unit from rotating independently from the inventory holder when engaged;

after disengaging the rotation lock and while still docked with the inventory holder, rotating the mobile drive unit without rotating the inventory holder using an actuator that applies torque to cause the inventory holder to continue to face the first direction while the mobile drive unit rotates to a second direction beneath the inventory holder; and

moving the mobile drive unit and the inventory holder in the second direction.

31. The method of claim 30, further comprising:

engaging the rotation lock, and

after engaging the rotation lock, rotating the inventory holder by rotating the mobile drive unit.

32. The method of claim 30, wherein docking the mobile drive unit with the inventory holder comprises:

moving the mobile drive unit to a location of the inventory holder; and

docking the mobile drive unit with the inventory holder at the location of the inventory holder, and further comprising;

moving the mobile drive unit and the inventory holder to a destination;

undocking the mobile drive unit from the inventory holder at the destination; and

moving the mobile drive unit away from the inventory holder.

33. The method of claim 32, wherein docking the mobile drive unit with the inventory holder comprises:

positioning the mobile drive unit beneath the inventory holder; and

raising a docking head of the mobile drive unit towards the inventory holder.

34. A mobile drive unit for moving inventory items, the mobile drive unit comprising a rotation lock operable to prevent the mobile drive unit from rotating independently from the inventory holder when engaged the mobile drive unit operable to:

dock with an inventory holder;

move the inventory holder in a first direction;

while docked with the inventory holder, disengage the rotation lock;

after disengaging the rotation lock and while still docked with the inventory holder, rotate the mobile drive without rotating the inventory holder using an actuator that applies torque to cause the inventory bolder to continue to face the first direction while the mobile drive unit rotates to a second direction beneath the inventory holder; and

move the inventory holder in the second direction.

35. The mobile drive unit of claim 34, further operable to;

engage the rotation lock; and

after engaging the rotation lock, rotate the inventory holder by rotating the mobile drive unit.

36. The mobile drive unit of claim 34, wherein the mobile drive unit is operable to dock with the inventory holder by:

moving the mobile drive unit to a location of the inventory holder; and

docking with the inventory holder at the location of the inventory holder, and the mobile drive unit is further operable to;

move the inventory holder to a destination;

undock from the inventory holder at the destination; and

move away from the inventory holder.

37. The mobile drive unit of claim 36, wherein the mobile drive unit further comprises a docking head operable to couple to the inventory holder, and wherein the mobile drive unit is operable to dock with the inventory holder by:

positioning the docking head beneath the inventory holder; and

raising the docking head towards the inventory holder.

38. A mobile drive unit for transporting an inventory holder, the mobile drive unit operable to:

dock with an inventory holder;

move the inventory holder towards a destination;

while docked with the inventory holder, selectively rotate the inventory holder in response to a determination that the mobile drive unit is moving through a reserved rotation area, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit; and

continue moving the inventory holder towards the destination.

39. The mobile drive unit of claim 38, the mobile drive unit further operable to;

receive a route to the destination;

reserve a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

40. The mobile drive unit of claim 38, wherein docking with the inventory holder comprises;

moving the mobile drive unit to a location of the inventory holder;

docking the mobile drive unit with the inventory holder at the location, and the mobile drive unit is further operable to;

undock the mobile drive unit from the inventory holder at the destination; and

move away from the inventory holder.

41. The mobile drive unit of claim 38, wherein the mobile drive unit is further operable to prevent collisions with other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area.

42. The mobile drive unit of claim 38, the mobile drive unit further operable to:

receive a request a management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

43. The mobile drive unit of claim 38, wherein docking with the inventory holder comprises:

positioning the mobile drive unit beneath the inventory holder; and

raising a docking head of the mobile drive unit towards the inventory holder.

44. The mobile drive unit of claim 38, the mobile drive unit comprising a docking head;

and

wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of the mobile drive unit.

45. The mobile drive unit of claim 38, wherein the mobile drive unit comprises:

a first actuator that selectively rotates the inventory holder while the mobile drive unit moves through one or more workspace cells; and

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different.

46. The mobile drive unit of claim 38, wherein the mobile drive unit comprises an actuator that applies torque to the inventory holder about an axis of rotation of the inventory holder.

47. A method for transporting inventory holders, comprising:

docking with an inventory holder;

moving the inventory holder towards a destination;

while docked with the inventory holder, selectively rotating the inventory holder while moving through a reserved rotation area, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit; and

continuing to move the inventory holder towards the destination,

48. The method of claim 47, further comprising:

receiving a route to the destination;

reserving a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

49. The method of claim 47, wherein docking with the inventory holder comprises:

moving a mobile drive unit to a location of the inventory holder;

docking the mobile drive unit with the inventory holder at the location, and the method further comprises;

undocking the mobile drive unit from the inventory holder at the destination; and

moving away from the inventory holder.

50. The method of claim 47, further comprising;

preventing collisions of the inventory holder with mobile drive units selectively rotating the inventory holder while moving through a reserved rotation area.

51. The method of claim 47, further comprising:

receiving a request from a management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

52. The method of claim 47, wherein docking with the inventory holder comprises:

positioning a mobile drive unit beneath the inventory holder; and

raising a docking head of the mobile drive unit towards the inventory holder.

53. The method of claim 47, wherein selectively rotating the inventory holder while moving comprises independently rotating a docking head of a mobile drive unit.

54. The method of claim 47, wherein the mobile drive unit comprises:

a first actuator that selectively rotates the inventory holder while the mobile drive unit moves through one or more workspace cells; and

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different.

55. The method of claim 47, wherein the mobile drive unit comprises an actuator that applies torque to the inventory holder about an axis of rotation of the inventory holder.

56. A system for transporting inventory holders, comprising:

a plurality of inventory holders; and

a plurality of mobile drive units, each of the mobile drive units operable to;

dock with an inventory holder;

move the inventory holder towards a destination;

while docked with the inventory holder, selectively rotate the inventory holder while moving through a reserved rotation area, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit; and

continue moving the inventory holder towards the destination.

57. The system of claim 56, each of the mobile drive units further operable to:

receive a route to the destination;

reserve a rotation area adjacent to the route to the destination; and

wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area.

58. The system of claim 56, wherein docking with the inventory holder comprises:

moving to a location of the inventory holder;

docking with the inventory holder at the location, and each of the mobile drive units is further operable to;

undock the mobile drive unit from the inventory holder at the destination; and

move away from the inventory holder.

59. The system of claim 56, wherein each of the mobile drive units is further operable to prevent collisions with the other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area.

60. The system of claim 56, each of the mobile drive units further operable to:

receive a request from a management module to present a selected face of the inventory holder to an inventory station at the destination; and

wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station.

61. The system of claim 56, each of the mobile drive units comprising a docking head;

and

wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of a mobile drive unit.

62. The system of claim 56, wherein the mobile drive unit comprises:

a first actuator that selectively rotates the inventory holder while the mobile drive unit moves through one or more workspace cells; and

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different.

63. The system of claim 56, wherein the mobile drive unit comprises and actuator that applies torque to the inventory holder about an axis of rotation of the inventory holder.

64. A mobile drive unit for transporting an inventory holder, the mobile drive unit operable to:

dock with the inventory holder;

move the inventory holder towards a destination;

execute a first rotation maneuver while docked with the inventory holder and in response to a determination that the mobile drive unit is moving through a reserved rotation area, the first rotation maneuver comprising selectively rotating the inventory holder around a first vertical axis passing substantially through a first center of gravity of the inventory holder, wherein the inventory holder selectively rotates independently of movement of the mobile drive unit; and

execute a second rotation maneuver while docked with the inventory holder in which the mobile drive unit rotates the inventory holder about the first vertical axis by rotating the mobile drive unit about a second vertical axis passing substantially through a second center of gravity of the mobile drive unit, wherein the first vertical axis is substantially aligned with the second vertical axis.

65. A mobile drive unit for transporting an inventory holder, the mobile drive unit comprising:

a first actuator that selectively rotates the inventory holder in response to a determination that the mobile drive unit is moving through one or more reserved rotation areas; and

a second actuator that moves the mobile drive unit, wherein the first and second actuators are different.