U.S. patent application number 13/470591 was filed with the patent office on 2013-11-14 for system and method for maneuvering a mobile drive unit.
This patent application is currently assigned to Kiva Systems, Inc.. The applicant listed for this patent is Raffaello D'Andrea. Invention is credited to Raffaello D'Andrea.
Application Number | 20130302132 13/470591 |
Document ID | / |
Family ID | 49548727 |
Filed Date | 2013-11-14 |
United States Patent
Application |
20130302132 |
Kind Code |
A1 |
D'Andrea; Raffaello |
November 14, 2013 |
System and Method for Maneuvering a Mobile Drive Unit
Abstract
A mobile drive unit is provided for transporting an inventory
holder. The mobile drive unit is operable to dock with the
inventory holder, move the inventory holder in a first
translational direction, and while docked with the inventory
holder, selectively rotate the inventory holder while continuing to
move in the first translational direction.
Inventors: |
D'Andrea; Raffaello;
(Zurich, CH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
D'Andrea; Raffaello |
Zurich |
|
CH |
|
|
Assignee: |
Kiva Systems, Inc.
North Reading
MA
|
Family ID: |
49548727 |
Appl. No.: |
13/470591 |
Filed: |
May 14, 2012 |
Current U.S.
Class: |
414/807 ;
414/279 |
Current CPC
Class: |
G06Q 10/08 20130101;
G05D 1/0274 20130101; B65G 1/1373 20130101; B66F 9/063 20130101;
G06Q 50/28 20130101; G05D 1/0297 20130101; H04W 4/80 20180201; G05D
2201/0216 20130101; G06Q 10/087 20130101; B66F 9/075 20130101; B66F
9/065 20130101 |
Class at
Publication: |
414/807 ;
414/279 |
International
Class: |
B65G 65/02 20060101
B65G065/02 |
Claims
1. A mobile drive unit for transporting an inventory holder, the
mobile drive unit operable to: dock with the inventory holder; move
the inventory holder in a first translational direction; while
docked with the inventory holder, selectively rotate the inventory
holder while continuing to move in the first translational
direction.
2. The mobile drive unit of claim 1, the mobile drive unit further
operable to rotate in a first rotational direction while
selectively rotating the inventory holder in a second rotational
direction.
3. The mobile drive unit of claim 2, the mobile drive unit further
operable to rotate in the first rotational direction by an amount
calculated to cause the mobile drive unit to change from the first
translational direction to a second translational direction.
4. The mobile drive unit of claim 2, wherein the first and second
rotational directions are different.
5. The mobile drive unit of claim 1, the mobile drive unit further
operable to rotate in a first rotational direction at a first rate
of movement while selectively rotating the inventory holder in a
second rotational direction at a second rate of movement, wherein
the first rate of movement and the second rate of movement are
different.
6. The mobile drive unit of claim 1, wherein the inventory holder
comprises a first face that is orthogonal to the first
translational direction and the mobile drive unit is further
operable to: while continuing translational movement, rotate to a
second translational direction while the first face of the
inventory holder remains orthogonal to the first translational
direction.
7. The mobile drive unit of claim 1, the mobile drive unit further
operable to reserve a space for rotation along a path of the mobile
drive unit, wherein the space for rotation is reserved based on a
physical dimension of the inventory holder.
8. The mobile drive unit of claim 7, the mobile drive unit further
operable to selectively rotate the inventory holder while
continuing to move in the first translational direction while
moving through the reserved space for rotation.
9. The mobile drive unit of claim 1, the mobile drive unit further
operable to: receive a request to present a selected face of the
inventory holder to an inventory station; and while moving,
selectively rotate the inventory holder by an amount calculated to
present the selected face to the inventory station.
10. The mobile drive unit of claim 1, the mobile drive unit further
operable to: move to a location of the inventory holder; dock with
the inventory holder at the location; move the inventory holder to
a destination; undock with the inventory holder at the destination;
and move away from the inventory holder.
11. The mobile drive unit of claim 1, the mobile drive unit
comprising a docking head; and the mobile drive unit is further
operable to selectively rotate the inventory holder while moving in
the first translational direction by independently rotating the
docking head, the docking head coupling the inventory holder to the
mobile drive unit.
12. A method for maneuvering a mobile drive unit, comprising:
docking a mobile drive unit with an inventory holder; moving the
inventory holder in a first translational direction; while the
mobile drive unit is docked with the inventory holder, selectively
rotating the inventory holder while continuing to move in the first
translational direction.
13. The method of claim 12, further comprising rotating the mobile
drive unit in a first rotational direction while selectively
rotating the inventory holder in a second rotational direction.
14. The method of claim 13, further comprising rotating in the
first rotational direction by an amount calculated to cause the
mobile drive unit to change from the first translational direction
to a second translational direction.
15. The method of claim 13, wherein the first and second rotational
directions are different.
16. The method of claim 12, further comprising rotating the mobile
drive unit in a first rotational direction at a first rate of
movement while selectively rotating the inventory holder in a
second rotational direction at a second rate of movement, wherein
the first rate of movement and the second rate of movement are
different.
17. The method of claim 12, wherein the inventory holder comprises
a first face that is orthogonal to the first translational
direction, and the method further comprises: while continuing
translational movement, rotating the mobile drive unit to a second
translational direction while the first face of the inventory
holder remains orthogonal to the first translational direction.
18. The method of claim 12, further comprising reserving a space
for rotation along a path of the mobile drive unit, wherein the
space for rotation is reserved based on the physical dimension of
the inventory holder.
19. The method of claim 18, further comprising selectively rotating
the inventory holder while continuing to move in the first
translational direction while moving through the reserved space for
rotation.
20. The method of claim 12, further comprising receiving a request
to present a selected face of the inventory holder to an inventory
station; and while moving, selectively rotating the inventory
holder by an amount calculated to present the selected face to the
inventory station.
21. The method of claim 12, further comprising: moving the mobile
drive unit to a location of the inventory holder; docking the
mobile drive unit with the inventory holder at the location; moving
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.
22. The method of claim 12, the mobile drive unit comprising a
docking head and the method further comprises selectively rotating
the inventory holder while moving in the first translational
direction by independently rotating the docking head, the docking
head coupling the inventory holder to the mobile drive unit.
Description
TECHNICAL FIELD OF THE INVENTION
[0001] The present disclosure relates generally to mobile drive
units, and more specifically to a system and method for maneuvering
a mobile drive unit.
BACKGROUND OF THE INVENTION
[0002] Modern inventory systems, such as those in mail-order
warehouses, supply chain distribution centers, airport luggage
systems, and custom-order manufacturing facilities, face
significant challenges in responding to requests for inventory
items. As inventory systems grow, the challenges of simultaneously
completing a large number of packing, storing, and other
inventory-related tasks becomes non-trivial. In inventory systems
tasked with responding to large numbers of diverse inventory
requests, inefficient utilization of system resources, including
space, equipment, and manpower, can result in lower throughput,
unacceptably long response times, an ever-increasing backlog of
unfinished tasks, and, in general, poor system performance.
Additionally, expanding or reducing the size or capabilities of
many inventory systems requires significant changes to existing
infrastructure and equipment. As a result, the cost of incremental
changes to capacity or functionality may be prohibitively expensive
limiting the ability of the system to accommodate fluctuations in
system throughput.
SUMMARY OF THE INVENTION
[0003] In accordance with the present invention, the disadvantages
and problems associated with inventory storage have been
substantially reduced or eliminated. In particular, a mobile
inventory system is provided that includes one or more mobile drive
units capable of selectively rotating inventory holders while
moving any of one or more of those inventory holders between
locations within a physical space associated with the mobile
inventory system.
[0004] According to an example embodiment of the present invention,
a mobile drive unit is provided for transporting an inventory
holder. The mobile drive unit is operable to dock with the
inventory holder, move the inventory holder in a first
translational direction, and while docked with the inventory
holder, selectively rotate the inventory holder while continuing to
move in the first translational direction.
[0005] According to an example embodiment of the present invention,
a method for maneuvering a mobile drive unit includes docking a
mobile drive unit with an inventory holder. The inventory holder is
moved in a first translational direction. While the mobile drive
unit is docked with the inventory holder, the inventory holder is
selectively rotated while continuing to move in the first
translational direction.
[0006] Technical advantages of certain embodiments of the present
invention include the ability for a mobile drive unit to
selectively rotate an inventory holder while moving, which may
allow the mobile drive unit to achieve certain operational
efficiencies within a workspace. For example, selectively rotating
the inventory holder while moving may allow the mobile drive unit
to maintain an orientation of the inventory holder regardless of
the mobile drive unit's translational movements. Maintaining the
orientation of the inventory holder may, for instance, reduce the
space required for the mobile drive unit to complete changes in
translational movements. As another example, selectively rotating
the inventory holder while moving may allow the mobile drive unit
to present a selected face of the inventory holder at an inventory
station, which may facilitate the ability of the inventory station
to receive inventory items from the inventory holder. Another
technical advantage may include the flexibility for a mobile drive
unit to make a rotation maneuver at any appropriate point along a
path to a destination, which may reduce and/or eliminate any need
to pre-designate particular portions of a workspace as rotation
areas. By eliminating any requirement to rotate in pre-designated
rotation areas, path planning activities may be simplified and
greater operational efficiencies achieved. Moreover, rotating
inventory holders while moving may reduce and/or eliminate the need
for mobile drive units to stop and/or undock from inventory holders
while in transit.
[0007] Other technical advantages of the present invention will be
readily apparent to one skilled in the art from the following
figures, descriptions, and claims. Moreover, while specific
advantages have been enumerated above, various embodiments may
include all, some, or none of the enumerated advantages.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] For a more complete understanding of the present invention
and its advantages, reference is now made to the following
description, taken in conjunction with the accompanying drawings,
in which:
[0009] FIG. 1 illustrates components of an inventory system
according to a particular embodiment;
[0010] FIG. 2 illustrates in greater detail the components of an
example management module that may be utilized in particular
embodiments of the inventory system shown in FIG. 1;
[0011] FIGS. 3A and 3B illustrate in greater detail an example
mobile drive unit that may be utilized in particular embodiments of
the inventory system shown in FIG. 1;
[0012] FIG. 4 illustrates in greater detail an example inventory
holder that may be utilized in particular embodiments of the
inventory system shown in FIG. 1;
[0013] FIG. 5 illustrates an example of routing and reservation
techniques that may be utilized by the management module in
particular embodiments of the inventory system illustrated in FIG.
1;
[0014] FIG. 6 is a flowchart detailing example operation of a
particular embodiment of the management module in managing movement
of mobile drive units in the inventory system;
[0015] FIG. 7 illustrates an example embodiment of the inventory
system that is capable of planning paths for a requesting mobile
drive unit based on the mobile drive unit's current state;
[0016] FIG. 8 is a flowchart detailing example operation of a
particular embodiment of the management module in implementing the
techniques described in FIG. 7;
[0017] FIG. 9 illustrates an example embodiment of the inventory
system capable of optimizing the placement of mobile drive units
based on their assignment state;
[0018] FIG. 10 illustrates an example embodiment of the inventory
system capable of optimizing the placement of mobile drive units
based on their capability state;
[0019] FIG. 11 is a flowchart detailing example operation of a
particular embodiment of the management module in implementing the
techniques described in FIG. 9;
[0020] FIGS. 12A-12E illustrate an example of coordinated movement
that may be executed by particular embodiments of the mobile drive
unit;
[0021] FIG. 13 is a flowchart detailing example operation of the
management module in facilitating the coordinated movement
illustrated in FIGS. 12A-12E;
[0022] FIG. 14 is a flowchart detailing example operation of a
mobile drive unit in implementing the coordinated movement
illustrated in FIGS. 12A-12E;
[0023] FIG. 15 illustrates an example embodiment of the inventory
system that includes conveyance equipment capable of transporting
mobile drive units between separate portions of the workspace;
[0024] FIG. 16 illustrates techniques that the inventory system may
use in assigning tasks based on the availability and
characteristics of conveyance equipment;
[0025] FIG. 17 is a flowchart illustrating the operation of a
particular embodiment of resource scheduling module in selecting
paths for mobile drive units in a workspace that utilizes drive
lifts;
[0026] FIG. 18 illustrates an example embodiment of the inventory
system that includes one or more rotation areas for the rotation of
inventory holders;
[0027] FIGS. 19A-19E illustrate example operation of a particular
embodiment of mobile drive unit in utilizing a rotation area;
[0028] FIGS. 20A-20F illustrate example operation of a particular
embodiment of mobile drive unit while transporting inventory
holders outside of the rotation areas illustrated in FIGS. 18 and
19A-19E;
[0029] FIGS. 21A, 21B, 21C, and 21D illustrate example operations
of particular embodiments of a mobile drive unit in rotating an
inventory holder; and
[0030] FIG. 22 is a flowchart illustrating another example
embodiment of operation of a of a particular embodiment of mobile
drive unit in rotating an inventory holder.
DETAILED DESCRIPTION OF THE INVENTION
[0031] FIG. 1 illustrates the contents of an inventory system 10.
Inventory system 10 includes a management module 15, one or more
mobile drive units 20, one or more inventory holders 30, and one or
more inventory stations 50. Mobile drive units 20 transport
inventory holders 30 between points within a workspace 70 in
response to commands communicated by management module 15. Each
inventory holder 30 stores one or more types of inventory items. As
a result, inventory system 10 is capable of moving inventory items
between locations within workspace 70 to facilitate the entry,
processing, and/or removal of inventory items from inventory system
10 and the completion of other tasks involving inventory items.
[0032] Management module 15 assigns tasks to appropriate components
of inventory system 10 and coordinates operation of the various
components in completing the tasks. These tasks may relate not only
to the movement and processing of inventory items, but also to the
management and maintenance of the components of inventory system
10. For example, management module 15 may assign portions of
workspace 70 as parking spaces for mobile drive units 20, the
scheduled recharge or replacement of mobile drive unit batteries,
the storage of empty inventory holders 30, or any other operations
associated with the functionality supported by inventory system 10
and its various components. Management module 15 may select
components of inventory system 10 to perform these tasks and
communicate appropriate commands and/or data to the selected
components to facilitate completion of these operations. Although
shown in FIG. 1 as a single, discrete component, management module
15 may represent multiple components and may represent or include
portions of mobile drive units 20 or other elements of inventory
system 10. As a result, any or all of the interaction between a
particular mobile drive unit 20 and management module 15 that is
described below may, in particular embodiments, represent
peer-to-peer communication between that mobile drive unit 20 and
one or more other mobile drive units 20. The contents and operation
of an example embodiment of management module 15 are discussed
further below with respect to FIG. 2.
[0033] Mobile drive units 20 move inventory holders 30 between
locations within workspace 70. Mobile drive units 20 may represent
any devices or components appropriate for use in inventory system
10 based on the characteristics and configuration of inventory
holders 30 and/or other elements of inventory system 10. In a
particular embodiment of inventory system 10, mobile drive units 20
represent independent, self-powered devices configured to freely
move about workspace 70. In alternative embodiments, mobile drive
units 20 represent elements of a tracked inventory system 10
configured to move inventory holder 30 along tracks, rails, cables,
crane system, or other guidance or support elements traversing
workspace 70. In such an embodiment, mobile drive units 20 may
receive power and/or support through a connection to the guidance
elements, such as a powered rail. Additionally, in particular
embodiments of inventory system 10 mobile drive units 20 may be
configured to utilize alternative conveyance equipment to move
within workspace 70 and/or between separate portions of workspace
70. The contents and operation of an example embodiment of a mobile
drive unit 20 are discussed further below with respect to FIGS. 3A
and 3B.
[0034] Additionally, mobile drive units 20 may be capable of
communicating with management module 15 to receive information
identifying selected inventory holders 30, transmit the locations
of mobile drive units 20, or exchange any other suitable
information to be used by management module 15 or mobile drive
units 20 during operation. Mobile drive units 20 may communicate
with management module 15 wirelessly, using wired connections
between mobile drive units 20 and management module 15, and/or in
any other appropriate manner. As one example, particular
embodiments of mobile drive unit 20 may communicate with management
module 15 and/or with one another using 802.11, Bluetooth, or
Infrared Data Association (IrDA) standards, or any other
appropriate wireless communication protocol. As another example, in
a tracked inventory system 10, tracks or other guidance elements
upon which mobile drive units 20 move may be wired to facilitate
communication between mobile drive units 20 and other components of
inventory system 10. Furthermore, as noted above, management module
15 may include components of individual mobile drive units 20.
Thus, for the purposes of this description and the claims that
follow, communication between management module 15 and a particular
mobile drive unit 20 may represent communication between components
of a particular mobile drive unit 20. In general, mobile drive
units 20 may be powered, propelled, and controlled in any manner
appropriate based on the configuration and characteristics of
inventory system 10.
[0035] Inventory holders 30 store inventory items. In a particular
embodiment, inventory holders 30 include multiple storage bins with
each storage bin capable of holding one or more types of inventory
items. Inventory holders 30 are capable of being carried, rolled,
and/or otherwise moved by mobile drive units 20. In particular
embodiments, inventory holder 30 may provide additional propulsion
to supplement that provided by mobile drive unit 20 when moving
inventory holder 30.
[0036] Additionally, each inventory holder 30 may include a
plurality of faces, and each bin may be accessible through one or
more faces of the inventory holder 30. For example, in a particular
embodiment, inventory holder 30 includes four faces. In such an
embodiment, bins located at a corner of two faces may be accessible
through either of those two faces, while each of the other bins is
accessible through an opening in one of the four faces. Mobile
drive unit 20 may be configured to rotate inventory holder 30 at
appropriate times to present a particular face and the bins
associated with that face to an operator or other components of
inventory system 10. The contents and operation of an example
embodiment of an inventory holder 30 are discussed further below
with respect to FIG. 4.
[0037] Inventory items represent any objects suitable for storage,
retrieval, and/or processing in an automated inventory system 10.
For the purposes of this description, "inventory items" may
represent any one or more objects of a particular type that are
stored in inventory system 10. Thus, a particular inventory holder
30 is currently "storing" a particular inventory item if the
inventory holder 30 currently holds one or more units of that type.
As one example, inventory system 10 may represent a mail order
warehouse facility, and inventory items may represent merchandise
stored in the warehouse facility. During operation, mobile drive
units 20 may retrieve inventory holders 30 containing one or more
inventory items requested in an order to be packed for delivery to
a customer or inventory holders 30 carrying pallets containing
aggregated collections of inventory items for shipment. Moreover,
in particular embodiments of inventory system 10, boxes containing
completed orders may themselves represent inventory items.
[0038] As another example, inventory system 10 may represent a
merchandise-return facility. In such an embodiment, inventory items
may represent merchandise returned by customers. Units of these
inventory items may be stored in inventory holders 30 when received
at the facility. At appropriate times, a large number of units may
be removed from a particular inventory holder 30 and packed for
shipment back to a warehouse or other facility. For example,
individual units of a particular inventory item may be received and
stored in inventory holders 30 until a threshold number of units of
that inventory item have been received. Mobile drive unit 20 may be
tasked with retrieving an inventory holder 30 in this state. A
pallet may then be packed with inventory items removed from that
inventory holder 30 and shipped to another facility, such as a
mail-order warehouse.
[0039] As another example, inventory system 10 may represent an
airport luggage facility. In such an embodiment, inventory items
may represent pieces of luggage stored in the luggage facility.
Mobile drive units 20 may retrieve inventory holders 30 storing
luggage arriving and/or departing on particular flights or luggage
destined for particular types of processing, such as x-ray or
manual searching.
[0040] As yet another example, inventory system 10 may represent a
manufacturing facility, and inventory items may represent
individual components of a manufacturing kit. More specifically,
inventory items may represent components intended for inclusion in
an assembled product, such as electronic components for a
customized computer system. In such an embodiment, inventory system
10 may retrieve particular components identified by a specification
associated with an order for the product so that a customized
version of the product can be built. Although a number of example
embodiments are described, inventory system 10 may, in general,
represent any suitable facility or system for storing and
processing inventory items, and inventory items may represent
objects of any type suitable for storage, retrieval, and/or
processing in a particular inventory system 10.
[0041] In particular embodiments, inventory system 10 may also
include one or more inventory stations 50. Inventory stations 50
represent locations designated for the completion of particular
tasks involving inventory items. Such tasks may include the removal
of inventory items from inventory holders 30, the introduction of
inventory items into inventory holders 30, the counting of
inventory items in inventory holders 30, the decomposition of
inventory items (e.g. from pallet- or case-sized groups to
individual inventory items), and/or the processing or handling of
inventory items in any other suitable manner. In particular
embodiments, inventory stations 50 may just represent the physical
locations where a particular task involving inventory items can be
completed within workspace 70. In alternative embodiments,
inventory stations 50 may represent both the physical location and
also any appropriate equipment for processing or handling inventory
items, such as scanners for monitoring the flow of inventory items
in and out of inventory system 10, communication interfaces for
communicating with management module 15, and/or any other suitable
components. Inventory stations 50 may be controlled, entirely or in
part, by human operators or may be fully automated. Moreover, the
human or automated operators of inventory stations 50 may be
capable of performing certain tasks to inventory items, such as
packing or counting inventory items, as part of the operation of
inventory system 10.
[0042] Workspace 70 represents an area associated with inventory
system 10 in which mobile drive units 20 can move and/or inventory
holders 30 can be stored. For example, workspace 70 may represent
all or part of the floor of a mail-order warehouse in which
inventory system 10 operates. Although FIG. 1 shows, for the
purposes of illustration, an embodiment of inventory system 10 in
which workspace 70 includes a fixed, predetermined, and finite
physical space, particular embodiments of inventory system 10 may
include mobile drive units 20 and inventory holders 30 that are
configured to operate within a workspace 70 that is of variable
dimensions and/or an arbitrary geometry. While FIG. 1 illustrates a
particular embodiment of inventory system 10 in which workspace 70
is entirely enclosed in a building, alternative embodiments may
utilize workspaces 70 in which some or all of the workspace 70 is
located outdoors, within a vehicle (such as a cargo ship), or
otherwise unconstrained by any fixed structure.
[0043] Moreover, in particular embodiments, workspace 70 may
include multiple portions that are physically separated from one
another, including but not limited to separate floors, rooms,
buildings, and/or portions divided in any other suitable manner.
Mobile drive units 20 may be configured to utilize alternative
conveyance equipment such as vertical or horizontal conveyors,
trucks, ferries, gondolas, escalators, and/or other appropriate
equipment suitable to convey mobile drive units 20 between separate
portions of workspace 70.
[0044] In particular embodiments, as discussed in greater detail
below with respect to FIG. 5, workspace 70 is associated with a
grid (shown in FIG. 5 as grid 12) that connects a plurality of
points within workspace 70. This grid may divide workspace 70 into
a number of portions referred to as cells 14. Cells 14 may square,
rectangular, polygonal, and/or of any other appropriate shape. In
particular embodiments, workspace 70 may be portioned so that cells
14 have dimensions slightly larger than inventory holders 30. This
may allow inventory system 10 to utilize a workspace 70 of minimal
size without collisions occurring between inventory holders 30
being transported through neighboring cells 14. In general,
however, cells 14 may sized in any manner appropriate based on the
configuration and characteristics of the components of inventory
system 10. Additionally, workspace 70 may utilize an irregular grid
12 in which size and/or shape may vary from cell 14 to cell 14.
[0045] In operation, management module 15 selects appropriate
components to complete particular tasks and transmits task
assignments 18 to the selected components to trigger completion of
the relevant tasks. Each task assignment 18 defines one or more
tasks to be completed by a particular component. These tasks may
relate to the retrieval, storage, replenishment, and counting of
inventory items and/or the management of mobile drive units 20,
inventory holders 30, inventory stations 50 and other components of
inventory system 10. Depending on the component and the task to be
completed, a particular task assignment 18 may identify locations,
components, and/or actions associated with the corresponding task
and/or any other appropriate information to be used by the relevant
component in completing the assigned task.
[0046] In particular embodiments, management module 15 generates
task assignments 18 based, in part, on inventory requests that
management module 15 receives from other components of inventory
system 10 and/or from external components in communication with
management module 15. These inventory requests identify particular
operations to be completed involving inventory items stored or to
be stored within inventory system 10 and may represent
communication of any suitable form. For example, in particular
embodiments, an inventory request may represent a shipping order
specifying particular inventory items that have been purchased by a
customer and that are to be retrieved from inventory system 10 for
shipment to the customer. Management module 15 may also generate
task assignments 18 independently of such inventory requests, as
part of the overall management and maintenance of inventory system
10. For example, management module 15 may generate task assignments
18 in response to the occurrence of a particular event (e.g., in
response to a mobile drive unit 20 requesting a space to park),
according to a predetermined schedule (e.g., as part of a daily
start-up routine), or at any appropriate time based on the
configuration and characteristics of inventory system 10. After
generating one or more task assignments 18, management module 15
transmits the generated task assignments 18 to appropriate
components for completion of the corresponding task. The relevant
components then execute their assigned tasks.
[0047] With respect to mobile drive units 20 specifically,
management module 15 may, in particular embodiments, communicate
task assignments 18 to selected mobile drive units 20 that identify
one or more destinations for the selected mobile drive units 20.
Management module 15 may select a mobile drive unit 20 to assign
the relevant task based on the location or state of the selected
mobile drive unit 20, an indication that the selected mobile drive
unit 20 has completed a previously-assigned task, a predetermined
schedule, and/or any other suitable consideration. These
destinations may be associated with an inventory request the
management module 15 is executing or a management objective the
management module 15 is attempting to fulfill. For example, the
task assignment may define the location of an inventory holder 30
to be retrieved, an inventory station 50 to be visited, a storage
location where the mobile drive unit 20 should park until receiving
another task, or a location associated with any other task
appropriate based on the configuration, characteristics, and/or
state of inventory system 10, as a whole, or individual components
of inventory system 10. For example, in particular embodiments,
such decisions may be based on the popularity of particular
inventory items, the staffing of a particular inventory station 50,
the tasks currently assigned to a particular mobile drive unit 20,
and/or any other appropriate considerations.
[0048] As part of completing these tasks mobile drive units 20 may
dock with and transport inventory holders 30 within workspace 70.
Mobile drive units 20 may dock with inventory holders 30 by
connecting to, lifting, and/or otherwise interacting with inventory
holders 30 in any other suitable manner so that, when docked,
mobile drive units 20 are coupled to and/or support inventory
holders 30 and can move inventory holders 30 within workspace 70.
While the description below focuses on particular embodiments of
mobile drive unit 20 and inventory holder 30 that are configured to
dock in a particular manner, alternative embodiments of mobile
drive unit 20 and inventory holder 30 may be configured to dock in
any manner suitable to allow mobile drive unit 20 to move inventory
holder 30 within workspace 70. Additionally, as noted below, in
particular embodiments, mobile drive units 20 represent all or
portions of inventory holders 30. In such embodiments, mobile drive
units 20 may not dock with inventory holders 30 before transporting
inventory holders 30 and/or mobile drive units 20 may each remain
continually docked with a particular inventory holder 30.
[0049] While the appropriate components of inventory system 10
complete assigned tasks, management module 15 may interact with the
relevant components to ensure the efficient use of space,
equipment, manpower, and other resources available to inventory
system 10. As one specific example of such interaction, management
module 15 is responsible, in particular embodiments, for planning
the paths mobile drive units 20 take when moving within workspace
70 and for allocating use of a particular portion of workspace 70
to a particular mobile drive unit 20 for purposes of completing an
assigned task. In such embodiments, mobile drive units 20 may, in
response to being assigned a task, request a path to a particular
destination associated with the task. Moreover, while the
description below focuses on one or more embodiments in which
mobile drive unit 20 requests paths from management module 15,
mobile drive unit 20 may, in alternative embodiments, generate its
own paths.
[0050] Management module 15 may select a path between the current
location of the requesting mobile drive unit 20 and the requested
destination and communicate information identifying this path to
the mobile drive unit 20. Management module 15 may utilize
knowledge of current congestion, historical traffic trends, task
prioritization, and/or other appropriate considerations to select
an optimal path for the requesting mobile drive unit 20 to take in
getting to the destination. Additionally, in planning the path (or
in assigning tasks), management module 15 may make informed
decisions regarding the use of lifts, conveyors, ramps, tunnels,
and/or other conveyance equipment or features of workspace 70 to
facilitate the movement of the relevant mobile drive unit 20, as
discussed below with respect to FIGS. 15-17.
[0051] After receiving a path from management module 15, the
requesting mobile drive unit 20 may then move to the destination,
traversing the path in a segment-by-segment manner. Before
beginning a particular segment, the relevant mobile drive unit 20
may request permission to use the segment from management module
15. As a result, management module 15 may reserve the segment for
use of that mobile drive unit 20. As a result, management module 15
may also be responsible for resolving competing requests to the use
of a particular portion of workspace 70. An example implementation
of this process is discussed in greater detail below in conjunction
with FIG. 5.
[0052] In addition, components of inventory system 10 may provide
information to management module 15 regarding their current state,
other components of inventory system 10 with which they are
interacting, and/or other conditions relevant to the operation of
inventory system 10. This may allow management module 15 to utilize
feedback from the relevant components to update algorithm
parameters, adjust policies, or otherwise modify its
decision-making to respond to changes in operating conditions or
the occurrence of particular events.
[0053] In addition, while management module 15 may be configured to
manage various aspects of the operation of the components of
inventory system 10, in particular embodiments, the components
themselves may also be responsible for decision-making relating to
certain aspects of their operation, thereby reducing the processing
load on management module 15. In particular, individual components
may be configured to independently respond to certain localized
circumstances in a manner that allows these components to improve
their effectiveness without reducing the overall efficiency of
inventory system 10. As one example, under certain conditions,
management module 15 may modify its policies regarding segment
reservations to permit the simultaneous movement of multiple mobile
drive units 20 in a particular cell 14 of workspace 70, allowing
the relevant mobile drive units 20 to operate in closer proximity
to one another than would otherwise be permitted. When operating
under such conditions, management module 15 may rely on the
independent decision-making of the mobile drive units 20 to prevent
collisions. FIGS. 12A-12E, 13, and 14 illustrate an example of
mobile drive units 20 operating under such conditions.
[0054] Thus, based on its knowledge of the location, current state,
and/or other characteristics of the various components of inventory
system 10 and an awareness of all the tasks currently being
completed, management module 15 can generate tasks, allot usage of
system resources, and otherwise direct the completion of tasks by
the individual components in a manner that optimizes operation from
a system-wide perspective. Moreover, by relying on a combination of
both centralized, system-wide management and localized,
component-specific decision-making, particular embodiments of
inventory system 10 may be able to support a number of techniques
for efficiently executing various aspects of the operation of
inventory system 10. As a result, particular embodiments of
management module 15 may, by implementing one or more management
techniques described below, enhance the efficiency of inventory
system 10 and/or provide other operational benefits.
[0055] FIGS. 2-4 illustrate in greater detail the contents of
particular embodiments of management module 15, mobile drive unit
20, and inventory holder 30, respectively. FIGS. 5-20 illustrate
examples of specific management techniques that may be supported by
certain embodiments of inventory system 10. Although FIGS. 2-4
describe particular example embodiments of management module 15,
mobile drive unit 20, and inventory holder 30 the techniques
described with respect to FIGS. 5-20 may be utilized in inventory
systems 10 utilizing any appropriate type of components.
[0056] FIG. 2 illustrates in greater detail the components of a
particular embodiment of management module 15. As shown, the
example embodiment includes a resource scheduling module 92, a
route planning module 94, a segment reservation module 96, a
communication interface module 98, a processor 90, and a memory 91.
Management module 15 may represent a single component, multiple
components located at a central location within inventory system
10, or multiple components distributed throughout inventory system
10. For example, management module 15 may represent components of
one or more mobile drive units 20 that are capable of communicating
information between the mobile drive units 20 and coordinating the
movement of mobile drive units 20 within workspace 70. In general,
management module 15 may include any appropriate combination of
hardware and/or software suitable to provide the described
functionality.
[0057] Processor 90 is operable to execute instructions associated
with the functionality provided by management module 15. Processor
90 may comprise one or more general purpose computers, dedicated
microprocessors, or other processing devices capable of
communicating electronic information. Examples of processor 90
include one or more application-specific integrated circuits
(ASICs), field-programmable gate arrays (FPGAs), digital signal
processors (DSPs) and any other suitable specific or general
purpose processors.
[0058] Memory 91 stores processor instructions, inventory requests,
reservation information, state information for the various
components of inventory system 10 and/or any other appropriate
values, parameters, or information utilized by management module 15
during operation. Memory 91 may represent any collection and
arrangement of volatile or non-volatile, local or remote devices
suitable for storing data. Examples of memory 91 include, but are
not limited to, random access memory (RAM) devices, read only
memory (ROM) devices, magnetic storage devices, optical storage
devices, or any other suitable data storage devices.
[0059] Resource scheduling module 92 processes received inventory
requests and generates one or more assigned tasks to be completed
by the components of inventory system 10. Resource scheduling
module 92 may also select one or more appropriate components for
completing the assigned tasks and, using communication interface
module 98, communicate the assigned tasks to the relevant
components. Additionally, resource scheduling module 92 may also be
responsible for generating assigned tasks associated with various
management operations, such as prompting mobile drive units 20 to
recharge batteries or have batteries replaced, instructing inactive
mobile drive units 20 to park in a location outside the anticipated
traffic flow or a location near the anticipated site of future
tasks, and/or directing mobile drive units 20 selected for repair
or maintenance to move towards a designated maintenance
station.
[0060] Route planning module 94 receives route requests from mobile
drive units 20. These route requests identify one or more
destinations associated with a task the requesting mobile drive
unit 20 is executing. In response to receiving a route request,
route planning module 94 generates a path to one or more
destinations identified in the route request. Route planning module
94 may implement any appropriate algorithms utilizing any
appropriate parameters, factors, and/or considerations to determine
the appropriate path. After generating an appropriate path, route
planning module 94 transmits a route response identifying the
generated path to the requesting mobile drive unit 20 using
communication interface module 98. This process is discussed in
greater detail below with respect to FIG. 5.
[0061] Segment reservation module 96 receives reservation requests
from mobile drive units 20 attempting to move along paths generated
by route planning module 94. These reservation requests request the
use of a particular portion of workspace 70 (referred to herein as
a "segment") to allow the requesting mobile drive unit 20 to avoid
collisions with other mobile drive units 20 while moving across the
reserved segment. In response to received reservation requests,
segment reservation module 96 transmits a reservation response
granting or denying the reservation request to the requesting
mobile drive unit 20 using the communication interface module 98.
This process is also discussed in greater detail below with respect
to FIG. 5.
[0062] Communication interface module 98 facilitates communication
between management module 15 and other components of inventory
system 10, including reservation responses, reservation requests,
route requests, route responses, and task assignments. These
reservation responses, reservation requests, route requests, route
responses, and task assignments may represent communication of any
form appropriate based on the capabilities of management module 15
and may include any suitable information. Depending on the
configuration of management module 15, communication interface
module 98 may be responsible for facilitating either or both of
wired and wireless communication between management module 15 and
the various components of inventory system 10. In particular
embodiments, management module 15 may communicate using
communication protocols such as 802.11, Bluetooth, or Infrared Data
Association (IrDA) standards. Furthermore, management module 15
may, in particular embodiments, represent a portion of mobile drive
unit 20 or other components of inventory system 10. In such
embodiments, communication interface module 98 may facilitate
communication between management module 15 and other parts of the
same system component.
[0063] In general, resource scheduling module 92, route planning
module 94, segment reservation module 96, and communication
interface module 98 may each represent any appropriate hardware
and/or software suitable to provide the described functionality. In
addition, as noted above, management module 15 may, in particular
embodiments, represent multiple different discrete components and
any or all of resource scheduling module 92, route planning module
94, segment reservation module 96, and communication interface
module 98 may represent components physically separate from the
remaining elements of management module 15. Moreover, any two or
more of resource scheduling module 92, route planning module 94,
segment reservation module 96, and communication interface module
98 may share common components. For example, in particular
embodiments, resource scheduling module 92, route planning module
94, segment reservation module 96 represent computer processes
executing on processor 90 and communication interface module 98
comprises a wireless transmitter, a wireless receiver, and a
related computer process executing on processor 90.
[0064] FIGS. 3A and 3B illustrate in greater detail the components
of a particular embodiment of mobile drive unit 20. In particular,
FIGS. 3A and 3B include a front and side view of an example mobile
drive unit 20. Mobile drive unit 20 includes a docking head 110, a
drive module 120, a docking actuator 130, and a control module 170.
Additionally, mobile drive unit 20 may include one or more sensors
configured to detect or determine the location of mobile drive unit
20, inventory holder 30, and/or other appropriate elements of
inventory system 10. In the illustrated embodiment, mobile drive
unit 20 includes a position sensor 140, a holder sensor 150, an
obstacle sensor 160, and an identification signal transmitter
162.
[0065] Docking head 110, in particular embodiments of mobile drive
unit 20, couples mobile drive unit 20 to inventory holder 30 and/or
supports inventory holder 30 when mobile drive unit 20 is docked to
inventory holder 30. Docking head 110 may additionally allow mobile
drive unit 20 to maneuver inventory holder 30, such as by lifting
inventory holder 30, propelling inventory holder 30, rotating
inventory holder 30, and/or moving inventory holder 30 in any other
appropriate manner. Docking head 110 may also include any
appropriate combination of components, such as ribs, spikes, and/or
corrugations, to facilitate such manipulation of inventory holder
30. For example, in particular embodiments, docking head 110 may
include a high-friction portion that abuts a portion of inventory
holder 30 while mobile drive unit 20 is docked to inventory holder
30. In such embodiments, frictional forces created between the
high-friction portion of docking head 110 and a surface of
inventory holder 30 may induce translational and rotational
movement in inventory holder 30 when docking head 110 moves and
rotates, respectively. As a result, mobile drive unit 20 may be
able to manipulate inventory holder 30 by moving or rotating
docking head 110, either independently or as a part of the movement
of mobile drive unit 20 as a whole.
[0066] Drive module 120 propels mobile drive unit 20 and, when
mobile drive unit 20 and inventory holder 30 are docked, inventory
holder 30. Drive module 120 may represent any appropriate
collection of components operable to propel drive module 120. For
example, in the illustrated embodiment, drive module 120 includes
motorized axle 122, a pair of motorized wheels 124, and a pair of
stabilizing wheels 126. One motorized wheel 124 is located at each
end of motorized axle 122, and one stabilizing wheel 126 is
positioned at each end of mobile drive unit 20.
[0067] Docking actuator 130 moves docking head 110 towards
inventory holder 30 to facilitate docking of mobile drive unit 20
and inventory holder 30. Docking actuator 130 may also be capable
of adjusting the position or orientation of docking head 110 in
other suitable manners to facilitate docking Docking actuator 130
may include any appropriate components, based on the configuration
of mobile drive unit 20 and inventory holder 30, for moving docking
head 110 or otherwise adjusting the position or orientation of
docking head 110. For example, in the illustrated embodiment,
docking actuator 130 includes a motorized shaft (not shown)
attached to the center of docking head 110. The motorized shaft is
operable to lift docking head 110 as appropriate for docking with
inventory holder 30.
[0068] Drive module 120 may be configured to propel mobile drive
unit 20 in any appropriate manner. For example, in the illustrated
embodiment, motorized wheels 124 are operable to rotate in a first
direction to propel mobile drive unit 20 in a forward direction.
Motorized wheels 124 are also operable to rotate in a second
direction to propel mobile drive unit 20 in a backward direction.
In the illustrated embodiment, drive module 120 is also configured
to rotate mobile drive unit 20 by rotating motorized wheels 124 in
different directions from one another or by rotating motorized
wheels 124 at different speed from one another.
[0069] Position sensor 140 represents one or more sensors,
detectors, or other components suitable for determining the
location of mobile drive unit 20 in any appropriate manner. For
example, in particular embodiments, the workspace 70 associated
with inventory system 10 includes a number of fiducial marks that
mark points on a two-dimensional grid that covers all or a portion
of workspace 70. In such embodiments, position sensor 140 may
include a camera and suitable image- and/or video-processing
components, such as an appropriately-programmed digital signal
processor, to allow position sensor 140 to detect fiducial marks
within the camera's field of view. Control module 170 may store
location information that position sensor 140 updates as position
sensor 140 detects fiducial marks. As a result, position sensor 140
may utilize fiducial marks to maintain an accurate indication of
the location mobile drive unit 20 and to aid in navigation when
moving within workspace 70.
[0070] Holder sensor 150 represents one or more sensors, detectors,
or other components suitable for detecting inventory holder 30
and/or determining, in any appropriate manner, the location of
inventory holder 30, as an absolute location or as a position
relative to mobile drive unit 20. Holder sensor 150 may be capable
of detecting the location of a particular portion of inventory
holder 30 or inventory holder 30 as a whole. Mobile drive unit 20
may then use the detected information for docking with or otherwise
interacting with inventory holder 30.
[0071] Obstacle sensor 160 represents one or more sensors capable
of detecting objects located in one or more different directions in
which mobile drive unit 20 is capable of moving. Obstacle sensor
160 may utilize any appropriate components and techniques,
including optical, radar, sonar, pressure-sensing and/or other
types of detection devices appropriate to detect objects located in
the direction of travel of mobile drive unit 20. In particular
embodiments, obstacle sensor 160 may transmit information
describing objects it detects to control module 170 to be used by
control module 170 to identify obstacles and to take appropriate
remedial actions to prevent mobile drive unit 20 from colliding
with obstacles and/or other objects.
[0072] Obstacle sensor 160 may also detect signals transmitted by
other mobile drive units 20 operating in the vicinity of the
illustrated mobile drive unit 20. For example, in particular
embodiments of inventory system 10, one or more mobile drive units
20 may include an identification signal transmitter 162 that
transmits a drive identification signal. The drive identification
signal indicates to other mobile drive units 20 that the object
transmitting the drive identification signal is in fact a mobile
drive unit. Identification signal transmitter 162 may be capable of
transmitting infrared, ultraviolet, audio, visible light, radio,
and/or other suitable signals that indicate to recipients that the
transmitting device is a mobile drive unit 20.
[0073] Additionally, in particular embodiments, obstacle sensor 160
may also be capable of detecting state information transmitted by
other mobile drive units 20. For example, in particular
embodiments, identification signal transmitter 162 may be capable
of including state information relating to mobile drive unit 20 in
the transmitted identification signal. This state information may
include, but is not limited to, the position, velocity, direction,
and the braking capabilities of the transmitting mobile drive unit
20. In particular embodiments, mobile drive unit 20 may use the
state information transmitted by other mobile drive units to avoid
collisions when operating in close proximity with those other
mobile drive units. FIGS. 12A-12E illustrate an example of how this
process may be implemented in particular embodiments of inventory
system 10.
[0074] Control module 170 monitors and/or controls operation of
drive module 120 and docking actuator 130. Control module 170 may
also receive information from sensors such as position sensor 140
and holder sensor 150 and adjust the operation of drive module 120,
docking actuator 130, and/or other components of mobile drive unit
20 based on this information. Additionally, in particular
embodiments, mobile drive unit 20 may be configured to communicate
with a management device of inventory system 10 and control module
170 may receive commands transmitted to mobile drive unit 20 and
communicate information back to the management device utilizing
appropriate communication components of mobile drive unit 20.
Control module 170 may include any appropriate hardware and/or
software suitable to provide the described functionality. In
particular embodiments, control module 170 includes a
general-purpose microprocessor programmed to provide the described
functionality. Additionally, control module 170 may include all or
portions of docking actuator 120, drive module 130, position sensor
140, and/or holder sensor 150, and/or share components with any of
these elements of mobile drive unit 20.
[0075] Moreover, in particular embodiments, control module 170 may
include hardware and software located in components that are
physically distinct from the device that houses drive module 120,
docking actuator 130, and/or the other components of mobile drive
unit 20 described above. For example, in particular embodiments,
each mobile drive unit 20 operating in inventory system 10 may be
associated with a software process (referred to here as a "drive
agent") operating on a server that is in communication with the
device that houses drive module 120, docking actuator 130, and
other appropriate components of mobile drive unit 20. This drive
agent may be responsible for requesting and receiving tasks,
requesting and receiving routes, transmitting state information
associated with mobile drive unit 20, and/or otherwise interacting
with management module 15 and other components of inventory system
10 on behalf of the device that physically houses drive module 120,
docking actuator 130, and the other appropriate components of
mobile drive unit 20. As a result, for the purposes of this
description and the claims that follow, the term "mobile drive
unit" includes software and/or hardware, such as agent processes,
that provides the described functionality on behalf of mobile drive
unit 20 but that may be located in physically distinct devices from
the drive module 120, docking actuator 130, and/or the other
components of mobile drive unit 20 described above.
[0076] While FIGS. 3A and 3B illustrate a particular embodiment of
mobile drive unit 20 containing certain components and configured
to operate in a particular manner, mobile drive unit 20 may
represent any appropriate component and/or collection of components
configured to transport and/or facilitate the transport of
inventory holders 30. As another example, mobile drive unit 20 may
represent part of an overhead crane system in which one or more
crane assemblies are capable of moving within a network of wires or
rails to a position suitable to dock with a particular inventory
holder 30. After docking with inventory holder 30, the crane
assembly may then lift inventory holder 30 and move inventory to
another location for purposes of completing an assigned task.
[0077] Furthermore, in particular embodiments, mobile drive unit 20
may represent all or a portion of inventory holder 30. Inventory
holder 30 may include motorized wheels or any other components
suitable to allow inventory holder 30 to propel itself. As one
specific example, a portion of inventory holder 30 may be
responsive to magnetic fields. Inventory system 10 may be able to
generate one or more controlled magnetic fields capable of
propelling, maneuvering and//or otherwise controlling the position
of inventory holder 30 as a result of the responsive portion of
inventory holder 30. In such embodiments, mobile drive unit 20 may
represent the responsive portion of inventory holder 30 and/or the
components of inventory system 10 responsible for generating and
controlling these magnetic fields. While this description provides
several specific examples, mobile drive unit 20 may, in general,
represent any appropriate component and/or collection of components
configured to transport and/or facilitate the transport of
inventory holders 30.
[0078] FIG. 4 illustrates in greater detail the components of a
particular embodiment of inventory holder 30. In particular, FIG. 4
illustrates the structure and contents of one side of an example
inventory holder 30. In a particular embodiment, inventory holder
30 may comprise any number of faces with similar or different
structure. As illustrated, inventory holder 30 includes a frame
310, a plurality of legs 328, and docking surface 350.
[0079] Frame 310 holds inventory items 40. Frame 310 provides
storage space for storing inventory items 40 external or internal
to frame 310. The storage space provided by frame 310 may be
divided into a plurality of inventory bins 320, each capable of
holding inventory items 40. Inventory bins 320 may include any
appropriate storage elements, such as bins, compartments, or
hooks.
[0080] In a particular embodiment, frame 310 is composed of a
plurality of trays 322 stacked upon one another and attached to or
stacked on a base 318. In such an embodiment, inventory bins 320
may be formed by a plurality of adjustable dividers 324 that may be
moved to resize one or more inventory bins 320. In alternative
embodiments, frame 310 may represent a single inventory bin 320
that includes a single tray 322 and no adjustable dividers 324.
Additionally, in particular embodiments, frame 310 may represent a
load-bearing surface mounted on mobility element 330. Inventory
items 40 may be stored on such an inventory holder 30 by being
placed on frame 310. In general, frame 310 may include storage
internal and/or external storage space divided into any appropriate
number of inventory bins 320 in any appropriate manner.
[0081] Additionally, in a particular embodiment, frame 310 may
include a plurality of device openings 326 that allow mobile drive
unit 20 to position docking head 110 adjacent docking surface 350.
The size, shape, and placement of device openings 326 may be
determined based on the size, the shape, and other characteristics
of the particular embodiment of mobile drive unit 20 and/or
inventory holder 30 utilized by inventory system 10. For example,
in the illustrated embodiment, frame 310 includes four legs 328
that form device openings 326 and allow mobile drive unit 20 to
position mobile drive unit 20 under frame 310 and adjacent to
docking surface 350. The length of legs 328 may be determined based
on a height of mobile drive unit 20.
[0082] Docking surface 350 comprises a portion of inventory holder
30 that couples to, abuts, and/or rests upon a portion of docking
head 110, when mobile drive unit 20 is docked to inventory holder
30. Additionally, docking surface 350 supports a portion or all of
the weight of inventory holder 30 while inventory holder 30 is
docked with mobile drive unit 20. The composition, shape, and/or
texture of docking surface 350 may be designed to facilitate
maneuvering of inventory holder 30 by mobile drive unit 20. For
example, as noted above, in particular embodiments, docking surface
350 may comprise a high-friction portion. When mobile drive unit 20
and inventory holder 30 are docked, frictional forces induced
between docking head 110 and this high-friction portion may allow
mobile drive unit 20 to maneuver inventory holder 30. Additionally,
in particular embodiments, docking surface 350 may include
appropriate components suitable to receive a portion of docking
head 110, couple inventory holder 30 to mobile drive unit 20,
and/or facilitate control of inventory holder 30 by mobile drive
unit 20.
[0083] Holder identifier 360 marks a predetermined portion of
inventory holder 30 and mobile drive unit 20 may use holder
identifier 360 to align with inventory holder 30 during docking
and/or to determine the location of inventory holder 30. More
specifically, in particular embodiments, mobile drive unit 20 may
be equipped with components, such as holder sensor 150, that can
detect holder identifier 360 and determine its location relative to
mobile drive unit 20. As a result, mobile drive unit 20 may be able
to determine the location of inventory holder 30 as a whole. For
example, in particular embodiments, holder identifier 360 may
represent a reflective marker that is positioned at a predetermined
location on inventory holder 30 and that holder sensor 150 can
optically detect using an appropriately-configured camera.
[0084] FIGS. 5 and 6 illustrate a technique for planning and
directing the movement of mobile drive units 20 within workspace 70
while the mobile drive units 20 complete assigned tasks. More
specifically, FIG. 5 illustrates an example of how a mobile drive
unit 20 may request, from management module 15, a path to a
destination associated with an assigned task and then interact with
management module 15 to allow mobile drive unit 20 to successfully
traverse the path. FIG. 6 is a flowchart detailing example
operation of a particular embodiment of mobile drive unit 20 in
moving to a designated destination according to the techniques
illustrated by FIG. 5.
[0085] FIG. 5 illustrates an example showing routing and
reservation techniques that may be utilized in particular
embodiments of inventory system 10. In general, FIG. 5 illustrates
an example in which mobile drive unit 20 receives an assigned task
18 from management module 15 that instructs mobile drive unit 20 to
retrieve inventory holder 30a from a storage cell where inventory
holder 30a is currently located. Mobile drive unit 20 then requests
a path to the location of inventory holder 30a and follows the
received path to the relevant location.
[0086] In the illustrated embodiment of inventory system 10,
workspace 70 is associated with a grid 12 comprising a plurality of
cells 14, and mobile drive units 20 are configured to move within
workspace 70 by navigating from the center of one cell 14 to the
center of another. Nonetheless, in alternative embodiments, mobile
drive units 20 may be configured to navigate grid 12 in any
appropriate manner and starting points, destinations, and any
intermediate points on the path traversed by mobile drive unit 20
may or may not represent the center point of a cell 14 or any other
portion of grid 12. Furthermore, although FIG. 5 illustrates a
grid-based embodiment of inventory system 10, alternative
embodiments of inventory system 10 may utilize a gridless workspace
having an arbitrary shape and structure.
[0087] As shown in FIG. 5, the routing process begins with
management module 15 transmitting a task assignment 18 to mobile
drive unit 20. Task assignment 18 identifies one or more
destinations associated with a corresponding task. Task assignment
18 may identify the relevant destinations directly or by reference
to the known location of specific components (e.g., a particular
inventory holder 30 or inventory station 50) or a particular
portion of workspace 70. Task assignment 18 may also include any
additional information suitable for mobile drive unit 20 to use in
completing the assigned task.
[0088] Upon receiving task assignment 18, mobile drive unit 20
requests a path to the location identified by the task assignment
18 or, if task assignment 18 identifies multiple locations, to the
first location identified by task assignment 18. In the illustrated
embodiment, mobile drive unit 20 requests a path by transmitting a
route request 22 to route planning module 94. In particular
embodiments, route request 22 may include one or more destination
locations and the current location of mobile drive unit 20 or the
anticipated location of mobile drive unit 20 when it completes its
current segment 17. In alternative embodiments, management module
15 may independently monitor the location or assigned task of each
mobile drive unit 20 and, consequently, one or more of these
locations may be omitted from route request 22.
[0089] When route planning module 94 receives route request 22,
route planning module 94 generates a path 16 for the requesting
mobile drive unit 20 to use in moving from its current location to
the requested destination. As noted above, route planning module 94
may use any suitable techniques to generate, select, or determine
an appropriate path 16 for the requesting mobile drive unit 20.
Route planning module 94 may then communicate information
identifying path 16 to the requesting mobile drive unit 20 as part
of a route response 24. For example, route planning module 94 may
communicate information specifying certain points along path 16,
specifying directions and distances to move, specifying known path
segments to use in moving to the requested destination, specifying
other equipment (for example, a lift, conveyor, or truck) or
features of the workspace (such as a ramp or tunnel) to be
utilized, and/or indicating, in any other appropriate manner, the
portion of workspace 70 mobile drive unit 20 should traverse in
moving between its current location and the requested destination.
In particular embodiments, route planning module 94 communicates
path 16 to mobile drive unit 20 as part of route response 24.
[0090] After route planning module 94 transmits information
identifying one or more paths 16, this information is received by
mobile drive unit 20. In particular embodiments, mobile drive unit
20 may then store this information for subsequent use in navigating
to the destination location. Mobile drive unit 20 then attempts to
reserve a segment 17 or other suitable portion of path 16. Mobile
drive unit 20 may reserve a segment 17 of path 16 by taking any
appropriate steps, based on the configuration of inventory system
10, to ensure that no other mobile drive unit 20, or other type of
device capable of moving within workspace 70, is or will be
traversing the reserved segment 17, positioned on the reserved
segment 17, and/or otherwise impeding movement along the reserved
segment 17 while the relevant mobile drive unit 20 has that segment
17 reserved.
[0091] In particular embodiments, route planning module 94 may, in
response to a particular route request 22, generate multiple paths
to a particular destination. Moreover, management module 15 may
then transmit all of the generated paths 16 to the requesting
mobile drive unit 20. Additionally, route planning module 94 or
mobile drive unit 20 may assign a priority to each of the generated
paths 16. As a result, in such embodiments, the requesting mobile
drive unit 20 may be capable of storing the multiple paths 16
generated by route planning module 94 and then attempting to
reserve segments 17 of the highest priority path 16. If the
attempted reservation is denied, the requesting mobile drive unit
20 may then attempt to request a segment 17 from the next highest
priority path 16. The requesting mobile drive unit 20 may then
proceed to request segments 17 from each of the received paths 16
in order of priority until the requesting mobile drive unit 20
successfully reserves segments 17 from one of the received paths
16.
[0092] Furthermore, in particular embodiments or under certain
conditions, multiple mobile drive units 20 may be allowed to
utilize a particular segment 17 simultaneously. In such
embodiments, mobile drive unit 20 may reserve a segment 17 by
taking any appropriate steps to ensure that only mobile drive units
20 that satisfy particular conditions may use the reserved segment
at the same time. As one example, in particular embodiments,
segment reservation module 96 may reserve a particular segment by
taking appropriate steps to ensure that only mobile drive units 20
moving in the same direction as that mobile drive unit 20 may
reserve the relevant segment 17. As another example, in particular
embodiments, inventory system 10 may be configured to allow a
predetermined maximum number or concentration of mobile drive units
20 to use a given segment 17 and mobile drive unit 20 may reserve a
given segment 17 by requesting a reservation for that segment 17.
Management module 15 may then conditionally grant the reservation
based on whether the current number or density of mobile drive
units 20 utilizing the requested segment 17 is less than the
predetermined maximum.
[0093] In the illustrated embodiment, mobile drive unit 20 reserves
segment 17 by transmitting a reservation request 26 to segment
reservation module 96. Reservation request 26 identifies the
segment 17 that mobile drive unit 20 is attempting to reserve.
Reservation request 26 may identify the relevant segment 17 in any
manner appropriate based on the configuration and capabilities of
mobile drive unit 20 and segment reservation module 96. For
example, in particular embodiments, reservation request 26
identifies the relevant segment 17 by identifying the starting and
ending coordinates of that segment 17, by specifying a direction
and distance from the current location of mobile drive unit 20, or
by including any other suitable information from which the
requested segment 17 can be identified, either independently or
based on other information maintained by segment reservation module
96 during operation.
[0094] Segment reservation module 96 receives the reservation
request 26 and extracts information identifying the requested
segment 17 from reservation request 26. Segment reservation module
96 then determines whether or not the requesting mobile drive unit
20 can reserve the requested segment 17. In particular embodiments,
segment reservation module 96 determines based solely on whether
another mobile drive unit 20 currently has the requested segment 17
reserved. In alternative embodiments, however, segment reservation
module 96 may determine based both on whether another mobile drive
unit 20 currently has the requested segment 17 reserved and on a
priority level associated with the requesting mobile drive unit 20
or a task the mobile drive unit 20 is currently completing whether
the requesting mobile drive unit 20 can reserve the requested
segment 17. Consequently, segment reservation module 96 may refuse
use of certain segments 17 (or segments 17 exceeding a certain
size) to mobile drive units 20 having an insufficient priority
level. In general, however, segment reservation module 96 may use
any appropriate considerations to determine whether the received
reservation request 26 can be satisfied.
[0095] Additionally, in particular embodiments, segment reservation
module 96 may be configured to compensate for potential
uncertainties in the location of mobile drive unit 20. In
particular, segment reservation module 96 may attempt to reserve a
modified segment that includes, but is larger than, the requested
segment 17. As a result, if the actual location of the requesting
mobile drive unit 20 differs, by less than some predetermined
amount, from that calculated by mobile drive unit 20 and/or
management module 15, collisions may still be prevented as a result
of the larger reservation secured by segment reservation module 96.
Segment reservation module 96 may be configured to always modify
reservation requests 26 in this manner, to modify reservation
requests 26 when management module 15 determines the actual
location of the requesting mobile drive unit 20 differs from the
calculated location, or to modify reservation requests 26 at any
other appropriate times.
[0096] Furthermore, in particular embodiments of inventory system
10, mobile drive units 20 may attempt to make and/or resource
scheduling module 92 may grant reservations of different types
depending on the manner in which requesting mobile drive units 20
intend to use the requested segment 17. Moreover, resource
scheduling module 92 may follow different policies for granting or
denying each of these different types of reservations. For example,
in particular embodiments, mobile drive units 20 may be configured
to request a segment 17 that includes one or more cells 14 adjacent
to the cells 14 through which path 16 runs. Consequently, when a
requesting mobile drive unit 20 plans to rotate inventory holder 30
as part of its movement in completing a particular segment 16, the
requesting mobile drive unit 20 may attempt to place rotation
reservations on the cells 14 adjacent to the cell 14 in which
mobile drive unit 20 intends to perform the rotation. Depending on
the size of inventory holders 30 relative to the cells 14 utilized
in the relevant workspace 70, the requesting mobile drive unit 20
may not need to use the entirety of each neighboring cell 14 to
rotate. As a result, segment reservation module 96 may allow other
mobile drive units 20 to also place reservation requests on a
particular neighboring cell 14 at the same time the first
requesting mobile drive unit 20 has reserved that particular cell
14. More specifically, in particular embodiments, resource
scheduling module 92 may allow other mobile drive units 20 to
reserve the neighboring cell 14 for purposes of encroaching into
that cell 14 while rotating inventory holders 30 in other cells 14
that border the neighboring cell 14. This may reduce the number of
delays mobile drive units 20 face when attempting to reserve a
sufficiently large portion of workspace 70 to rotate inventory
holders 30.
[0097] If segment reservation module 96 determines that the
requesting mobile drive unit 20 cannot reserve the requested
segment 17, segment reservation module 96 may notify the requesting
mobile drive unit 20 that it did not successfully reserve the
requested segment 17. For example, in the illustrated embodiment,
segment reservation module 96 transmits a reservation response 28
that indicates the reservation was unsuccessful. Alternatively, in
particular embodiments, segment reservation module 96 does not
notify the requesting mobile drive unit 20 of the failed
reservation, and the requesting mobile drive unit 20 is configured
to determine the reservation was unsuccessful if the requesting
mobile drive unit 20 does not receive an affirmative response
within a predetermined period of time.
[0098] Additionally, in particular embodiments, segment reservation
module 96 may be configured to take some remedial action if segment
reservation module 96 is unable to satisfy a particular reservation
request 26. For example, in particular embodiments, segment
reservation module 96 may queue unsatisfied reservation requests 26
and attempt to satisfy them once any currently pending reservation
for the requested segment 17 is terminated. Alternatively, however,
segment reservation module 96 may be configured to discard
unsatisfied reservation requests 26 after a single attempt to
satisfy them, after a predetermined number of failed attempts, or
after unsuccessfully attempting to satisfy such requests for a
predetermined amount of time. The requesting mobile drive unit 20
may then be expected to transmit another reservation request 26
later if it is still attempting to reserve the requested segment
17. In addition, segment reservation module 96 may be configured to
attempt reserving a portion of the requested segment 17 or a
modified version of the requested segment 17 if the segment
reservation module 96 is unable to successfully reserve the
originally requested segment 17 for the requesting mobile drive
unit 20. More generally, however, depending on the configuration of
inventory system 10, segment reservation module 96 may be
configured to take any appropriate remedial action or,
alternatively, to take no remedial action at all, if segment
reservation module 96 is unable to satisfy a particular reservation
request 26.
[0099] Similarly, depending on the configuration of mobile drive
unit 20, mobile drive unit 20 may execute any appropriate remedial
action in response to determining that segment reservation module
96 has not satisfied the reservation. In particular embodiments,
mobile drive unit 20 may wait a predetermined amount of time and
attempt to reserve the same segment 17 again. In alternative
embodiments, mobile drive unit 20 may be configured to request a
new path 16 from route planning module 94, if mobile drive unit 20
is unsuccessful in reserving the requested segment 17 or if mobile
drive unit 20 is unsuccessful after a predetermined number of
attempts. Additionally, in particular embodiments, mobile drive
units 20 may be able to adjust the size of the segments 17 mobile
drive units 20 request. As a result, the requesting mobile drive
unit 20 may, in response to determining that the attempted
reservation was unsuccessful, attempt to reserve a smaller portion
of the same requested segment 17. In such embodiments, the
requesting mobile drive unit 20 may then request or automatically
receive incremental portions of the original requested segment 17
as the requesting mobile drive unit 20 moves and/or the remaining
portions become free. More generally, however, mobile drive unit 20
may respond in any suitable manner to the failed reservation
attempt.
[0100] If, instead, segment reservation module 96 determines that
the received reservation request 26 can be satisfied, segment
reservation module 96 reserves the requested segment 17 for the
requesting mobile drive unit 20. As part of reserving the requested
segment, segment reservation module 96 stores information
indicating the reserved state of the relevant segment 17 and takes
any additional steps appropriate to ensure that the requesting
mobile drive unit 20 may use the requested segment 17 until the
reservation is terminated. Segment reservation module 96 also
notifies the requesting mobile drive unit 20 that it has
successfully reserved the requested segment 17. For example, in the
illustrated embodiment, segment reservation module 96 transmits an
acknowledgement, such as reservation response 28, that indicates to
the requesting mobile drive unit 20 that the reservation was
successful. When the requesting mobile drive unit 20 receives the
reservation response 28 indicating that the attempted reservation
was successful, the requesting mobile drive unit 20 begins moving
along the reserved segment 17.
[0101] Returning to the example illustrated in FIG. 5, when mobile
drive unit 20a receives reservation response 28 indicating that
mobile drive unit 20a has successfully reserved segment 17a, mobile
drive unit 20 begins moving along segment 17a. This is illustrated
is in FIG. 5 by the dotted-line silhouette of mobile drive unit 20.
At some point after beginning movement along segment 17a, mobile
drive unit 20a attempts to reserve the next segment of the path
that mobile drive unit 20a received from route planning module 94,
i.e., segment 17b. In particular embodiments, mobile drive unit 20a
may wait until mobile drive unit 20a reaches the end of the
reserved segment (i.e., when mobile drive unit 20a reaches the
second silhouette) and then request the next segment 17.
[0102] Alternatively, mobile drive unit 20a may attempt to reserve
segment 17b before completing segment 17a. In particular
embodiments, mobile drive unit 20a may request segment 17b at an
appropriate point while moving across segment 17a. As one example,
mobile drive unit 20a may request segment 17b after completing a
predetermined proportion of segment 17a (e.g., after completing 75%
of segment 17a). As another example, mobile drive unit 20 may
request segment 17b when only a predetermined amount of segment 17a
is left to be completed (e.g., once mobile drive unit 20a has
completed all but half a cell's width of segment 17a). More
generally, however, particular embodiments of mobile drive unit 20,
or any appropriate component of inventory system 10 responsible for
reserving segments 17 on behalf of mobile drive unit 20, may be
configured to reserve the next segment in the current path at any
suitable time while mobile drive unit 20 is moving along its
currently-reserved segment 17. The remainder of this description
assumes that mobile drive unit 20 is configured to attempt
reservation of a new segment 17 before completing its current
segment 17.
[0103] Additionally, as discussed above with respect to FIGS. 3A
and 3B, particular embodiments of mobile drive unit 20a may include
one or more sensors capable of detecting certain types of
obstacles, obstructions, or other impediments to the movement of
mobile drive unit 20. In response to detecting an obstacle, mobile
drive unit 20 may be configured to stop and/or take any appropriate
measures to complete the assigned task. As one example, mobile
drive unit 20 may stop moving and periodically poll the relevant
sensor to determine whether the obstacle has been removed. As
another example, mobile drive unit 20a may request a new path upon
detecting an obstacle located on or near a segment 17 of its
current path 16. As yet another example, mobile drive unit 20 may
notify management module 15 or a human operator of inventory system
10 to initiate appropriate actions to have the obstacle removed. In
particular embodiments, mobile drive unit 20a may be configured to
override its obstacle detection capabilities to support certain
types of special navigation techniques. An example of these
techniques is discussed in greater detail below with respect to
FIGS. 12A-12E, 13, and 14.
[0104] In particular embodiments, as mobile drive unit 20a exits a
particular cell 14 of segment 17a, mobile drive unit 20a may
release its reservation with respect to that cell 14.
Alternatively, in particular embodiments, mobile drive unit 20a may
wait until reaching the end of segment 17a (i.e., when mobile drive
unit 20a arrives at the second silhouette), and then terminate its
reservation of all cells 14 in segment 17a. Mobile drive unit 20a
may release its reservation of all or a portion of segment 17a by
transmitting a reservation termination message (not shown) to
segment reservation module 96 or by taking any other appropriate
steps to relinquish its use of segment 17a. Alternatively, in
particular embodiments, mobile drive unit 20a may not be configured
to take any affirmative steps to terminate the reservation.
Instead, segment reservation module 96 may itself detect that
mobile drive unit 20a has completed segment 17a and terminate the
reservation in response or segment reservation module 96 may
time-out the reservation if mobile drive unit 20a does not renew
the reservation within a predetermined time period. More generally,
segment reservation module 96 may monitor any particular aspect of
the operation of mobile drive unit 20a including, for example, its
location, speed, last renewal request, and/or any other appropriate
aspect of the state of mobile drive unit 20a, and terminate the
reservation at any appropriate time based on the state of mobile
drive unit 20a.
[0105] If mobile drive unit 20a has successfully reserved segment
17b by the time mobile drive unit 20a reaches the end of segment
17a, mobile drive unit 20a may begin moving along segment 17b. If
mobile drive unit 20a has not successfully reserved segment 17b by
the time mobile drive unit 20a reaches the end of segment 17a,
mobile drive unit 20a may stop at the intersection of segment 17a
and segment 17b and take appropriate steps based on the
configuration of mobile drive unit 20a. For example, as noted
above, mobile drive unit 20a may repeatedly attempt to reserve
segment 17b until successful, make a predetermined number of
reservation attempts and then request a new path 16, or take any
other steps to continue its movement towards the destination
location.
[0106] Once mobile drive unit 20a successfully reserves segment
17b, mobile drive unit 20a traverses segment 17b in a similar
fashion. At an appropriate point during the completion of segment
17b, mobile drive unit 20a attempts to reserve segment 17c and
repeats the above process. Mobile drive unit 20a continues
reserving and traversing segments (as suggested by the dotted-line
silhouettes) until mobile drive unit 20a reaches the destination
location. Mobile drive unit 20a may then take any actions
appropriate to complete the assigned task. For example, in FIG. 5,
completion of the assigned task may include mobile drive unit 20a
docking with a particular inventory holder 30 located at the
destination location. If the currently-assigned task includes
multiple destinations, mobile drive unit 20a may request a path 16
to the next step by transmitting a new route request 22 to route
planning module 94 and repeating the above process with respect to
the next destination. If the task assignment 18 that mobile drive
unit 20a received does not specify any additional locations, mobile
drive unit 20a may request or be given another assigned task from
resource scheduling module 92 or otherwise notify management module
15 that mobile drive unit 20a is available for new assignments.
[0107] Although the illustrated example, utilizes only straight
segments 17, particular embodiments of inventory system 10 may be
configured to generate paths that include segments covering turns,
curves, and other non-linear portions. Additionally, although in
the illustrated example segments 17 extend without limit between
turns in path 16, particular embodiments of inventory system 10 may
be configured to generate paths 16 that have an upper limit on
segment length or to allow only up to a maximum segment length to
be reserved with a single reservation. As a result, a relatively
long straight segment, such as segment 17c, may in reality
represent a series of smaller, connected segments 17 running in the
same direction.
[0108] Additionally, although mobile drive unit 20a relies on a
single path in the illustrated example, mobile drive units 20 may,
in particular embodiments, be configured to request new paths 16 to
a particular location while in the process of completing a
previously-requested path 16 to the same location. As noted above,
mobile drive units 20 may be configured to request a new path 16 if
they are unsuccessful in reserving a particular segment 17 in the
current path 16. More generally, however, mobile drive units 20 may
be configured to request a new path 16 to a particular destination
at any appropriate time while completing an existing path 16 to the
same destination. For example, a particular embodiment of mobile
drive unit 20 may request a new path 16 a predetermined amount of
time after requesting the original path, after completing each
segment 17, or at any other suitable time. In such embodiments,
mobile drive unit 20 may transmit the originally received path 16
back to route planning module 94 to be used as a starting point for
determining any improved paths 16 to the same destination.
[0109] Moreover, management module 15 may be capable of pushing new
paths 16 to a mobile drive unit 20 while that mobile drive unit 20
is in the process of completing a previously-received path 16. As
one example, in particular embodiments, management module 15 may be
configured to manage congestion by transmitting new paths 16 to
mobile drive units 20 that are located in or near congested areas
or that are traveling on paths that will traverse or pass near
congested areas. As another example, management module 15 may be
configured to improve the operational efficiency of inventory
system 10 by transmitting new paths 16 to mobile drive units 20
that are optimized based on the attributes of inventory holders 30
or inventory stations 50 associated with the relevant mobile drive
units 20 or the tasks they are completing. In general, either
mobile drive unit 20 or route planning module 94 may determine that
mobile drive unit 20 should receive a new path 16 based on changes
in any appropriate condition, circumstance, property, or state of
inventory system 10 or any individual components of inventory
system 10.
[0110] In addition, although the illustrated example, describes an
example embodiment in which route planning module 94 transmits the
entirety of path 16 to mobile drive unit 20a at one time,
particular embodiments of route planning module 94 may be
configured to transmit path 16 in portions. For example, in a
particular embodiment, route planning module 94 may be configured
to transmit path 16 to the requesting mobile drive unit 20 one
segment 17 at a time. After traversing a particular segment 17, the
requesting mobile drive unit 20 may then request another segment 17
of the path 16. At that point, route planning module 94 may
determine, based on changes in conditions within workspace 70
and/or any other appropriate considerations, whether to provide the
next segment 17 in the original path 16 or to generate a new path
16 to the destination of the requesting mobile drive unit 20. Route
planning module 94 then communicates another segment 17, either
from the original path 16 or a new path 16, to the requesting
mobile drive unit 20. This process may continue until the
requesting mobile drive unit 20 reaches its destination.
[0111] Furthermore, while the illustrated example focuses on an
embodiment of inventory system 10 in which mobile drive units 20
actively request reservation of particular segments 17 on their own
behalf, in alternative embodiments management module 15 or other
suitable components of inventory system 10 may be responsible for
initiating reservations, either explicitly or implicitly. As one
example, in particular embodiments, management module 15 may
monitor the location and current path of mobile drive units 20 and
may reserve appropriate segments 17 on behalf of mobile drive units
20 at appropriate times during the movement of mobile drive units
20. As another example, particular embodiments of inventory system
10 may include signaling devices, such as traffic signals, that
mange the flow of traffic within workspace 70. As a result,
management module 15 or other components that control the signaling
devices may implicitly reserve a particular segment 17 for a mobile
drive unit 20 by signaling to other mobile drive units 20 that they
are not permitted to use the relevant segment 17 at a particular
time.
[0112] Consequently, inventory system 10 supports a number of
techniques that provide for efficient routing, navigation, and
management of mobile drive units 20 moving within workspace 70.
Because inventory system 10 supports techniques for resolving
conflicting requests for a particular segment 17 by two different
mobile drive units 20 management module 15 may also help reduce or
eliminate collisions between mobile drive units 20 simultaneously
completing tasks. As a result, the described techniques may provide
one or more operational benefits.
[0113] FIG. 6 is a flow chart illustrating the operation of a
particular embodiment of mobile drive unit 20 in traversing a path
16 to a designated location. More specifically, FIG. 6 illustrates
the process by which mobile drive unit 20, in particular
embodiments of inventory system 10, requests a path to a particular
destination and iteratively reserves and traverses the various
segments 17 of that path 16. Any of the steps illustrated in FIG. 6
may be combined, modified, or deleted where appropriate, and
additional steps may also be added to those shown in the flowchart.
Moreover, the described steps may be performed in any suitable
order without departing from the scope of the invention.
[0114] The example operation begins, at step 602, with mobile drive
unit 20 receiving a task assignment 18 from resource scheduling
module 92. Task assignment 18 identifies one or more locations
associated with a task assigned to mobile drive unit 20. In
response to receiving task assignment 18, mobile drive unit 20
requests, from route planning module 94, a path to one of the
destinations identified in task assignment 18. In particular
embodiments, mobile drive unit 20 requests the path by transmitting
a route request 22 to route planning module 94 at step 604. Route
request 22 identifies a destination location and the current
location of mobile drive unit 20.
[0115] At step 606, route planning module 94 generates, selects, or
identifies a path 16 from the current location of mobile drive unit
20 to the destination location. Route planning module 94 then
transmits path 16 to mobile drive unit 20. In particular
embodiments, route planning module 94 transmits path 16 to mobile
drive unit 20 by transmitting a route response 24 to mobile drive
unit 20, at step 608, that identifies path 16 in an appropriate
manner based on the capabilities of mobile drive unit 20. In
particular embodiments, path 16 includes multiple segments 17,
including at least an initial segment 17 and one or more additional
segments 17. The initial segment 17 is associated with a section of
workspace 70 adjacent to the current location of mobile drive unit
20 when mobile drive unit 20 requests the path, and at least one of
the additional segments 17 is associated with a section of
workspace 70 adjacent to the destination. Path 16 may include any
number of additional segments 17.
[0116] After receiving the path from route planning module 94,
mobile drive unit 20 attempts to reserve the initial segment 17 of
the received path 16. In particular embodiments, mobile drive unit
20 attempts to reserve the initial segment 17 by transmitting a
reservation request 26 to segment reservation module 96 at step
610. Reservation request 26 identifies the requested segment
17.
[0117] Upon receiving reservation request 26, segment reservation
module 96 attempts to reserve the requested segment 17 for mobile
drive unit 20 at 612. In particular embodiments, segment
reservation module 96 may modify the requested segment 17 to
account for potential uncertainties or errors in the calculated
position of mobile drive unit 20. As a result, in particular
embodiments, segment reservation module 96 may reserve a portion of
workspace 70 other than the segment specified by the received
reservation request 26. For example, segment reservation module 96
may, under appropriate circumstances, expand, translate, and/or
otherwise modify the requested segment to create a modified segment
more suitable for use by the requesting mobile drive unit 20. In
particular embodiments, segment reservation module 96 may be
configured to modify the requested segment based on an error margin
utilized by inventory system 10. Segment reservation module 96 may,
as a result, attempt to reserve a portion of workspace 70 that is
expanded, shifted, or otherwise modified from the reserved segment
17 in an amount determined based on the error margin. As a specific
example, in particular embodiments that utilize a grid-based
workspace 70 that includes a plurality of cells 14, segment
reservation module 96 may attempt to reserve a segment 17 that
includes one or more cells 14, beyond that included in the
requested segment 17, that extend in the direction that the
requesting mobile drive unit 20 is currently traveling. As another
example, in particular embodiments, segment reservation module 96
may attempt to reserve a segment that has been shifted a particular
number of cells in a specified direction.
[0118] Segment reservation module 96 may then notify mobile drive
unit 20 of whether or not mobile drive unit 20 has successfully
reserved a segment 17 for mobile drive unit 20. Alternatively,
segment reservation module 96 may notify mobile drive unit 20 only
of successful reservation attempts. In particular embodiments,
segment reservation module 96 notifies mobile drive unit 20 by
transmitting a reservation response 28 to mobile drive unit 20 at
step 614.
[0119] At step 616, mobile drive unit 20 determines whether mobile
drive unit 20 has successfully reserved the initial segment 17. If
mobile drive unit 20 was not successful in reserving the initial
segment 17, mobile drive unit 20 may take appropriate steps to
continue working toward completion of the assigned task. For
example, in the illustrated embodiment, mobile drive unit 20 waits
a predetermined amount of time and attempts to reserve the initial
segment again at step 618. Moreover, in the illustrated embodiment,
mobile drive unit 20 determines at step 620 if the second attempt
is successful. If the second attempt is successful, operation
continues at step 622. If the second attempt is not successful,
operation returns to 604 with mobile drive unit 20 requesting a new
path 16.
[0120] Once mobile drive unit 20 is able to successfully reserve
the initial segment 17, mobile drive unit 20 begins moving away
from its original location along the initial segment of the path at
step 622. At step 624, mobile drive unit 20 determines that there
is less than a predetermined portion of the initial segment 17 left
to complete. As a result, mobile drive unit 20 determines, at step
626, whether any additional segments 17 remain to be completed in
the current path 16.
[0121] If segments 17 remain to be completed in the current path
16, mobile drive unit 20 attempts to reserve the next segment 17,
returning to step 610. If mobile drive unit 20 successfully
reserves the next segment operation continues with mobile drive
unit 20 moving along the next segment 17. If mobile drive unit is
not successful in reserving the next segment 17, operation
continues through to step 622. If mobile drive unit 20 reaches the
end of the initial segment 17 before successfully reserving the
next segment, mobile drive unit 20 may pause its movement at the
end of the initial segment and remain stationary until mobile drive
unit 20 successfully reserves the next segment or obtains an
alternative path.
[0122] If no segments 17 remain to be completed in the current
path, mobile drive unit 20 determines whether any destinations
remain to be visited in the current task assignment 18 at step 628.
If so, operation returns to step 604. If not, mobile drive unit 20
may notify resource scheduling module 92 that mobile drive unit 20
has completed its current task at step 630. Operation with respect
to completing the current task may then end as shown in FIG. 6.
[0123] FIGS. 7 and 8 illustrate a technique for planning paths
based on the current state of a requesting mobile drive unit 20.
More specifically, FIG. 7 illustrates an example of how such
techniques might be implemented in a particular inventory system
10, and FIG. 8 is a flowchart detailing example operation of
management module 15 in implementing a particular embodiment of
these techniques. As one example of how such a technique might be
used in inventory system 10, particular embodiments of inventory
system 10 may allow mobile drive units 20 that are not docked to an
inventory holder 30 to move through spaces currently occupied by
stored inventory holders 30, but mobile drive units 20 that are
docked with inventory holders 30 may not be capable of doing so. As
a result, when undocked, mobile drive units 20 may be able to
"tunnel" through cells 14 having inventory holders 30, thereby
allowing for more effective use of system resources.
[0124] FIG. 7 illustrates techniques that may be used by management
module 15 in generating appropriate paths 16 for mobile drive units
20. More specifically, in particular embodiments, when mobile drive
unit 20 requests a path 16, route planning module 94, management
module 15 in general, or other appropriate components of inventory
system 10 determine a state of the requesting mobile drive unit 20.
As used in this description and the claims that follow, "state" may
refer to transitional, temporary conditions, such as a current task
assignment, that are associated with the requesting mobile drive
unit 20 as well as permanent characteristics and properties, such
as height and width, associated with the requesting mobile drive
unit 20.
[0125] Route planning module 94 then generates, selects, or
identifies a path based in part on the state of the requesting
mobile drive unit 20. More specifically, the state of mobile drive
unit 20 may dictate the cells through which mobile drive unit 20
can travel, and route planning module 94 may produce a path 16 that
utilizes appropriate cells 14. To illustrate, FIG. 7 shows an
example of two alternative paths 16, paths 16a and 16b, that might
be generated by route planning module 94 based on a particular
aspect of the state of the requesting mobile drive unit 20b.
Specifically, FIG. 7 illustrates two paths 16 that may be generated
based on whether or not mobile drive unit 20b is currently docked
with an inventory holder 30.
[0126] To begin the example, mobile drive unit 20b receives a task
assignment 18 as discussed above with respect to FIG. 5. Task
assignment 18 identifies a destination associated with a
corresponding task assigned to mobile drive unit 20b. In response
to task assignment 18, mobile drive unit 20b requests path 16 from
route planning module 94. In the example, mobile drive unit 20b
requests path 16 by transmitting route request 22, which identifies
the relevant destination location, here cell 14b.
[0127] In response to route request 22, route planning module 94
generates a path 16 to the destination location by identifying,
selecting and/or otherwise generating an appropriate path 16. In
generating path 16, route planning module 94 considers a particular
aspect of the state of mobile drive unit 20b, here its docking
status. Based on the relevant aspect of the requesting mobile drive
unit's state, route planning module 94 may determine that the
requesting mobile drive unit 20b is prohibited from moving through
particular cells 14, from traversing particular paths 16, and/or
from utilizing particular equipment (e.g., a drive lift) within
workspace 70, and/or that the state of mobile drive unit 20b places
some other form of restriction on the path 16 that route planning
module 94 can properly generate for mobile drive unit 20b.
[0128] In particular embodiments, the requesting mobile drive unit
20 may itself indicate the relevant state information to route
planning module 94. For example, in the illustrated embodiment,
mobile drive unit 20b may indicate its docking status in route
request 22. In alternative embodiments, route planning module 94
may monitor one or more mobile drive units 20 operating in
workspace 70 and may maintain the relevant state information as
part of its normal operation. Additionally, in particular
embodiments, route planning module 94 may instead retrieve the
relevant state information from other components of inventory
system 10 when a particular mobile drive unit 20 requests a path
16. For example, in particular embodiments, when route planning
module 94 receives a route request 22 from a particular mobile
drive unit 20, route planning module 94 may communicate with
resource scheduling module 92 to determine whether the requesting
mobile drive unit 20 is currently assigned a task.
[0129] In the illustrated example, it is assumed that mobile drive
units 20 that are currently docked with an inventory holder 30 are
not allowed to move through cells 14 of workspace 70 designated for
the storage of inventory holders 30 (referred to as storage cells
64). Consequently, if mobile drive unit 20b is currently docked to
an inventory holder 30, route planning module 94 may generate a
path for mobile drive unit 20 that circumvents all designated
storage cells, such as the path shown in FIG. 7 as path 16a. On the
other hand, if mobile drive unit 20 is not currently docked to an
inventory holder 30, route planning module 94 may generate a path
that includes designated storage cells 64, such as the path shown
in FIG. 7 as path 16b.
[0130] Once route planning module 94 has generated the appropriate
path 16, route planning module 94 communicates path 16 to the
requesting mobile drive unit 20. In the illustrated embodiment,
route planning module 94 transmits a route response 24 to the
mobile drive unit 20b that identifies path 16. Mobile drive unit
20b then completes the received path 16 as discussed above.
[0131] By considering the state of the requesting mobile drive unit
20 when generating path 16, route planning module 94 may make more
intelligent decisions regarding paths 16 that route planning module
94 generates for that mobile drive unit 20. In particular
embodiments, route planning module 94 may consider the state of a
requesting mobile drive unit 20 to allow route planning module 94
to selectively use cells, paths, or equipment that might be
prohibited for use by mobile drive units 20 of a certain state.
Similarly, in particular embodiments, route planning module 94 may
consider the state of a requesting mobile drive unit 20 to limit
the use of particular cells, paths, or equipment by mobile drive
units 20 of a particular state so that they can be available for
use by mobile drive units 20 having states preferable for using the
relevant cell, path, or equipment.
[0132] As one example, route planning module 94 may, as already
discussed, consider the docking status of the requesting mobile
drive unit 20 when generating the path. Similarly, in particular
embodiments (for example, embodiments in which mobile drive units
20 do not actually dock with inventory holders 30 they transport),
route planning module 94 may alternatively consider whether the
requesting mobile drive unit 20 is carrying a load when generating
the path. As a result, route planning module 94 may be able to
selectively use a cell 14 that might otherwise be prohibited for
use in routing because docked or loaded mobile drive units 20
cannot traverse the cell 14 in question due to the presence of a
stored inventory holder 30, the position of overhanging stairs, or
other physical limitations that prevent a docked or loaded mobile
drive unit 20 from being able to cross cell 14. Consequently, cells
14 that would otherwise have to be prohibited from use in any paths
may be selectively utilized in paths for appropriate mobile drive
units 20, thereby increasing the space resources available to route
planning module 94 for routing requested paths 16.
[0133] Additionally, route planning module 94 may use the docking
or loading status of the requesting mobile drive unit 20 as a proxy
for determining the urgency of the path 16 that mobile drive unit
20 is requesting. As a result, in particular embodiments, route
planning module 94 may decide not to route undocked or unloaded
mobile drive units 20 through cells in high-traffic areas even if
the resulting path 16 is significantly longer. Similarly, in
particular embodiments, route planning module 94 may decide not to
generate paths for undocked or unloaded mobile drive units 20 that
require the use of scarce equipment resources, such as drive lifts,
to complete the paths. Consequently, route planning module 94 may
generate prioritized routes for certain mobile drive units 20 based
on the docking or loading status of those mobile drive units
20.
[0134] As another example, route planning module 94 may consider
the power or fuel level of the requesting mobile drive unit 20 when
generating path 16. As a result, route planning module 94 may,
based on the charge or fuel level of the requesting mobile drive
unit 20, generate a path 16 that is less than some maximum length
to ensure the requesting mobile drive unit 20 does not end up
stranded, even if this path will increase the probability that the
requesting mobile drive unit 20 will be delayed by congestion.
Similarly, route planning module 94 may decide based on the fuel or
charge level of the requesting mobile drive unit 20 to generate a
path that runs near a recharging or refueling station to allow the
requesting mobile drive unit 20 to recharge or refuel while en
route to the destination location.
[0135] As yet another example, route planning module 94 may also
consider the current assignment state of a requesting mobile drive
unit 20 in generating path 16 for that mobile drive unit 20. This
assignment state may relate to whether that mobile drive unit 20 is
currently assigned a task, the priority of that task, and/or any
other consideration relating to the tasks currently or previously
assigned to that mobile drive unit 20. As a result, in particular
embodiments, route planning module 94 may only route mobile drive
units 20 that are currently assigned a high-priority task through
what would otherwise be high-traffic cells 14. Similarly, in
particular embodiments, route planning module 94 may decide to
generate a path that requires use of scare equipment resources,
such as drive lifts, only if the requesting mobile drive unit 20 is
currently assigned a task or, alternatively, a high-priority task.
Consequently, in particular embodiments, route planning module 94
generates paths 16 that are quicker to complete for mobile drive
units 20 currently assigned a task, or for those currently assigned
a high-priority task.
[0136] As yet another example, particular embodiments of inventory
system 10 may utilize mobile drive units 20 having different
physical characteristics, such as height and width. In such
embodiments, route planning module 94 may be configured to consider
the physical characteristics of the requesting mobile drive unit 20
in generating path 16. As a result, in such an embodiment, the fact
that it may be physically impossible for certain mobile drive units
20 to move through certain cells 14, follow certain paths 16, or
use certain equipment, may not cause route planning module 94 to
forgo use of such cells 14, paths 16, or equipment when generating
paths for all mobile drive units 20.
[0137] In general, however, route planning module 94 may, in
particular embodiments, consider any one or more aspects of the
state of mobile drive unit 20, or of the load that mobile drive
unit 20 is carrying, in generating a requested path 16.
Consequently, route planning module 94 may, in particular
embodiments, be able to further optimize the use of resource in
inventory system 10 by tailoring path 16 to meet the requirements
of the requesting mobile drive unit 20. Furthermore, by considering
both the destination provided by mobile drive unit 20 and the state
of the requesting mobile drive unit 20 in generating path 16,
certain embodiments of route planning module 94 may be able to
facilitate the completion of a second goal (such as recharging)
with little or no impact on the ability of mobile drive unit 20 to
complete its assigned task. As a result, particular embodiments of
inventory system 10 that implement the techniques described with
respect to FIG. 7 may provide a number of operational benefits.
[0138] FIG. 8 is a flowchart illustrating operation of an example
embodiment of route planning module 94 in implementing some or all
of the techniques described with respect to FIG. 7. While FIG. 8
focuses on a particular embodiment of inventory system 10 that
considers a particular aspect of the state of a mobile drive unit
20 in generating a path 16 to a particular destination for that
mobile drive unit 20, alternative embodiments of inventory system
10 may be configured to consider any appropriate aspect of the
state of mobile drive units 20 when generating paths 16.
Additionally, any of the steps illustrated in FIG. 8 may be
combined, modified, or deleted where appropriate, and additional
steps may also be added to those shown in the flowchart. Moreover,
the described steps may be performed in any suitable order without
departing from the scope of the invention.
[0139] Operation begins at step 640 with route planning module 94
receiving a route request 22 from a mobile drive unit 20. Route
request 22 identifies a destination location within workspace 70.
In particular embodiments, workspace 70 comprises at least one cell
14 associated with a first cell attribute and at least one cell
that is not associated with the first cell attribute. For example,
in particular embodiments, those cells 14 which require tunneling
to traverse are associated with a tunneling attribute, while those
cells which do not require tunneling are not associated with the
tunneling attribute. In the illustrated example, all storage cells
64 in workspace 70 are associated with the tunneling attribute, and
therefore require an mobile drive unit 20 to be tunneling to
traverse them. By contrast, all cells 14 that are not storage cells
64 ("non-storage cells") in workspace 70 are not associated with
the tunneling attribute, and these non-storage cells 64 can be
traversed without tunneling.
[0140] At step 642, route planning module 94 determines a state of
the mobile drive unit 20. As discussed above, route planning module
94 may determine the state of mobile drive unit 20 based on
information included in route request 22 or other communication
with the requesting mobile drive unit 20, information maintained by
route planning module 94, information received from another
component of inventory system 10, and/or any other suitable
information. In response to determining that the requesting mobile
drive unit 20 is associated with a first state, route planning
module 94 generates a path 16 to the destination location for
mobile drive unit 20 that may traverse cells 14 that are associated
with the first cell attribute at step 644. In this case, the
generated path 16 may traverse both cells that are associated with
the first cell attribute and cells that are not associated with the
first cell attribute. In response to determining mobile drive unit
20 is not associated with the first state, however, route planning
module 94 generates a path 16 to the destination location for
mobile drive unit 20 that does not traverse any cells 14 associated
with the first cell attribute at step 646. In this case, the
generated path 16 traverses only cells that are not associated with
the first cell attribute. While, in particular embodiments, the
generated path 16 may allow for a particular mobile drive unit 20
to enter and exit a cell associated with the first cell attribute
from the same direction (e.g. to drop off an inventory holder 30 in
an empty storage cell 64) the generated path 16, in such
embodiments, will not allow or require the requesting mobile drive
unit 20 to traverse any such cells 14.
[0141] For example, in particular embodiments, route planning
module 94 may determine whether mobile drive unit 20 is currently
in a docked or undocked state. If route planning module 94
determines at step 642 that the requesting mobile drive unit 20 is
currently docked, route planning module 94 generates a path 16
between the first destination and the second destination that only
includes cells 14 that are not designated as storage cells 64, such
as path 16a in FIG. 7. Instead, if route planning module 94
determines that the requesting mobile drive unit 20 is not
currently docked, route planning module 94 may generate a path 16
that includes cells 14 that are designated as storage cells 64 as
well as cells 14 that are designated as non-storage cells, such as
path 16b in FIG. 7.
[0142] After generating the appropriate path 16, route planning
module 94 communicates path 16 to the requesting mobile drive unit
20. In the illustrated example, route planning module 94
communicates the generated path 16 to the requesting mobile drive
unit 20 by transmitting a route response 24 to the requesting
mobile drive unit 20 that specifies the generated path 16 at step
648. Route response 24 includes information defining the generated
path 16. After receiving route response 24, mobile drive unit 20
may then begin traversing the generated path 16 to the destination
location, and the operation of route planning module 94 with
respect to generating this path 16 ends, as shown in FIG. 8.
[0143] FIGS. 9-11 illustrate techniques for selecting a destination
for mobile drive unit 20 based on the state of the relevant mobile
drive unit 20. More specifically, FIG. 9 illustrates an example of
how management module 15 might utilize such techniques to select
destinations for mobile drive units 20 based on their task
assignments, while FIG. 10 illustrates an example of how management
module 15 might utilize such techniques to select a destination for
mobile drive units 20 based on their capability to complete tasks.
Additionally, FIG. 11 is a flowchart illustrating example operation
of management module 15 in a particular implementation of these
techniques. As one example of how such a technique might be used in
inventory system 10, in particular embodiments of inventory system
10, mobile drive units 20 and inventory holders 30 may be sized and
shaped to allow an undocked mobile drive unit 20 and an inventory
holder 30 to share the same portion of workspace 70, such as
storage cells 64. As a result, management module 15 may instruct
mobile drive units 20 that are not currently engaged in completing
any assigned tasks to park in a space currently storing an
inventory holder 30. This may reduce the possibility of an idle
mobile drive unit 20 becoming an obstacle in workspace 70 and free
more room for traffic. Additionally, these techniques may result in
idle mobile drive units 20 being directed to a location selected to
best situate the relevant mobile drive unit 20 for responding to
its next assignment.
[0144] The example illustrated by FIG. 9 begins with resource
scheduling module 92 determining a state of mobile drive unit 20c.
In particular, in this example, resource scheduling module 92
determines an assignment state of mobile drive unit 20c. The
assignment state may relate to whether the relevant mobile drive
unit 20 is currently assigned one or more tasks, is actively
engaged in completing one or more tasks, has just completed one or
more previously-assigned tasks, and/or any other consideration
associated with the tasks that have been assigned to and/or
completed by mobile drive unit 20c.
[0145] Additionally, resource scheduling module 92 may determine
the assignment state of a particular mobile drive unit 20 in any
appropriate manner. In particular embodiments, mobile drive units
20, upon completing a task, notify resource scheduling module 92 of
the fact that they have completed their currently assigned tasks.
In the illustrated example, mobile drive unit 20c notifies resource
scheduling module 92 by transmitting a task completion message 192.
Task completion message 192 indicates to resource scheduling module
that the mobile drive unit 20 that transmitted task completion
message 192 has completed its currently-assigned task. Task
completion message 192 may include an identifier for the idle
mobile drive unit 20 and/or other information suitable to allow
resource scheduling module 92 to determine that the relevant mobile
drive unit 20 has completed its task. As a result, resource
scheduling module 92 determines the assignment state of mobile
drive unit 20c based on receipt of task completion message 192. In
alternative embodiments, resource scheduling module 92 may monitor
one or more mobile drive units 20 operating in workspace 70 and may
maintain the relevant state information as part of its normal
operation.
[0146] In response to determining that mobile drive unit 20c has
completed its assigned tasks, resource scheduling module 92 selects
a destination for mobile drive unit 20c that is chosen based on the
fact that mobile drive unit 20c is idle. Depending on the
configuration of inventory system 10, resource scheduling module 92
may use the knowledge that mobile drive unit 20c is idle in any
suitable manner in selecting an appropriate destination for mobile
drive unit 20c. By providing special treatment for idle mobile
drive units 20, resource scheduling module 92 may selectively place
these mobile drive units 20 to improve the overall effectiveness of
inventory system 10.
[0147] In particular embodiments, resource scheduling module 92 may
direct mobile drive unit 20c to low-traffic locations to prevent
mobile drive unit 20c from creating congestion while it awaits
another task. As one example, resource scheduling module 92 may
select a destination location from among storage cells 64 that
currently hold a stored inventory holder 30. Storage cells 64c,
64d, and 64e in FIG. 9 illustrate examples of such locations.
[0148] As another example, resource scheduling module 92 may direct
mobile drive unit 20c to a low-traffic destination by selecting a
cell 14 that is otherwise inaccessible by mobile drive units 20, as
a destination and/or to move through, that are currently docked
with an inventory holder 30. For example, in particular
embodiments, resource scheduling module 92 may identify a
destination from among cells 14 in workspaces that have overhanging
staircases, narrow entryways, low ceilings, and/or are otherwise
inaccessible by mobile drive units 20 docked with the inventory
holders 30 used in that embodiment of inventory system 10. This may
help ensure that mobile drive units 20 transporting inventory
holders 30 will not need to use the cell 14 selected as a parking
space for mobile drive unit 20c. Workspace 70 illustrated in FIG. 9
includes a stairway 890 that prevents mobile drive units 20
transporting inventory holders 30 from moving through at least
cells 14c-14g. As a result, cells 14c-14g illustrate an example of
this type of inaccessible cell in FIG. 9.
[0149] As yet another example, in particular embodiments resource
scheduling module 92 may direct mobile drive unit 20c to a
low-traffic destination by selecting a destination location based
on the actual traffic flow through the relevant area. For example,
resource scheduling module 92 may consider the frequency with which
a particular cell 14 is included in paths 16 generated by route
planning module 94, the frequency with which segments that include
that cell 14 are requested for reservation, and/or any other
appropriate indicator of traffic flow, and may then select a
destination for mobile drive unit 20c from among cells 14 that are
only infrequently used by mobile drive units 20. Cells 14h-14j in
FIG. 9 are assumed, for the purposes of this example, to be
infrequently used by mobile drive units 20 and thus illustrate an
example of this type of location.
[0150] Additionally, resource scheduling module 92 may attempt to
improve operation of inventory system 10 by placing mobile drive
unit 20c in an optimal position for responding to subsequent tasks
assigned to mobile drive unit 20c. For example, in particular
embodiments, resource scheduling module 92 may select a destination
location for mobile drive unit 20c that is close to stored
inventory holders 30. Cells 14k-14l in FIG. 9 illustrate generic
examples of this type of location.
[0151] Furthermore, in particular embodiments, resource scheduling
module 92 may select a destination for mobile drive unit 20c that
is close to frequently-requested inventory holders 30. For example,
in a mail-order warehouse, resource scheduling module 92 may select
a destination for mobile drive unit 20c near inventory holders 30
that store top-selling inventory items 40. As a result, in such
embodiments, resource scheduling module 92 may consider the
frequency with which particular inventory holders 30 are used in
responding to inventory requests and select a location for mobile
drive unit 20c that is near a frequently-requested inventory holder
30. Moreover, in particular embodiments, resource scheduling module
92 may attempt to achieve both goals by selecting a destination for
mobile drive unit 20c that is located in a storage cell 64 that
holds a frequently-requested inventory holder 30. As a result,
mobile drive unit 20c may be kept out of traffic and also optimally
positioned for responding to subsequent tasks likely to be assigned
to mobile drive unit 20. For the purposes of this example,
inventory holders 30m and 30n are assumed to be
frequently-requested inventory holders. As a result, due to the
fact that storage cells 64m and 64n are each currently storing an
inventory holder 30 and, in particular, an inventory holder 30 that
is frequently requested, storage cells 64m and 64n in FIG. 9
represent example locations that satisfy both goals.
[0152] More generally, resource scheduling module 92 may select any
particular type of location as a destination for a mobile drive
unit 20 having a particular assignment status. Additionally, while
FIG. 9 illustrates an example configuration in which particular
types of cells 14 that may be selected as destinations are located
in particular locations in workspace 70, resource scheduling module
92 may utilize destinations of any type located anywhere within
workspace 70.
[0153] After selecting a destination for mobile drive unit 20c,
resource scheduling module 92 communicates the destination location
to mobile drive unit 20c. In the illustrated embodiment, resource
scheduling module 92 transmits a task assignment 18 that identifies
the selected destination location. In particular embodiments,
mobile drive unit 20c may then request a path and move to the
destination, as described with respect to FIG. 5. In particular
embodiments, mobile drive unit 20 may then wait at the destination
until receiving another task assignment 18.
[0154] Thus, by selecting parking locations in low-traffic areas
for idle mobile drive units 20, a particular embodiment of resource
scheduling module 92 may reduce the probability that such mobile
drive units 20 will create congestion while they wait for further
assignments. Furthermore, by placing idle mobile drive units 20
near inventory holders 30 or other appropriate components of
inventory system 10, resource scheduling module 92 can reduce the
completion time for future tasks that idle mobile drive units 20
are assigned. More generally, a particular embodiment of inventory
system 10 may be configured to use the knowledge that a particular
mobile drive unit 20 is idle in any appropriate manner to select a
destination for that mobile drive unit 20. By strategically placing
mobile drive units 20 when they are not being used, resource
scheduling module 92 can further increase the overall efficiency
and throughput of inventory system 10.
[0155] FIG. 10 illustrates another example of how resource
scheduling module 92 may use various aspects of the state of a
mobile drive unit 20 to determine a location for that mobile drive
unit 20. More specifically, FIG. 10 illustrates how resource
scheduling module 92 may use a capability state of a mobile drive
unit 20 to determine a location for that mobile drive unit 20. By
determining an appropriate destination for a mobile drive unit 20
based on the repair status, energy supply status, and/or any other
consideration relating to the ability of that mobile drive unit 20
to complete assigned tasks, in general, and/or to complete a
particular assigned task, resource scheduling module 92 may
optimize the placement of mobile drive units 20 in need of repair,
re-supply, and/or other types of maintenance to regain or improve
their capability of completing assigned tasks.
[0156] The example illustrated by FIG. 10 begins with resource
scheduling module 92 determining the state or a particular aspect
of the state of mobile drive unit 20d. In particular, in this
example, resource scheduling module 92 determines a capability
state of mobile drive unit 20d. The capability state may relate to
the repair status, supply status, maintenance status, and/or any
other aspect of the mobile drive units current ability or
anticipated future ability to complete assigned tasks.
[0157] Resource scheduling module 92 may determine the capability
state of mobile drive unit 20d in any appropriate manner. In the
illustrated embodiment, mobile drive units 20d is configured to
transmit a capability message 990 when its capabilities change
and/or an event affecting its capabilities occurs. For example, a
mobile drive unit 20 may transmit a capability message 990 when its
fuel level or battery charge level drops, parts or components of
mobile drive unit 20d break or become unusable, a scheduled
maintenance period for mobile drive unit 20d elapses, or any other
event occurs affecting or potentially affecting the ability of
mobile drive unit 20d to complete assigned tasks and/or remain
active. In alternative embodiments, resource scheduling module 92
may monitor various characteristics of mobile drive units 20 or
events associated with mobile drive units 20 as part of its normal
operation and determine the capability state of mobile drive units
20 based on the monitored information. In yet other embodiments,
resource scheduling module 92 may receive information from other
components of inventory system 10 from which resource scheduling
module 92 determines the capability state of mobile drive units 20.
In general, however, resource scheduling module 92 may determine
the capability state of a particular mobile drive unit 20 using any
appropriate information obtained from any suitable source.
[0158] Returning to the illustrated example, resource scheduling
module 92, after determining the capability state of mobile drive
unit 20d from capability message 990, selects a location for mobile
drive unit 20d based on this capability state. Resource scheduling
module 92 then generates a task assignment 18 identifying the
selected location and transmits task assignment 18 to mobile drive
unit 20 for completion. By selecting a destination appropriate for
mobile drive unit 20 based on its capability state, resource
scheduling module 92 may be able to reduce the effects of damage,
energy depletion, and other debilitating occurrences on the
congestion, throughput, and responsiveness of inventory system
10.
[0159] As one example, in particular embodiments, the capability
state of mobile drive unit 20d may relate to its state of repair.
If any components, or a specific component, of mobile drive unit
20d breaks or becomes unusable, mobile drive unit 20 may transmit
capability message 990 to resource scheduling module 92. Resource
scheduling module 92 may then select a destination for mobile drive
unit 20 based on the knowledge that mobile drive unit 20d needs
repair. In particular embodiments, inventory system 10 may include
automated repair stations 992 that are capable of repairing certain
types of malfunctions or replacing certain types of parts. For
example, inventory system 10 may include an automated repair
station 992 that can replace blown tires, clean sensors, or perform
other types of repairs with limited or no human involvement. In
such embodiments, resource scheduling module 92 may select a
destination at or near an appropriate automated repair station 992,
such as cells 14m, 14n, and 14o, in response to determining mobile
drive unit 20d needs repair or, in response to determining mobile
drive unit 20d needs a particular type of repair.
[0160] As another example, in particular embodiments, inventory
system 10 may include cells 14, such as cells 14p and 14q that
provide easy access for human operators attempting to repair mobile
drive units 20, and resource scheduling module 92 may be configured
to send mobile drive units 20 to these cells for at least certain
types of repairs. In particular embodiments, such as the one
illustrated in FIG. 10, some or all of workspace 70 may be enclosed
by a wall, railing, or other barrier that prevents or limits entry
to workspace 70 and resource scheduling module 92 may select a
destination near access points to workspace 70 (such as doors 998
in FIG. 10). Alternatively or additionally, resource scheduling
module 92 may select a destination that is located away from
high-traffic areas, reserved for repair work, or otherwise situated
to allow human operators safe and/or easy access to mobile drive
units needing repair. Thus, in response to determining drive unit
20d needs repair or, in response to determining mobile drive unit
20d needs a particular type of repair (e.g., a type of repair too
complicated for automated repair station 994), resource scheduling
module 92 may select a destination, such as cells 14p and 14q, for
mobile drive unit 20d that is easily accessible to human
operators.
[0161] As yet another example, in particular embodiments, the
capability state of mobile drive unit 20d may relate to its fuel or
charge level. For example, in particular embodiments, mobile drive
unit 20d may transmit capability message 990 indicating its fuel
level, battery charge, or other appropriate form of energy level to
resource scheduling module 92. Resource scheduling module 92 may
then select an appropriate destination for mobile drive unit 20d
based on this information. In particular embodiments, inventory
system 10 may include one or more energy stations 996 at which
mobile drive units 20 may be recharged or refueled, receive a new
battery, or otherwise receive additional energy for responding to
assigned tasks. Thus, in response to determining drive unit 20d
needs refueling or recharging, resource scheduling module 92 may
select a destination, such as cells 14r, 14s, or 14t, that is close
to an appropriate energy station 996.
[0162] As yet another example, in particular embodiments, resource
scheduling module 92 may be configured to send mobile drive units
20 that need repair, refuel, or recharging to low-traffic cells 14.
Consequently, in such embodiments, mobile drive units 20 that are
not capable of completing assigned tasks will not impede traffic
while awaiting repair or removal from inventory system 10. In doing
so, resource scheduling module 92 may consider the frequency with
which a particular cell 14 is included in paths 16 generated by
route planning module 94, the frequency with which segments that
include that cell 14 are requested for reservation, and/or any
other appropriate indicator of traffic flow, and may then select a
destination for mobile drive unit 20d from among cells 14 that are
only infrequently used by mobile drive units 20. Additionally, when
selecting a destination for such mobile drive units 20, resource
scheduling module 92 may consider the fact that, because of
physical constraints, system policies, and/or any other suitable
considerations a particular cell 14 is not otherwise available as a
destination for mobile drive units 20 and/or for mobile drive units
20 to move through. In FIG. 10, cells 14u and 14v in are assumed,
for the purposes of this example, to be infrequently used by mobile
drive units 20 and thus illustrate an example of this type of
location. Thus, in response to determining drive unit 20d needs
repair or, in response to determining mobile drive unit 20d needs a
particular type of repair, resource scheduling module 92 may select
a destination in a low-traffic area, such as cells 14u or 14v.
[0163] As yet another example, resource scheduling module 92 may
select a particular task or tasks for a mobile drive unit 20 based
on the degraded capabilities of mobile drive unit 20. Thus, when
resource scheduling module 92 detects that a mobile drive unit 20
is in a state of disrepair, low on batteries or fuel, or otherwise
in a state of degraded capabilities, resource scheduling module 92
may assign that mobile drive unit 20 a task associated with lighter
inventory holders 30, inventory holders 30 closer to the position
of the mobile drive unit 20, or otherwise better suited for
transport by the degraded mobile drive unit 20 than the inventory
holders 30 associated with other tasks. As a result, resource
scheduling module 92 may select for the relevant mobile drive unit
20 a destination location associated with such inventory holders
30.
[0164] More generally, resource scheduling module 92 may select any
particular type of location as a destination for a mobile drive
unit 20 having a particular capability state. Additionally, while
FIG. 10 illustrates an example configuration in which particular
types of cells 14 that may be selected as destinations are located
in particular locations in workspace 70, resource scheduling module
92 may utilize destinations of any type located anywhere within
workspace 70.
[0165] After resource scheduling module 92 selects an appropriate
destination for mobile drive unit 20d based on its capability
state, resource scheduling module 92 communicates the destination
to mobile drive unit 20d. In the illustrated example, communicates
the destination by transmitting a task assignment 18 to mobile
drive unit 20d that identifies the selected destination. Mobile
drive unit 20d then requests a path 16 to the selected destination
and travels the path to the selected destination as described above
with respect to FIG. 5. In particular embodiments, mobile drive
unit 20 may then remain at the selected destination until being
repaired or receiving appropriate maintenance. Mobile drive unit 20
may then become available to receive other task assignments from
resource scheduling module 92.
[0166] Although the above description focuses on an example in
which mobile drive unit 20d transmits information indicating its
capability state to resource scheduling module 92, in particular
embodiments, resource scheduling module 92 may instead determine
the capability state of a particular mobile drive unit 20 based on
information resource scheduling module 92 retrieves from a source
other than the relevant mobile drive unit 20. For example, in
particular embodiments, mobile drive unit 20 may be repaired or
maintained according to a repair or maintenance schedule, and
resource scheduling module 92 may determine the capability state of
a particular mobile drive unit 20 based on this schedule and stored
information indicating the last time the relevant mobile drive unit
20 was repaired or received maintenance.
[0167] Thus, by selecting parking spaces for mobile drive units 20
that increase the speed or ease with which mobile drive units 20
can be repaired, refueled, recharged, maintained, or otherwise have
their capabilities restored, resource scheduling module 92 can
limit the negative impact of mobile drive units 20 that are
damaged, expended, or otherwise incapable of completing assigned
tasks. Moreover, by choosing parking spaces in low-traffic areas
for such mobile drive units 20, particular embodiments of resource
scheduling module 92 may reduce the probability that such mobile
drive units 20 will create congestion while they await repair or
maintenance. More generally, a particular embodiment of inventory
system 10 may be configured to use the knowledge that a particular
mobile drive unit 20 is damaged, expended, or otherwise incapable
of completing assigned tasks in any appropriate manner to select a
destination for that mobile drive unit 20. By strategically
locating mobile drive units 20 that are in such a state, resource
scheduling module 92 can further increase the overall efficiency
and throughput of inventory system 10.
[0168] FIG. 11 is a flowchart illustrating the operation of a
particular embodiment of resource scheduling module 92 in selecting
a destination location for a mobile drive unit 20. More
specifically, FIG. 11 illustrates the process by which resource
scheduling module 92, in particular embodiments of inventory system
10, selects a destination for a particular mobile drive unit 20
based on the state of that mobile drive unit 20. Although FIG. 11
focuses on an example in which resource scheduling module 92
selects a destination for mobile drive unit 20 based on an
assignment state of the mobile drive unit 20, particular
embodiments of resource scheduling module 92 may be configured to
instead select a destination based on a capability state or any
other aspect of the overall state of the relevant mobile drive unit
20. Additionally, any of the steps illustrated in FIG. 11 may be
combined, modified, or deleted where appropriate, and additional
steps may also be added to those shown in the flowchart. Moreover,
the described steps may be performed in any suitable order without
departing from the scope of the invention.
[0169] Operation, in this example, begins with resource scheduling
module 92 determining an assignment state of a particular mobile
drive unit 20 at step 650. As noted above, the assignment state may
relate to whether the mobile drive unit 20 is currently assigned
one or more tasks, is actively engaged in completing one or more
tasks, and/or has just completed one or more previously-assigned
tasks, and/or any other aspect of the tasks that have been assigned
to and/or completed by mobile drive unit 20. At step 652, resource
scheduling module 92 determines, based on this assignment state,
whether mobile drive unit 20 is currently completing any assigned
tasks. If resource scheduling module 92 determines that mobile
drive unit 20 is currently completing an assigned task, resource
scheduling module 92 may allow mobile drive unit 20 to complete its
assigned task and operation of resource scheduling module 92 with
respect to selecting a destination for that mobile drive unit 20
may end as shown in FIG. 11.
[0170] If, instead, resource scheduling module 92 determines that
mobile drive unit 20 is not currently completing any assigned
tasks, resource scheduling module 92 selects a destination for
mobile drive unit 20, at step 654, based on the assignment state of
mobile drive unit 20. Depending on the configuration of resource
scheduling module 92, resource scheduling module 92 may select any
appropriate destination for mobile drive unit 20 based on its
assignment state. In particular embodiments, resource scheduling
module 92 may select a low-traffic destination or a destination
near locations associated with anticipated future tasks. Thus, in
response to determining that mobile drive unit 20 is idle, resource
scheduling module 92 may select a location based on a traffic level
associated with the destination, based on its proximity to
inventory holders 30, or based on any other consideration
appropriate a state of the mobile drive unit 20.
[0171] At step 656, resource scheduling module 92 transmits
information identifying the selected destination to mobile drive
unit 20. In particular embodiments, resource scheduling module 92
transmits a task assignment 18 that includes the selected
destination. At step 658, mobile drive unit 20 moves to the
selected destination.
[0172] Mobile drive unit 20 then waits until it receives another
assigned task at step 660. Thus, at step 662, mobile drive unit 20
determines whether mobile drive unit 20 has received another
assigned task. If so, mobile drive unit 20 begins executing the
assigned task at step 664, and the operation of resource scheduling
module 92 with respect to selecting a destination for mobile drive
unit 20 ends as shown in FIG. 11.
[0173] While mobile drive unit 20 is waiting for another assigned
task, resource scheduling module 92 may determine, at step 666,
that a portion of workspace 70 associated with the selected
destination, such as a cell 14 that contains the selected
destination, is needed for another use. As a result, resource
scheduling module 92 may select another destination for mobile
drive unit 20 at step 668, and operation may return to step 656
with resource scheduling module 92 transmitting information
identifying the newly-selected location to mobile drive unit
20.
[0174] FIGS. 12A-12E, 13, and 14 illustrate a technique for
managing the coordinated movement, or "platooning," of mobile drive
units 20. More specifically, FIGS. 12A-12E illustrate an example of
how coordinated movement techniques might be implemented and
utilized in a particular embodiment of inventory system 10. FIG. 13
is a flowchart illustrating example operation of management module
15 in utilizing a particular implementation of these techniques,
while FIG. 14 is a flowchart illustrating example operation of a
mobile drive unit 20 in utilizing a particular implementation of
these techniques.
[0175] As one example of how such a technique might be implemented
and utilized in inventory system 10, management module 15 may
employ modified reservation policies for a group of mobile drive
units 20 that are moving in the same direction. In particular, one
or more mobile drive units 20 in the rear of the group may be
allowed to reserve a segment 17 that includes a particular cell 14
occupied by the mobile drive unit 20 in front of that mobile drive
unit 20 before the front mobile drive unit 20 vacates the relevant
cell 14, based on the expectation that the mobile drive unit(s) 20
in the front will be moving at the same time that the mobile drive
unit(s) 20 in the back are moving and that, as a result, a
collision will not occur despite the relaxed reservation
policy.
[0176] FIGS. 12A-12B illustrate an example of how these policies
might be implemented in the case of mobile drive units 20 that are
not moving in the same direction. More specifically, FIGS. 12A-12B
show an example in which mobile drive unit 20e is attempting to
reserve a path segment 17x to move in the direction indicated by
arrow 401. In the illustrated example, segment 17x is presently
reserved and occupied by mobile drive unit 20f. Moreover, mobile
drive unit 20e is attempting to move towards mobile drive unit 20f
as indicated by arrow 402. FIGS. 12A and 12B also show a drive
identification signal 430 that is generated by mobile drive unit
20f and described in greater detail below with respect to FIGS.
12C-12E.
[0177] FIG. 12A shows the location of mobile drive units 20e and
20f, in this example, when mobile drive unit 20e attempts to
reserve segment 17x. As shown in FIG. 12A, mobile drive unit 20e
attempts to reserve segment 17x by transmitting reservation request
26 to management module 15. Similar to the result under the
reservation policies described above with respect to FIG. 5, this
reservation request 26 will be denied even under the modified
reservation policies utilized in this example, because mobile drive
unit 20f already occupies cell 14xx on the requested segment 17x
and mobile drive unit 20e and mobile drive unit 20f are not moving
in the same direction. In the illustrated example, management
module 15 notifies mobile drive unit 20e that the attempted
reservation was unsuccessful by transmitting reservation response
28 indicating that the reservation was unsuccessful, as shown in
FIG. 12B.
[0178] Additionally, in particular embodiments, mobile drive units
20e may be equipped with an obstacle sensor that senses objects in
the path of mobile drive unit 20e, including other mobile drive
units 20. As a result, mobile drive unit 20e may stop moving if
mobile drive unit 20e detects mobile drive unit 20f in its path
while in transit, or may refrain from requesting a reservation if
mobile drive unit 20e detects mobile drive unit 20f on a segment
17, such as segment 17x, that mobile drive unit 20e is attempting
to reserve. Consequently, in particular embodiments, mobile drive
unit 20e may not even attempt to reserve segment 17x if mobile
drive unit 20e detects mobile drive unit 20f on segment 17x as is
shown in the example.
[0179] FIGS. 12C-12E illustrate an example of how the modified
policies might operate in the case of mobile drive units 20 that
are moving in the same direction. In FIGS. 12C-12E, mobile drive
unit 20e is again attempting to reserve path segment 17x to move in
the direction indicated by arrow 401. As in the previous
illustrations, segment 17x is already reserved and occupied by
mobile drive unit 20f. In this case, however, mobile drive unit 20f
is attempting to move away from mobile drive unit 20e as indicated
by arrow 403.
[0180] FIG. 12C shows the location of mobile drive units 20e and
20f when mobile drive unit 20e attempts to reserve segment 17x. As
shown in FIG. 12C, mobile drive unit 20e again attempts to reserve
segment 17x by transmitting a reservation request 26 to management
module 15. In this case, however, segment reservation module 96 (or
another appropriate component of management module 15) determines
that mobile drive unit 20f is moving in the same direction as
mobile drive unit 20e. As a result, segment reservation module 96
decides that it is acceptable to allow mobile drive unit 20e to
reserve segment 17x sooner than mobile drive unit 20e would
otherwise be able to do so. As a result, management module 15 may
transmit a reservation response 28 indicating that mobile drive
unit 20f has successfully reserved segment 17, as shown in FIG.
12D.
[0181] Consequently, in particular embodiments, mobile drive unit
20e may be able to successfully request reservations that overlap
with the reservations of mobile drive unit 20f based on the fact
that mobile drive units 20e and 20f are moving in the same
direction as one another. Additionally, depending on the specific
policies implemented by the relevant embodiment of inventory system
10, mobile drive unit 20e may also be permitted to move into a
given cell 14 earlier than would otherwise be allowed. As a result,
in particular embodiments, mobile drive unit 20e may, at particular
times during its movement along segment 17x, occupy a portion of
the same cell 14 as mobile drive unit 20e, as shown in FIG. 12E.
Thus, the modified reservation policies shown in FIGS. 12C-12E
allow for mobile drive units 20 traveling in the same direction to
follow one another with a much smaller distance separating them
than would otherwise be allowed.
[0182] Additionally, as noted above, mobile drive unit 20e may also
include a collision detector capable of detecting obstacles in its
way. If the collision detector detects an obstacle in the path of
mobile drive unit 20e, the collision detector may prevent mobile
drive unit 20e from moving even if mobile drive unit 20e has
successfully reserved the segments 17 in its path. Therefore, in
embodiments of inventory system 10 in which mobile drive units 20
utilize such collision detectors, mobile drive units 20 may also be
configured to transmit a drive identification signal 430, as shown
in FIGS. 12A-12E.
[0183] Drive identification signal 430 may represent any
appropriate form of signal that indicates to other mobile drive
units 20 that the object transmitting drive identification signal
430 is itself a mobile drive unit 20. Examples of drive
identification signals include, but are not limited to, audio,
visible light, radio, infra-red, and ultraviolet signals. In
particular embodiments, drive identification signal 430 may
comprise a line-of-sight signal, and mobile drive units 20 may
transmit drive identification signal 430 in a direction opposite
the direction in which they are traveling. As a result, only mobile
drive units 20 positioned behind the transmitting mobile drive unit
20 (relative to the direction the transmitting mobile drive unit 20
is traveling) will be able to detect drive identification signal
430. Consequently, mobile drive units 20 that do detect drive
identification signal 430 can determine, based on this detection,
that the obstacle they are detecting is in fact a mobile drive unit
20 moving away from them and these mobile drive units 20 may
override their collision detectors as a result of this
determination.
[0184] Furthermore, in addition to identifying the transmitting
mobile drive unit 20 as a mobile drive unit, drive identification
signal 430 may carry additional information about the transmitting
mobile drive unit 20 to allow any nearby mobile drive unit 20 to
modify its movement based on the movement or planned movement of
the transmitting mobile drive unit 20. For example, drive
identification signal 430 may contain the current speed, current
acceleration/deceleration, destination, size, and/or location of
the transmitting mobile drive unit 20 and/or any other appropriate
information to be used by mobile drive units 20 trying to navigate
within the vicinity of the transmitting mobile drive unit 20. As a
result, when the transmitting mobile drive unit 20 adjusts its
speed or direction, mobile drive units 20 following behind it can
detect this adjustment based on information contained in drive
identification signal 430. The trailing mobile drive units 20 may
then adjust their own speed in response and avoid collisions when
the transmitting mobile drive unit 20 brakes or otherwise
decelerates.
[0185] Thus, in the example illustrated by FIGS. 12C-12E, mobile
drive unit 20f transmits drive identification signal 430 that
informs mobile drive unit 20e that mobile drive unit 20f is a
mobile drive unit 20 and that it is traveling at a particular
speed. When mobile drive unit 20e detects drive identification
signal 430 transmitted by mobile drive unit 20f, mobile drive unit
20e determines that the object detected by its collision detector
is in fact a mobile drive unit 20 moving in the opposite direction.
As a result, mobile drive unit 20e overrides its collision detector
and proceeds in the direction of mobile drive unit 20f, as shown by
the dotted-line silhouette in FIG. 12E. As mobile drive unit 20f
adjusts its speed, mobile drive unit 20e detects the change based
on information in drive identification signal 430 and adjusts its
own speed to match. As a result, mobile drive unit 20e is able to
follow closely behind mobile drive unit 20f while they are
traveling in the same direction while limiting or eliminating the
possibility of a collision between mobile drive units 20e and
20f.
[0186] FIG. 13 is a flowchart illustrating example operation of
segment reservation module 96 in implementing the techniques
described above. In particular, FIG. 13 details operation of a
particular embodiment of segment reservation module 96 in managing
the movement of a first mobile drive unit 20 and a second mobile
drive unit 20 that may be operating in close proximity to one
another. Any of the steps illustrated in FIG. 13 may be combined,
modified, or deleted where appropriate, and additional steps may
also be added to those shown in the flowchart. Moreover, the
described steps may be performed in any suitable order without
departing from the scope of the invention.
[0187] Operation begins, at step 670, with resource scheduling
module 92 receiving, from first mobile drive unit 20, a reservation
request 26 requesting use of a path segment 17 to move in a first
direction. Prior to or after receiving reservation request 26,
resource scheduling module 92 determines that a second mobile drive
unit 20 is currently located on the requested path segment 17 at
step 672. Because the second mobile drive unit 20 is currently
located on the requested path segment 17, resource scheduling
module 92 determines whether the second mobile drive unit 20 is
moving in the first direction at step 674.
[0188] If resource scheduling module 92 determines that the second
mobile drive unit 20 is moving in the first direction, resource
scheduling module 92 grants the reservation. As a result, resource
scheduling module 92 reserves the requested path segment 17 at step
676. At step 678, resource scheduling module 92, in particular
embodiments, then transmits a reservation response 28 indicating
that the requested reservation was successful.
[0189] If resource scheduling module 92 determines that the second
mobile drive unit 20 is not moving in the first direction, resource
scheduling module 92 denies the reservation. In particular
embodiments, resource scheduling module 92 may then transmit a
reservation response 28 to the first mobile drive unit 20, at step
680, indicating that the first mobile drive unit 20 did not
successfully reserve the requested segment 17. The operation of
resource scheduling module 92 with respect to responding to
reservation request 26 may then end, as shown in FIG. 13.
[0190] FIG. 14 is a flowchart illustrating example operation of a
mobile drive unit 20 in implementing the techniques described
above. In particular, FIG. 14 details the decision-making utilized
in particular embodiments of inventory system 10 by a first mobile
drive unit 20 operating in close proximity to a second mobile drive
unit 20. Any of the steps illustrated in FIG. 14 may be combined,
modified, or deleted where appropriate, and additional steps may
also be added to those shown in the flowchart. Moreover, the
described steps may be performed in any suitable order without
departing from the scope of the invention.
[0191] Operation begins at step 702 with the first mobile drive
unit 20 receiving a command instructing it to move in a first
direction. This command may represent a task assignment 18
assigning mobile drive unit 20 a task associated with a destination
in the first direction, a route response 24 identifying a path 16
heading in the first direction, and/or any other appropriate form
of command instructing the first mobile drive unit 20 to move in
the first direction. At step 704, the first mobile drive unit 20
begins moving in the first direction along a path segment 16.
[0192] At step 706, the first mobile drive unit 20 detects an
object located in the first direction along the path segment 16. In
particular embodiments, mobile drive units 20 include an obstacle
sensor 160 capable of detecting objects in the paths of mobile
drive units 20. Thus, in such embodiments, the obstacle sensor 160
of first mobile drive unit 20 may detect the object.
[0193] At step 708, the first mobile drive unit 20 determines
whether the detected object is another mobile drive unit 20 moving
in the first direction. In particular embodiments, mobile drive
units 20 transmit drive identification signals 430 that identify
them as mobile drive units 20. Moreover, in particular embodiments,
mobile drive units 20 transmit drive identification signal 430 in a
direction opposite their direction of travel. As a result, only
mobile drive units 20 behind a transmitting mobile drive units 20
(relative to the direction of travel of the transmitting mobile
drive unit 20) receive the drive identification signal 430
transmitted by the transmitting mobile drive unit 20. Thus, in such
embodiments, the first mobile drive unit 20 may determine whether
the detected object is a second mobile drive unit 20 moving in the
first direction by determining whether the first mobile drive unit
20 detects a drive identification signal 430 transmitted by the
object.
[0194] If the first mobile drive unit 20 determines that the
detected object is not a second mobile drive unit 20 traveling in
the second direction, the first mobile drive unit 20 may terminate
movement in the first direction at step 710. The first mobile drive
unit 20 may then wait until the first mobile drive unit 20 no
longer detects the detected obstacle in its path, move around the
detected obstacle, request a new path, and/or take any other
remedial action appropriate based on the configuration of the first
mobile drive unit 20. Operation may then end with respect to this
particular movement of the first mobile drive unit 20, as shown in
FIG. 14.
[0195] If, instead, the first mobile drive unit 20 determines that
the detected object is a second mobile drive unit 20 moving in the
first direction, the first mobile drive unit 20 continues moving in
the first direction. Additionally, in particular embodiments, the
second mobile drive unit 20 may communicate information regarding
its current state to the first mobile drive unit 20. For example,
in particular embodiments, the drive identification signal 430
transmitted by the second mobile drive unit 20 may include
information specifying the current speed of the second mobile drive
unit 20, its position, and the maximum rate of deceleration it can
presently achieve. At step 712, the first mobile drive unit 20 may
then calculate a speed at which it can safely follow the second
mobile drive unit 20. In particular embodiments, first mobile drive
unit 20 may calculate this speed based on the state of first mobile
drive unit 20 and/or the state of second mobile drive unit 20, as
described above. At step 714, the first mobile drive unit 20 may
continue movement in the first direction at the calculated speed.
Operation may then end with respect to this particular movement of
the first mobile drive unit 20, as shown in FIG. 14.
[0196] FIGS. 15 and 16 illustrate operation of a particular
embodiment of route planning module 94 in utilizing various types
of equipment in inventory system 10 to facilitate the movement of
mobile drive units 20. More specifically, FIG. 15 illustrates a
particular embodiment of inventory system 10 that includes
conveyance equipment to supplement the capabilities of mobile drive
units 20 in transporting inventory holders 30, while FIG. 16
illustrates an example of how route planning module 94 may plan
paths for mobile drive units 20 that rely on such equipment.
Additionally, FIG. 17 is a flowchart illustrating example operation
of inventory system 10 in utilizing particular types of conveyance
equipment to transport inventory holders 30.
[0197] FIG. 15 illustrates an embodiment of inventory system 10
that includes certain types of conveyance equipment that route
planning module 94 may incorporate into paths 16 that route
planning module 94 generates for requesting mobile drive units 20.
In general, inventory system 10 may include any appropriate form of
conveyance equipment to supplement the transportation capabilities
provided by mobile drive units 20. Such conveyance equipment may
include, but is not limited to, vertical lifts, horizontal
conveyors, elevators, escalators, trucks, ferries, and/or any other
equipment capable of transporting inventory holders 30 and/or
mobile drive unit 20 that are themselves transporting inventory
holders 30. As a result, particular embodiments of inventory system
10 that include such conveyance equipment may be capable of
providing alternative manners of conveyance unachievable by the
particular type of mobile drive unit 20 utilized in that embodiment
of inventory system 10 (e.g., transportation between floors of a
multi-floored workspace 70 or transportation between buildings in a
multi-building workspace 70) or may be capable of more efficiently
providing transportation of inventory holders 30 under certain
conditions (e.g., scheduled transportation of groups of inventory
holders 30 along high-traffic paths 16 or segments 17).
[0198] To optimize use of such conveyance equipment, management
module 15 may implement certain techniques for path planning,
segment reservation, and/or other aspects of managing inventory
system 10 that consider the characteristics, advantages, and/or
limitations of the conveyance equipment included in that particular
embodiment of inventory system 10. FIG. 15 illustrates one example
of techniques management module 15 may utilize to reserve access to
and use of particular types of conveyance equipment for requesting
mobile drive units 20. More specifically, FIG. 15 illustrates an
example of how management module 15 handles reservation of drive
lifts 790 in a multi-storied workspace 70 to facilitate entry to,
use of, and exit from drive lifts 790 by mobile drive units 20.
[0199] Particular embodiments of inventory system 10, such as the
one shown in FIG. 15, may utilize a workspace 770 that is spread
over multiple different floors, rooms, and/or areas of a building
or other structure that are otherwise physically separated from one
another. In such embodiments, inventory holders 30, inventory
stations 50, and/or other elements of inventory system 10 may be
spread over multiple different floors, rooms, and/or areas, and
mobile drive units 20 may move between these separate portions of
workspace 770 to complete assigned tasks. Moreover, such
embodiments may include alternative conveyance equipment to
supplement the transportation capabilities of mobile drive units 20
in moving inventory holders 30 between the various portions of
workspace 770. For example, FIG. 15 illustrates an inventory system
10 that includes drive lifts 790a-c to facilitate the movement of
mobile drive units 20 and inventory holders 30 between the various
floors 772 of workspace 770. As a result, resource scheduling
module 92, route planning module 94, and/or other components of
management module 15 may consider the multi-floor nature of
workspace 770 and the existence of drive lifts 790 when assigning
tasks to mobile drive units 20, planning paths to facilitate the
completion of certain tasks, or performing any other task relating
to the management of inventory system 10.
[0200] In the illustrated embodiment, inventory system 10 utilizes
a plurality of drive lifts 790 that connect floors 772a-c of a
multi-floor workspace 770. Drive lifts 790a-c each connect a ground
floor 772a to a second-level floor 772b and a third-level floor
772c, as indicated by arrows 792a-c, respectively. Route planning
module 94 is capable of generating paths 16 for mobile drive units
20 that rely on drive lifts 790 to facilitate the movement of
mobile drive units 20 between different floors 772 of workspace
770. In particular embodiments, mobile drive units 20 may then
traverse these paths 16, as described above with respect to FIG. 5,
additionally reserving and using drive lifts 790 as appropriate to
complete the received paths 16.
[0201] For the purposes of the illustrated example, mobile drive
unit 20g is located on floor 772a and is assumed to have received a
path 16m to a destination cell 14 located on floor 772c. Path 16m
is assumed to utilize drive lift 790b to transport mobile drive
unit 20g to floor 772c. After receiving path 16m, mobile drive unit
20 may begin advancing along the received path 16m, reserving
segments and moving as described above with respect to FIG. 5. At
an appropriate point along path 16m, for example while traversing
segment 17m, mobile drive unit 20 may attempt to reserve a segment
17n associated with drive lift 790b.
[0202] Because the use of drive lifts 790 may require that certain
conditions be satisfied to ensure that mobile drive units 20 are
capable of safely entering and exiting drive lifts 790, segment
reservation module 96 may be configured to consider the fact that a
particular requested cell 14 or segment 17 is adjacent to or
associated with a drive lift 790 when resolving reservations of
that cell 14 or segment 17. As one example, in particular
embodiments, resource scheduling module 92 may group cells 14
adjacent to a particular drive lift 790 on the various floors 772
of workspace 770 into a single group. In such embodiments, resource
scheduling module 92 may grant use of the cells 14 and the
associated drive lift 790 to a single mobile drive unit 20 at a
time. As a result, resource scheduling module 92 may be able to
ensure that a particular requesting mobile drive unit 20, after
reserving a particular drive lift 790, is able to exit drive lift
790 on any floor 772 without the possibility of another mobile
drive unit 20 blocking the requesting mobile drive unit 20 from
exiting the relevant drive lift 790, either physically or by
reserving a cell 14 the requesting mobile drive unit 20 must use to
exit the relevant drive lift 790.
[0203] Thus, in the illustrated example, cells 14w, 14x, 14y, and
14z (the shaded cells 14 in FIG. 15) are all considered part of a
cell group that is associated with drive lift 790b. As mobile drive
unit 20g approaches drive lift 790b while traversing path 16m,
mobile drive unit 20g attempts to reserve cell 14x by transmitting
a reservation request 26 that identifies segment 17n. Segment
reservation module 96 receives the reservation request 26 and
determines that segment 17n includes a cell 14w that contains drive
lift 790b. As a result, segment reservation module 96 attempts to
satisfy the reservation request 26 by reserving all of the cells 14
in the group associated with drive lift 790b. More specifically,
segment reservation module 96 attempts to reserve cells 14x, 14y,
and 14z, as well as the requested cell 14w. In this embodiment, if
segment reservation module 96 determines that mobile drive unit 20g
cannot reserve all of cells 14w-14z then segment reservation module
96 transmits a reservation response 28 indicating that the
requested reservation response 28 was unsuccessful. Mobile drive
unit 20 may then take any appropriate remedial actions as described
above with respect to FIG. 5. If, instead, segment reservation
module 96 determines that mobile drive unit 20g can reserve all of
cells 14w-14z, then segment reservation module 96 transmits a
reservation response 28 indicating that the requested reservation
was successful.
[0204] Additionally, in particular embodiments, drive lift 790 may
include only a single platform or car and a mobile drive unit's
ability to access the drive lift 790 at a given time may depend on
the floor 772 on which the car or platform is located at that time.
Thus, as part of determining whether a requesting mobile drive unit
20 can reserve a particular drive lift 790, segment reservation
module 96 may determine whether the platform or car is currently
located on the same floor 772 as the requesting mobile drive unit
20. If not, segment reservation module 96 may, depending on the
configuration of inventory system 10, decline the requested
reservation, grant the requested reservation but indicate that
mobile drive unit 20 must wait a particular amount of time before
attempting to enter the relevant drive lift 790, or grant the
requested reservation and rely upon interaction between the
relevant drive lift 790 and the requesting mobile drive unit 20
(e.g., traffic signals transmitted by the drive lift 790) to ensure
that the requesting mobile drive unit 20 waits until the drive lift
790 is appropriately positioned before entering.
[0205] Additionally, in particular embodiments, to improve the
effectiveness of drive lifts 790, segment reservation module 96 may
consider the current position of a car or platform of a particular
drive lift 790 when deciding which of competing mobile drive units
20 to grant use of that drive lift 790. As an example, in
particular embodiments, segment reservation module 96 may reduce
movement of the car or platform while empty by granting mobile
drive units 20 located on the current floor of the car or platform
priority in reserving use of the car or platform. Thus, if two
mobile drive units 20 both request use of the same drive lift 790
at approximately the same time, segment reservation module 96 may
give priority to the reservation of the mobile drive unit 20 that
is located on the same floor that the car or platform of the
relevant drive lift 790
[0206] Returning to the example, drive lift 790b is appropriately
configured for use by mobile drive unit 20g, mobile drive unit 20g
may enter drive lift 790b. Drive lift 790b may then transport
mobile drive unit 20g to floor 772c. Mobile drive unit 20g may then
exit drive lift 790b into cell 14z, which, in this example, mobile
drive unit 20g has already reserved by virtue of reserving cell 14w
and/or use of drive lift 790b.
[0207] Additionally, in particular embodiments, mobile drive units
20 may be capable of receiving new tasks and/or paths 16 while
being transported between floors 772. As a result, the fact that
mobile drive units 20, when using a particular drive lift 790,
reserve a group of cells 14 appropriate to allow exit and entry to
that drive lift 790 on any floor 772 may, in particular
embodiments, allow mobile drive unit 20 to adjust quickly to the
new task or path 16 and exit the relevant drive lift 790 on a
different floor 772 without being blocked by mobile drive units 20
on the new floor 772. For example, mobile drive unit 20g may
receive a new task and/or path 16 requiring mobile drive unit 20 to
exit drive lift 790 on floor 772b. As a result of the fact that
mobile drive unit 20g previously reserved all of the cells 14 in
the group associated with drive lift 790b, another mobile drive
unit 20 will not be blocking cell 14y physically or by reservation,
if mobile drive unit 20g attempts to change its path and exit on
floor 772b. This, in turn, may prevent mobile drive unit 20g from
monopolizing lift 772b despite its sudden change in route.
[0208] Returning to the illustrated example, once drive lift 790b
transports mobile drive unit 20g to floor 772c, mobile drive unit
20g exits drive lift 790b. As noted above, in particular
embodiments, mobile drive unit 20 has already reserved cell 14z as
part of its initial reservation. In such embodiments, that
reservation will ensure cell 14z is clear and mobile drive unit 20
can immediately disembark from drive lift 790. Mobile drive unit 20
may then proceed with completing the remainder of path 16m as
described above with respect to FIG. 5.
[0209] By reserving an entrance and multiple possible exits from
drive lifts 790 for mobile drive units 20 using those drive lifts
790, segment reservation module 96 may limit traffic congestion and
reduce the amount of time mobile drive units 20 are forced to wait
before exiting drive lifts 790. Additionally, this reservation
system may prevent a blocked mobile drive unit 20 from delaying use
of a drive lift 790 by other mobile drive units 20. Furthermore, by
considering the current location of a car or lift of a drive lift
790 in granting reservations, segment reservation module 96 may
limit the number of unloaded transitions the car or platform makes
between floors 772 and increase the drive lifts 790 throughput. As
a result, the described techniques may facilitate more efficient
operation of drive lifts 790 and mobile drive units 20.
[0210] FIG. 16 illustrates further certain techniques that
particular embodiments of inventory system 10 may implement to
optimize the use of conveyance equipment, such as drive lifts 790,
to supplement the operation of mobile drive units 20 in
transporting inventory holders 30. More specifically, FIG. 16
illustrates certain techniques particular embodiments of inventory
system 10 may utilize to ensure that the benefits and drawbacks of
using a particular type conveyance are weighed in planning the
tasks that will be assigned and the routes that mobile drive units
20 will take when moving within workspace 70. As a result,
particular embodiments of inventory system 10 may further increase
the efficiency that may result from the availability and use of
conveyance equipment to assist mobile drive units 20 in
transporting inventory holders 30.
[0211] For example, in particular multi-story embodiments of
inventory system 10, resource scheduling module 92 may associate a
cost with the use of each cell 14 in workspace 770. This cost may
represent the time expended in driving across the cell 14, the
historical level of congestion within the cell 14 or neighboring
cells 14, the number of inventory holders 30 adjacent to the cell,
and/or any other consideration that may reflect the cost in time,
space, and/or other resources that is associated with routing a
mobile drive unit 20 through the relevant cell 14. Likewise,
resource scheduling module 92 may associate a cost with the use of
drive lifts 790 and/or other equipment used to facilitate movement
of mobile drive units 20 such as conveyors, escalators, and/or
cranes. Using drive lifts 790 as an example, this cost may
represent the time expended in riding drive lift 790 between
particular floors 772, the power expended in operating drive lift
790, the frequency with which multi-floor paths using that drive
lift 790 are otherwise generated by resource scheduling module 92,
and/or any other consideration that may reflect the cost in time,
space, and/or other system resources that is associated with
providing mobile drive unit 20 a path 16 that utilizes the relevant
drive lift 790.
[0212] When management module 15 receives an inventory request
identifying, for example, a particular inventory item 40 to be
retrieved, resource scheduling module 92 may select an inventory
holder 30 based, at least in part, on the least-costly route to
each of the inventory holders 30 currently storing the requested
inventory item 40. Consequently, in particular embodiments,
resource scheduling module 92 may add up the total cost associated
with every possible path 16 between the current location of the
relevant mobile drive unit 20 and a particular inventory holder 30
storing the relevant inventory item 40. Resource scheduling module
92 may then compare the cost of the least expensive path between
the mobile drive unit 20 and each inventory holder 30 and select an
inventory holder 30 based, at least in part, on the least costly
path 16 between a selected mobile drive unit 20 and each of the
inventory holders 30.
[0213] To illustrate, FIG. 16 shows an example in which management
module 15 selects an inventory holder 30 to be used in satisfying
an inventory request requesting a particular inventory item 40. In
the example, resource scheduling module 92 has already selected
mobile drive unit 20h based on appropriate criteria to retrieve an
inventory holder 30 containing the requested inventory item 40.
Inventory holders 30p and 30q are the only inventory holders 30
currently storing the requested inventory item 40. Additionally,
for the purposes of this example, it is assumed that path 16p and
path 16q are the least costly paths 16 between mobile drive unit
20h and inventory holder 30p and 30q, respectively. As a result,
resource scheduling module 92 selects one of inventory holder 30p
and 30q based, at least in part, on the cost associated with path
16p and 16q.
[0214] Consequently, if the cost associated with path 16p is
greater than the cost associated with path 16q, resource scheduling
module 92 will select inventory holder 30q, and mobile drive unit
20h, in this example, will be required to use one of drive lifts
790 to access floor 772b when retrieving inventory holder 30q. If
however, the cost associated with using drive lift 790 and
traversing the cells 14 on path 16q exceed the cost of traversing
cells 14 on path 16p, resource scheduling module 92 will select
inventory holder 30p. Thus, resource scheduling module 92, in
particular embodiments, is capable of recognizing that one or more
costs of using drive lifts 790 may make the use of drive lifts 790
less preferred in many cases, but that, under certain
circumstances, the benefits of using drive lifts 790 may outweigh
these costs.
[0215] After selecting an inventory holder 30 to be retrieved,
resource scheduling module 92 communicates the location of the
selected inventory holder 30 to mobile drive unit 20h, for example,
as part of a task assignment 18, as described above. Assuming, for
the purpose of this example, that resource scheduling module 92 has
selected inventory holder 30q, mobile drive unit 20h requests a
path 16 to inventory holder 30q from route planning module 94. In
response, route planning module 94 communicates path 16q or, if
routing considerations have changed since inventory holder 30q was
selected, another path 16 to inventory holder 30q.
[0216] Upon receiving a suitable path 16 to inventory holder 30q,
mobile drive unit 20h reserves a first segment 17 of the received
path 16 and begins moving towards inventory holder 30q as described
above with respect to FIG. 5. Assuming mobile drive unit 20h
received path 16q from route planning module 94, mobile drive unit
20h will move towards drive lift 790c along path 16q. As mobile
drive unit 20h approaches drive lift 790c, mobile drive unit 20h
may attempt to reserve drive lift 790c. In particular embodiments,
mobile drive unit 20h may reserve drive lift 790c in a similar
manner as that described above for reserving segments 17. Thus, if
another mobile drive unit 20h currently has drive lift 790c
reserved and/or is currently on drive lift 790c, mobile drive unit
20h may be unable to reserve drive lift 790c.
[0217] Once mobile drive unit 20h does successfully reserve drive
lift 790c, mobile drive unit 20h may position itself on drive lift
790c. Drive lift 790c may then lift mobile drive unit 20h to floor
772b. As noted above, operation of drive lifts 790 may be
controlled by mobile drive units 20, management module 15, or any
other suitable components of inventory system 10. After drive lift
790c lifts mobile drive unit 20h to floor 772, mobile drive unit
20h proceeds to the location of inventory holder 30q and docks with
inventory holder 30q. Mobile drive unit 20h may then request, from
route planning module 94, a path 16 back to an inventory station 50
associated with the inventory request. After receiving such a path
16, mobile drive unit 20h may use a drive lift 790 specified by the
received path 16 to return to floor 772a and then move inventory
holder 30q to the relevant inventory station 50 to complete the
assigned task.
[0218] As a result, inventory system 10 may incorporate drive lifts
790 to lift and lower mobile drive units 20 thereby facilitating
the use of multi-storied workspaces 770. Moreover, management
module 15 and its various components may be configured to consider
the costs and benefits of using drive lifts 790 and may, as a
result, make knowledgeable decisions regarding the use of drive
lifts 790 to complete particular tasks. In a similar manner,
inventory system 10 and management module 15 may be configured to
utilize other equipment (such as, for example, conveyors,
escalators, cranes, or ferries) or features (such as, for example,
ramps, tunnels, or stairways) to facilitate the movement of mobile
drive units 20 within workspace 770. Additionally, the ability to
effectively incorporate such equipment into inventory system 10 may
allow greater flexibility in the size, shape, and configuration of
workspace 770 and/or provide other benefits.
[0219] FIG. 17 is a flowchart illustrating the operation of a
particular embodiment of resource scheduling module 92 in selecting
paths for mobile drive units 20 in a workspace 70 that utilizes
conveyance equipment in conjunction with mobile drive units 20 to
transport inventory holders 30. While FIG. 17 focuses on a
particular embodiment of inventory system 10 that utilizes a
particular technique for reserving conveyance equipment,
alternative embodiments of inventory system 10 may be configured to
utilize conveyance equipment in any appropriate manner.
Additionally, any of the steps illustrated in FIG. 17 may be
combined, modified, or deleted where appropriate, and additional
steps may also be added to those shown in the flowchart. Moreover,
the described steps may be performed in any suitable order without
departing from the scope of the invention.
[0220] Operation begins, in FIG. 17, with a mobile drive unit 20
moving to a first point within a workspace 70 at step 720. In the
described example, an inventory holder 30 is stored in a first cell
14 at the first point. After arriving at the first point, mobile
drive unit 20 docks with the inventory holder 30 stored at the
first point at step 722.
[0221] After docking with inventory holder 30, mobile drive unit 20
moves itself and the inventory holder toward a second point within
the workspace at step 724. In the illustrated example, the second
point is located in a second cell 14 that is associated with
conveyance equipment. This second cell 14 may represent a cell in
which the conveyance equipment is located, an entry cell for the
conveyance equipment, a pick-up cell for the conveyance equipment,
or a cell associated with the conveyance equipment in any other
manner. Additionally, in the described example, the conveyance
equipment is associated with a group of multiple cells 14 of which
the second cell 14 is a member.
[0222] As mobile drive unit 20 moves to the second point, or once
mobile drive unit 20 arrives at the second point, mobile drive unit
20 reserves the second cell 14. In the described example, mobile
drive unit 20 reserves the second cell 14 by transmitting a
reservation request 26 identifying the second cell 14 to segment
reservation module 96 15 at step 726. At step 728, segment
reservation module 96 receives reservation request 26.
[0223] After receiving reservation request 26, segment reservation
module 96 determines that the second cell 14 is a member of a group
of cells 14 that are associated with the conveyance equipment at
step 730. As a result, segment reservation module 96, as a response
to receiving reservation request 26, attempts to reserve all of the
cells 14 in the group of cells 14 associated with the conveyance
equipment at step 732. Segment reservation module 96 then indicates
to the requesting mobile drive unit 20 whether segment reservation
module 96 was able to reserve the second cell and/or all of the
cells 14 in the group associated with the conveyance equipment. In
the described example, segment reservation module 96 communicates
the outcome to mobile drive unit 20 by transmitting a reservation
response 28 at step 734.
[0224] After successfully reserving the group of cells 14
associated with the conveyance equipment, mobile drive unit 20
enters the second cell 14 at step 736. At step 738, in the
described example, the conveyance equipment moves inventory holder
30 and mobile drive unit 20 to a third point. In alternative
embodiments, the conveyance equipment may move inventory holder 30
without moving mobile drive unit 20 and mobile drive unit 20 may
undock from the inventory holder 30 at the second point.
[0225] After the conveyance equipment moves the inventory holder 30
and, if appropriate, mobile drive unit 20 to the third point,
mobile drive unit 20 or another suitable component of inventory
system 10 terminates the reservation of the group of cells 14
associated with the conveyance equipment at step 740. In particular
embodiments, the group of cells 14 may include, at or near the
third point, one or more exit cells 14, drop-off cells 14, and/or
other appropriate cells 14 that are part of the group of cells 14
associated with the conveyance equipment and the reservation may be
maintained until mobile drive unit 20 exits those cells 14.
[0226] At step 742, the original mobile drive unit 20 or another
mobile drive unit 20 moves inventory holder 30 to a fourth point.
The fourth point may represent a storage location, inventory
station 50, or other appropriate destination associated with the
relevant inventory holder 30. For example, in the described
example, the fourth point is located in a storage cell 64 intended
for inventory holder 30. Thus, in this example, mobile drive unit
20 undocks from inventory holder 30 and moves away from inventory
holder 30 at step 744. In this example, operation of inventory
system 10 with respect to moving inventory holder 30 then ends as
shown in FIG. 17.
[0227] FIGS. 18-20 illustrate example operation of an embodiment of
inventory system 10 that utilizes specific techniques for rotating
inventory holders 30 as part of transporting inventory holders 30
within inventory system 10. These techniques may be useful, for
example, in presenting a particular face of an inventory holder 30
to an operator of an inventory station 50. The described techniques
and system configuration may allow particular embodiments of
inventory system 10 to operate within workspaces 70 having a
reduced size and to simplify the coordination of mobile drive unit
movement. In particular embodiments of inventory system 10 that
utilize inventory stations 50, the positioning of rotation areas
790 near inventory stations 50 may allow management module 15 to
delay the selection of a face to be presented at a particular
inventory station 50 until the assigned mobile drive unit 20 is
near the inventory station 50. This may allow management module 15
to optimize face selection based on the current state of inventory
system 10.
[0228] FIG. 18 illustrates an embodiment of inventory system 10
that includes a management module 15, one or more mobile drive
units 20, one or more inventory holders 30, and one or more
inventory stations 50 that operate within a workspace 870 similar
to those described above with respect to FIG. 1. Additionally,
workspace 870 includes a plurality of rotation areas 892 in which
mobile drive units 20 perform particular operations associated with
rotating inventory holders 30. By performing some or all rotations
of inventory holders 30 in rotation areas 892, particular
embodiments of inventory system 10 may be configured to operate
within a smaller workspace.
[0229] Rotation areas 892 represent a portion of workspace 870
covering a plurality of cells 14. In particular embodiments of
inventory system 10, the number and arrangement of cells 14 in a
particular rotation area 892 are selected based on the size and
shape of inventory holders 30 and the type of rotational movement
supported by mobile drive units 20. For example, in particular
embodiments, inventory system 10 utilizes inventory holders 30 that
include four similarly-dimensioned faces with each face a having a
width substantially equal to or slightly smaller than the width of
a cell 14 in workspace 870. Particular embodiments may also utilize
mobile drive units 20 that are capable of three-hundred and sixty
degree rotations while stationary. In such embodiments, workspace
870 may include rotation areas 892 that represent a two-cell by
two-cell section of workspace 870. While FIG. 18 illustrates a
particular embodiment in which rotation areas are equal in size to
some whole multiple of the size of an individual cell 14,
alternative embodiments of inventory system 10 may utilize rotation
areas 892 having any suitable size that is larger than the size of
an individual cell 14. Additionally, although FIG. 18 illustrates a
particular embodiment of inventory system 10 in which rotation
areas 892 are located adjacent to each inventory station 50,
alternative embodiments of inventory items 40 may include any
number of rotation areas 892 in any appropriate location within
workspace 870.
[0230] In the illustrated embodiment of inventory system 10, mobile
drive units 20 interact with management module 15 to receive task
assignments, request paths 16, and reserve routed segments 17 in
order to complete tasks in a manner similar to that described above
with respect to FIG. 5. While transporting inventory holders 30
between locations in workspace 870, a mobile drive unit 20
maintains a constant orientation for inventory holders 30
regardless of the direction mobile drive unit 20. Consequently, in
the illustrated embodiment, when a mobile drive unit 20 changes the
direction in which it is traveling, the orientation of an inventory
holder 30 being transported by that mobile drive unit 20 remains
the same despite the direction change.
[0231] This may be accomplished in a variety of ways depending on
the configuration and capabilities of mobile drive units 20. As one
example, in particular embodiments, a mobile drive unit 20 may be
capable of propelling itself in a forward and a backward direction
relative to a certain face of mobile drive unit 20 and of rotating
itself to change its direction of travel. In such embodiments,
mobile drive unit 20 may undock from an inventory holder 30 it is
currently transporting before rotating and inventory holder 30 may,
as a result, maintain a constant orientation regardless of the
direction in which mobile drive unit 20 is driving. As another
example, in particular embodiments, mobile drive unit 20 is capable
of propelling itself in any of four directions and can thus change
its direction of travel without rotating.
[0232] Because many shapes of inventory holders 30 require a
greater amount of space between neighboring inventory holders 30
when one or more such inventory holders 30 are rotated, limiting
rotation of inventory holders 30 can reduce the amount of space
required for inventory holders 30 to be transported within
workspace 870 without collisions occurring between inventory
holders 30. Nonetheless, in particular embodiments of inventory
system 10, a number of benefits may arise from mobile drive units
20 rotating inventory holders 30. For example, inventory system 10
may reduce the amount of time and effort that is spent by the
operator of an inventory station 50 in retrieving inventory items
40 from a particular bin of an inventory holder 30 if inventory
holder 30 is rotated so that the appropriate face of that inventory
holder 30 is presented to the operator.
[0233] Thus, in the illustrated embodiment of inventory system 10,
mobile drive units 20 may be configured to allow rotation of
inventory holders 30 but to perform some or all such rotations in
rotation areas 892. In particular, mobile drive units 20 assigned
tasks that involve transporting inventory holders 30 to inventory
stations 50 may bring inventory holders 30 towards inventory
station 50, maintaining a constant orientation for inventory
holders 30 as described above. Mobile drive units 20 may then, if
appropriate, execute one or more steps designed to induce a certain
form of rotation in inventory holder 30 suitable to present a
particular face of the retrieved inventory holder 30 to inventory
station 50. FIGS. 19A to 19E illustrate examples of the steps
particular embodiments of mobile drive units 20 may execute to
induce specific types of rotation in inventory holders 30. After
completing the appropriate form of rotation, mobile drive unit 20
may then position inventory holder 30 in front of inventory station
50 to allow an operator of inventory station 50 to access the
presented face of inventory holder 30.
[0234] Consequently, by restricting or eliminating the ability of
mobile drive units 20 to rotate inventory holders 30 outside of
rotation areas 892, particular embodiments of inventory system 10
may be able to utilize smaller cells 14 without collisions
occurring. As a result, such embodiments may be able to operate
within a smaller workspace. Thus, by incorporating rotation areas
892, particular embodiments of inventory system 10 may reduce their
overall space requirements and/or provide additional operational
benefits.
[0235] FIGS. 19A-19E illustrate example maneuvers that may be
performed by particular embodiments of mobile drive unit 20 when
rotating an inventory holder 30 in a rotation area 892. In
particular, FIGS. 19A-19D illustrate various maneuvers that may be
completed by mobile drive unit 20 to enter a rotation area 892 from
a first cell 14 and exit the rotation area 892 into a second cell
14 while rotating inventory holder 30 so that a particular one of
the four faces of inventory holder 30z is presented to inventory
station 50. FIG. 19E illustrates various maneuvers that may be
performed by mobile drive unit 20z to allow mobile drive unit 20z
to exit rotation area 892 into any cell 14 neighboring rotation
area 892. Thus, as shown by FIGS. 19A-19E, in particular
embodiments, mobile drive unit 20 may enter a rotation area 892
from any neighboring cell 14, perform an appropriate rotation so
that any face of inventory holder 30 is facing a specific
direction, and then exit into any specific cell 14 neighboring
rotation area 892.
[0236] FIG. 19A illustrates an example in which mobile drive unit
20 enters rotation area 892 from cell 14aa, rotates, and exits
rotation area 892 into cell 14dd. In particular embodiments,
rotation areas 892 may be associated with a queue in which mobile
drive units 20 are expected to wait until being granted access to
rotation area 892 and also with an inventory station 50 at which
the relevant inventory holder 30 will be presented after exiting
the relevant rotation area 892. As a result, mobile drive units 20
may be limited in terms of the cells 14 from which they can enter
rotation areas 892 and limited in terms of the cell 14 into which
they can exit rotation areas 892. Thus, FIGS. 19A-19D illustrate an
example of such an embodiment in which mobile drive unit 20z is
limited to entering rotation area 892 from cell 14aa and exiting
rotation area 892 into cell 14dd.
[0237] More specifically, in the example shown in FIG. 19A, mobile
drive unit 20 receives a path 16 into rotation area 892 through
cell 14aa. Mobile drive unit 20 approaches cell 14aa along a
straight segment 917a with a first face of inventory holder 30
(labeled as face "920a" in FIG. 19A) facing in the direction of
travel, referred to here as the "first" direction. As mobile drive
unit 20 is traveling through cell 14aa, mobile drive unit 20 begins
to veer to the left or right so that mobile drive unit 20 follows
an arced segment 918a into rotation area 892. While mobile drive
unit 20 follows arced segment 918a, the orientation of first face
is kept consistent with the direction of travel, as shown in FIG.
19A. As a result, when mobile drive unit 20 reaches the center of
rotation area 892, in the illustrated example, the orientation of
the first face has changed so that the first face now faces a
direction ("referred to here as the "second" direction) somewhere
between the first direction and a third direction orthogonal to the
first direction. In particular embodiments, this second direction
equals approximately a forty-five degree rotation from the first
direction.
[0238] Upon reaching the center of rotation area 892, mobile drive
unit 20 may perform any of a number of rotation maneuvers to
facilitate the presentation of a particular face of inventory
holder 30. FIGS. 19A-19D illustrate examples of these rotation
maneuvers. In particular, FIG. 19A illustrates an example in which
mobile drive unit 20 performs a ninety degree rotation (as
indicated by arrow 901a) in the direction opposite of the veer
mobile drive unit 20 executed to follow arced segment 918b to
orient inventory holder 30 so the first face is presented to an
operator of inventory station 50. Mobile drive unit 20 then moves
toward the cell 14dd along arced segment 918b veering in the same
direction as the original veer. As a result of the ninety-degree
rotation, a second face (labeled as face "920b" in FIG. 19A) of
inventory holder 30 now faces in the direction of travel and mobile
drive unit 20 holds the orientation of this second face consistent
with the direction of travel as mobile drive unit 20 follows arced
segment 918b.
[0239] Furthermore, as mobile drive unit 20 travels arced segment
918b this arced path induces an additional rotation in inventory
holder 30 that complements the rotation induced in inventory holder
30 while mobile drive unit 20 traveled arced segment 17a. In
particular embodiments, this rotation is equal to approximately
forty-five degrees. As a result, the total rotation induced in
inventory holder 30 as a result of mobile drive unit 20 traveling
the arced segments 918a and 918b is approximately ninety degrees.
In FIG. 19A, this rotation counteracts the rotation performed by
mobile drive unit 20 at the center of rotation area 892 and, as
mobile drive unit 20 completes arced segment 918b, the first face
of inventory holder 30 is once again facing the first direction.
Mobile drive unit 20 may then follow another straight path segment
17 to inventory station 50. As a result, in FIG. 19A, the first
face of inventory holder 30 is presented to the operator of
inventory station 50.
[0240] FIG. 19B illustrates a similar example in which the second
face is presented to the operator of inventory station 50. More
specifically, in FIG. 19B, mobile drive unit 20 follows straight
path segment 17a into cell 14a and follows arced segment 918a into
rotation area 892, as described with respect to FIG. 19A. Upon
reaching the center of rotation area 892, however, mobile drive
unit 20 performs a one-hundred-and-eighty-degree rotation (as
indicated by arrow 901b). Mobile drive unit 20 then follows arced
segment 918b into cell 14dd. As a result of the rotation performed
at the center of rotation area 892, a third face of inventory
holder 30 (labeled as face "920c" in FIG. 19B) now faces in the
direction of travel and mobile drive unit 20 holds the orientation
of this third face consistent with the direction of travel as
mobile drive unit 20 follows arced segment 17b.
[0241] As mobile drive unit 20 travels arced segment 918b the arced
path induces an additional rotation in inventory holder 30 as
described with respect to FIG. 19A. In FIG. 19B, this rotation
partially counteracts the rotation performed by mobile drive unit
20 at the center of rotation area 892 and, as mobile drive unit 20
completes arced segment 17b, the second face of inventory holder 30
is now facing the first direction. Mobile drive unit 20 may then
follow straight segment 917b to inventory station 50. As a result,
in FIG. 19B, the second face of inventory holder 30 is presented to
the operation of inventory station 50.
[0242] FIG. 19C similarly illustrates an example in which the third
side is presented to the operator of inventory station 50. More
specifically, in FIG. 19C, mobile drive unit 20 follows straight
path segment 917a into cell 14aa and follows arced segment 918a
into rotation area 892, as described with respect to FIGS. 19A and
19B. Upon reaching the center of rotation area 892, however, mobile
drive unit 20 performs a two-hundred-and-seventy-degree rotation.
Mobile drive unit 20 then follows arced segment 918b into cell
14dd. As a result of the rotation performed at the center of
rotation area 892, a fourth face of inventory holder 30 (labeled as
face "920e" in FIG. 19C) now faces in the direction of travel and
mobile drive unit 20 holds the orientation of this fourth face
consistent with the direction of travel as mobile drive unit 20
follows arced segment 918b.
[0243] As mobile drive unit 20 travels arced segment 918b the arced
path induces an additional rotation in inventory holder 30 as
described with respect to FIGS. 19A and 19B. In FIG. 19C, this
rotation partially counteracts the rotation performed by mobile
drive unit 20 at the center of rotation area 892 and, as mobile
drive unit 20 completes arced segment 918b, the third face of
inventory holder 30 is now facing the first direction. Mobile drive
unit 20 may then follow straight path segment 918b to inventory
station 50. As a result, in FIG. 19C, the third face of inventory
holder 30 is presented to the operator of inventory station 50.
[0244] FIG. 19D illustrates an example in which the fourth side is
presented to the operator of inventory station 50. More
specifically, in FIG. 19D, mobile drive unit 20 follows straight
path segment 917a into cell 14aa and follows arced segment 918a
into rotation area 892, as described with respect to FIGS. 19A and
19B. Upon reaching the center of rotation area 892, however, mobile
drive unit 20 performs no rotation in the example illustrated by
FIG. 19D. Mobile drive unit 20 follows arced path 918b into cell
14dd. Because no rotation was performed at the center of rotation
area 892, the first face of inventory holder 30 remains facing in
the direction of travel, and mobile drive unit 20 holds the
orientation of the first face consistent with the direction of
travel as mobile drive unit 20 follows arced segment 918b.
[0245] As mobile drive unit 20 travels arced segment 918b the arced
path induces an additional rotation in inventory holder 30 as
described with respect to FIGS. 19A-19C. Consequently, as mobile
drive unit 20 completes arced segment 918b, the fourth face of
inventory holder 30 now faces the first direction. Mobile drive
unit 20 may then follow straight path segment 917b to inventory
station 50. As a result, in FIG. 19D, the fourth face of inventory
holder 30 is presented to the operator of inventory station 50.
[0246] Thus, by performing a selected rotation maneuver (including,
in particular circumstances, no rotation) within rotation area 892,
particular embodiments of mobile drive unit 20 are capable of
achieving any desired orientation for inventory holder 30 upon
arriving at inventory station 50. Moreover, when utilized in
embodiments of inventory system 10 that limit or prohibit rotations
elsewhere in workspace 870, the inclusion of rotation areas 892 in
select places within workspace 870 allows inventory system 10 to
support the presentation of any face of inventory holders 30 within
a significantly smaller workspace. As a result, the use of the
described rotation maneuvers may provide space-saving and other
advantages.
[0247] FIG. 19E illustrates how, in particular embodiments, mobile
drive units 20 can be configured to access rotation areas 892 using
any appropriate combination of neighboring cells 14 as entry and
exit points. As shown in FIG. 19E, mobile drive unit 20 may be
configured to follow arced segment 918a into rotation area 892,
perform an appropriate rotation maneuver, and then follow one of
arced segment 918b, arced segment 918c, arced segment 918d, arced
segment 918e, arced segment 918f, arced segment 918g, and arced
segment 918h to exit into cell 14bb, cell 14 cc, cell 14dd, cell
14ee, cell 14ff, cell 14gg, and cell 14hh, respectively.
Additionally, mobile drive unit 20 may be configured to exit
rotation area 892 following the same path mobile drive unit 20
followed entering rotation area 892, that is arced segment 918a.
This is indicated in FIG. 19E by the dotted-line curve labeled
918aa.
[0248] Furthermore, while FIG. 19E illustrates an example in which
mobile drive unit 20 is configured to enter rotation area 892
through a particular cell 14, specifically cell 14aa, the example
arced segment 918a in FIG. 19E can be generalized to represent an
arced segment 918 entering rotation area 892 from any of
neighboring cells 14aa-dd. As a result, in a given embodiment of
inventory system 10, mobile drive units 20 may be configured to
enter rotation area 892 from and exit rotation area 892 to any
appropriate cell 14 neighboring rotation area 892. On the other
hand, a given embodiment of inventory system 10 that utilizes
rotation areas 892 may also limit the cells 14 that may be used
enter and exit a particular rotation area 892, for example, to
control traffic flow around rotation area 892. Thus, while a
particular embodiment of inventory system 10 may include a rotation
area 892 that mobile drive units 20 are capable of utilizing
without constraints as to their entry and exit points, the same or
other embodiments of inventory system 10 may include rotation areas
892 that mobile drive units 20 are configured to enter or exit
using specific neighboring cells 14.
[0249] Thus, in particular embodiments, to present a desired face
in a desired direction and to provide flexibility in choosing entry
points into and exit points out of rotation areas 892, mobile drive
units 20 may enter rotation areas 892 then perform one or both of a
rotation that rotates both mobile drive unit 20 and inventory
holder 30 and a rotation that rotates only mobile drive unit 20, in
any appropriate order. This may result in both mobile drive unit 20
having the appropriate orientation for mobile drive unit 20 to
utilize the desired exit point from the rotation area 892 and
inventory holder 30 having the appropriate orientation to present
the desired face in the desired direction after mobile drive unit
20 and inventory holder 30 exit rotation area 892. As a result, in
particular embodiments, mobile drive unit 20 may be able to utilize
any desired entry and exit points to rotation area 892 and be able
to present any desired face of inventory holder 30 in any desired
direction.
[0250] FIGS. 20A-20G illustrate an example of how mobile drive unit
20 may traverse the portions of workspace 870 outside designated
rotation areas 892 without rotating inventory holders 30. In
particular, FIGS. 20A-20G show operation of a mobile drive unit 20
as the mobile drive unit 20 moves inventory holder 30 from a first
position to a second position along a portion of a path 16 that
includes a ninety-degree turn. Because, in the illustrated
embodiment, mobile drive unit 20 is able to turn a corner without
rotating inventory holder 30, inventory holder 30 may not overlap
neighboring cells 14 and/or interfere with inventory holders 30 in
neighboring cells 14 when mobile drive unit 20 changes its
direction of travel. As a result, inventory system 10 may operate
with a smaller workspace and thus mobile drive units 20 configured
to operate as shown in FIGS. 20A-20G may provide space-saving
benefits.
[0251] FIG. 20A shows a starting location of both mobile drive unit
20i and inventory holder 30i. Initially, inventory holder 30i is
located at a point 910a in the relevant workspace 870, and mobile
drive unit 20i is located at a point 910b. As shown by FIG. 20B,
mobile drive unit 20i moves to the location of inventory holder 30i
at point 910a. At this point, mobile drive unit 20i has yet to dock
with inventory holder 30i.
[0252] In the illustrated example, mobile drive unit 20i is
configured to dock with inventory holder 30i by positioning itself
underneath inventory holder 30i and raising a docking head of
mobile drive unit 20i. Thus, as indicated by the outline of docking
head 110, FIG. 20C illustrates mobile drive unit 20 docking with
inventory holder 30i. Mobile drive unit 20i then propels itself and
inventory holder 30i in a first direction to point 910b as shown in
FIG. 20D.
[0253] At point 910b, mobile drive unit 20 rotates from the first
direction to a second direction, as shown in FIG. 20E. As indicated
by the outline of docking head 110, mobile drive unit 20, in the
illustrated example, remains docked with inventory holder 30
throughout the rotation. For example, in particular embodiments,
mobile drive unit 20i may, after docking with inventory holder 30i,
transport inventory holder 30i with a rotation lock engaged that
prevents mobile drive unit 20 from rotating independently from
inventory holder 30i. In such embodiments, when mobile drive unit
20i attempts to turn a corner, mobile drive unit 20i, mobile drive
unit 20i may release the rotation lock, allowing the remainder of
mobile drive unit 20 to rotate independently from docking head 110.
Thus, in such embodiments, mobile drive unit 20 may be able to
rotate while docked with inventory holder 30 but without rotating
inventory holder 30.
[0254] After rotating, mobile drive unit 20i propels mobile drive
unit 20i and inventory holder 30i in the second direction. As a
result, mobile drive unit 20 moves to point 910c as shown in FIG.
20F. Depending on the task mobile drive unit 20i is completing,
mobile drive unit 20 may then undock from inventory holder 30i,
rotate inventory holder 30i in a designated rotation area 892 for
presentation of a particular face, and/or perform any other
appropriate actions to complete its assigned task.
[0255] FIGS. 21A, 21B, 21C, and 21D illustrate example operations
of particular embodiments of mobile drive unit 20 in rotating an
inventory holder 30. Mobile drive unit 20 may be capable of making
any number of appropriate rotation maneuvers. Such rotation
maneuvers may include mobile drive unit 20 rotating itself and/or
rotating inventory holder 30. In some embodiments, mobile drive
unit 20 may rotate itself by changing the rate of rotation of its
wheels. Such rotations may be employed to accomplish changes in
translational directions of movement of mobile drive unit 20.
Meanwhile, mobile drive unit 20 may perform rotations of inventory
holder 30 by independently rotating docking head 110 as mobile
drive unit 20 moves through workspace 70. Because docking head 110
may couple to inventory holder 30 when mobile drive unit 20 docks
with inventory holder 30, any rotation of docking head 110 may
result in a corresponding rotation of inventory holder 30. Docking
head 110 may be configured to rotate independently of the rotation
of the wheels of mobile drive unit 20. Thus, mobile drive unit 20
may perform any appropriate rotation of mobile drive unit 20 and/or
inventory holder 30 while moving through workspace 70. Mobile drive
unit 20 may rotate inventory holder only, may rotate mobile drive
unit 20 only, and/or may rotate both mobile drive unit 20 and
inventory holder 30 in any suitable direction. For example, mobile
drive unit 20 may determine to rotate inventory holder in a given
rotational direction while mobile drive unit 20 continues to move
in the same translational direction. As another example, mobile
drive unit 20 may determine to rotate itself in one rotational
direction while moving and while rotating inventory holder 30 in
the opposite rotational direction. Thus, mobile drive unit 20 may
change its translational direction while maintaining or changing
the orientation of inventory holder 30 with respect to a
translational direction. Mobile drive unit 20 may, in some
embodiments, determine various rates at which to rotate both itself
and inventory holder 30. Based on the type of rotation, different
spaces may be reserved along path 16 to perform the desired
rotation maneuver.
[0256] In some embodiments, after docking with inventory holder 30
at one location, mobile drive unit 20 may receive, from route
planning module 94, path 16 to a destination. When mobile drive
unit 20 receives path 16, mobile drive unit 20 may determine
whether to execute a rotation maneuver along path 16 prior to
reaching the destination. For example, route planning module 94 may
transmit information to mobile drive unit 20 identifying a selected
face of inventory holder 30 to present to inventory station 50.
Based on that information, mobile drive unit 20 may determine the
inventory holder 30 should be rotated from its current orientation
to present the desired face of inventory holder 30 at the
destination. In some embodiments, mobile drive unit 20 may
determine to rotate based on characteristics associated with path
16. For example, path 16 may include turns, curves, or other
changes in translational direction for which rotation maneuvers may
be appropriate. In some embodiments, mobile drive unit 20 may
rotate inventory holder 30 while rotating the mobile drive unit 20
to change mobile drive unit 20's translational movement and/or
change or maintain the orientation of inventory holder 30 at the
same time.
[0257] Once mobile drive unit 20 determines a rotation maneuver is
appropriate, mobile drive unit 20 may request a rotation
reservation from segment reservation module 96. Mobile drive unit
20 may make a rotation reservation request at any appropriate point
along path 16. In some embodiments, mobile drive unit 20 may make
such requests prior to beginning to traverse path 16. Alternatively
or in addition, if an initial rotation reservation request is
denied, mobile drive unit 20 may make a rotation reservation
request for selected points at predetermined intervals as mobile
drive unit 20 moves along path 16 until a rotation reservation
request is granted. It should be understood, however, that while an
example embodiment is discussed in which mobile drive unit 20
determines when and/or where to perform a rotation maneuver, those
determinations may additionally or alternatively be made by other
appropriate components of system 10, such as route planning module
94 and/or segment reservation module 96.
[0258] When segment reservation module 96 receives a rotation
reservation request, segment reservation module 96 may determine
whether rotation reservations may be granted. Segment reservation
module 96 may determine whether the reservation may be made based
on reservations held by other components of inventory system 10,
such as other mobile drive units 20 and/or other inventory holders
30. In some embodiments, segment reservation module 96 may
determine in advance an appropriate point for the reservation along
path 16 based on paths planned for other mobile drive units 20 by
route planning module 94. In order to reserve an appropriate amount
of space for the rotation maneuver requested, segment reservation
module 96 may determine what type of rotation maneuver is
requested. Alternatively or in addition, mobile drive unit 20 may
determine an appropriate amount of space required for the requested
rotation maneuver, and may simply request to reserve that space
from segment reservation module 96.
[0259] As illustrated in FIG. 21A, mobile drive unit 20 begins at
point 2100a, which may include positioning itself beneath inventory
holder 30. After docking with inventory holder 30 at point 2100a
and receiving path 16a, mobile drive unit 20 may then proceed along
path 16a towards a destination (which is inventory station 50 in
the illustrated example). Path 16a is illustrated as having an
initial portion 2117a, a second portion 2117b, and a third portion
2117c. As illustrated, face 2102a of inventory holder 30 is
orthogonal to the direction of travel of mobile drive unit 20,
while face 2102b is parallel to the direction of travel of mobile
drive unit 20. Mobile drive unit 20 receives information indicating
that face 2102b should be presented at inventory station 50. As a
result, mobile drive unit 20 determines an amount of rotation for
inventory holder 30. In the illustrated example, mobile drive unit
20 determines to rotate inventory holder 30 by 90.degree.
counterclockwise. It should be understood, however, that while a
specific example of rotation is illustrated, mobile drive unit 20
may be capable of rotating inventory holder 30 by any appropriate
degree of rotation in any suitable direction. If greater degrees of
rotation are desired, mobile drive unit 20 may increase the rate of
rotation of inventory holder 30 accordingly in order to complete
the rotation within the reserved rotation space. Alternatively or
in addition, mobile drive unit 20 may attempt to reserve relatively
larger or smaller spaces for rotation as appropriate to accomplish
a given rotation while moving.
[0260] Mobile drive unit 20 begins moving along portion 2117a of
path 16a. At some point prior to reaching portion 2117b, mobile
drive unit 20 requests a reservation of rotation spaces 2104a and
2104b. As illustrated, the spaces 2104a and 2104b represent the
space into which inventory holder 30 will encroach as a result of
the rotation maneuver. Accordingly, spaces 2104a and 2104b may be
determined by rotating a projection of inventory holder 30 about an
axis, where the axis is moving along portion 2117b of path 16a and
the projection is based on the physical dimensions of inventory
holder 30. Once mobile drive unit 20 receives a reservation
response from segment reservation module 96 indicating the
reservation was successful, mobile drive unit 20 may begin rotating
inventory holder 30 by the desired amount as mobile drive unit 20
moves along portion 2117b. For example, mobile drive unit 20 may
begin to independently rotate docking head 110. As illustrated,
mobile drive unit 20 continues to rotate inventory holder 30 until
inventory holder 30 is rotated by 90.degree.. As docking head 110
rotates, mobile drive unit 20 may continue in the same direction of
translational movement along portion 2117b of path 16a.
Accordingly, as the rotation maneuver completes, mobile drive unit
20 may continue moving along portion 2117c of path 16a towards
destination point 2100c. As a result, once mobile drive unit 20
reaches point 2100c, face 2102b of inventory holder 30 may be
presented to inventory station 50. At the completion of the task,
mobile drive unit 20 may undock from inventory holder 30 and move
away from point 2100c in accordance with another task received from
resource scheduling module 92. In other embodiments, mobile drive
unit 20 may move inventory holder 30 to another location. By
utilizing the techniques described above, workspace 70 may allow
mobile drive unit 20 to reserve a smaller amount of space than
otherwise may be required to enable mobile drive unit 20 to rotate
inventory holder 30 while moving along path 16. For example, such
techniques may enable mobile drive unit 20 to rotate in any
particular space within workspace 70 in addition to or
alternatively to pre-designated rotation areas.
[0261] As illustrated in FIG. 21B, mobile drive unit 20 may
additionally or alternatively perform any number of execution of
rotation maneuvers along path 16b. For example, path 16b is
illustrated as including an initial portion 2117a proceeding in a
first translational direction, a curved portion 2117b, and a second
portion 2117c proceeding in a second translational direction. After
proceeding along portion 2117a in the first translational
direction, mobile drive unit 20 may rotate itself by a
predetermined amount that is appropriate to follow the curved
portion 2117b. As a result of rotating itself, mobile drive unit 20
changes its direction of travel to the second translational
direction along portion 2117c.
[0262] As mobile drive unit 20 rotates to move along curved portion
2117b, mobile drive unit 20 may independently rotate inventory
holder 30 in any appropriate rotational direction. For example, as
illustrated face 2102a is orthogonal to the first translational
direction. As mobile drive unit 20 moves along curved portion
2117b, mobile drive unit 20 may rotate inventory holder 30 in a
direction opposite to the rotation of mobile drive unit 20 by an
amount sufficient to maintain face 2102a of inventory holder
orthogonal to the first translational direction. Mobile drive unit
20 may thus rotate without rotating inventory holder 30 with
respect to the first translational direction.
[0263] After completing the rotation maneuver along curved portion
17b, mobile drive unit 20 may proceed along portion 17c to the
destination point 2100c. Once at the destination, illustrated as
inventory station 50, mobile drive unit 20 may then undock from
inventory holder 30 and may move away from inventory holder 30 in
accordance with another task received by resource scheduling module
92.
[0264] FIG. 21C illustrates another example of rotation maneuvers
mobile drive unit 20 may perform along path 16c. As mobile drive
unit 20 rotates itself to move along curved portion 2117b, mobile
drive unit 20 may rotate inventory holder 30 in the same rotational
direction or opposite rotational direction as mobile drive unit 20.
As illustrated, mobile drive unit 20 may rotate inventory holder 30
by an amount calculated to present a selected face 2102b of
inventory holder 30 to inventory station 50. As a result of the
rotation maneuver, mobile drive unit 20 rotates from traveling in a
first translational direction to travel in a second translational
direction, depicted here as a 90.degree. change in translational
movement. In order to present the selected face 2102b of inventory
holder 30 at inventory station 50, mobile drive unit 20 may
independently rotate docking head 110 by an additional 90.degree..
Thus, inventory holder 30 is rotated by 180.degree. with respect to
its original orientation. It should be understood, however, that
specific degrees of rotations are explained herein for purposes of
illustration only. Mobile drive unit 20 is capable of rotating
itself by any appropriate amount while also rotating inventory
holder 30 by any appropriate amount. Mobile drive unit 20 may
additionally or alternatively vary the rates of rotation of itself
and of inventory holder 30. For example, mobile drive unit 20 may
alter the rates of rotation based on the desired degree of rotation
and the length of curved segment 17b.
[0265] FIG. 21D illustrates another example of rotation maneuvers
mobile drive unit 20 may perform along path 16d. As mobile drive
unit 20 moves along path 16d, mobile drive unit 20 may approach an
intersection of path 16d with another path 16e. Mobile drive unit
20 may determine to rotate at the intersection. Reservation space
2104 may be reserved. Thus, when mobile drive unit 20 reaches point
2100a, mobile drive unit 20 may stop moving and perform any number
of rotation maneuvers. As illustrated, mobile drive unit 20
determines to rotate in one rotational direction while also
rotating inventory holder 30 in the opposite rotational direction
by any desired amount. Such a maneuver may allow mobile drive unit
20 to both rotate inventory holder 30 by the desired amount and to
change the translational direction of mobile drive unit 20. Both
rotations may occur at or near the same time. For example, mobile
drive unit 20 may rotate by 90.degree. in order to make a
right-hand or left-hand turn while in the intersection of paths 16.
While mobile drive unit 20 rotates to make such a turn, mobile
drive unit may rotate inventory holder 30 in the same or opposite
rotational direction.
[0266] FIG. 22 is a flowchart illustrating another example
embodiment of operation of a particular embodiment of mobile drive
unit 20 in rotating an inventory holder 30. At step 2202, mobile
drive unit 20 docks with inventory holder 30. Mobile drive unit 20
may then receive a path to a destination at step 2204. The
destination may be any appropriate destination within workspace 70,
such as inventory station 50 and/or a storage location for
inventory holder 30.
[0267] At step 2206, mobile drive unit 20 may determine whether a
rotation is necessary along path 16. For example, mobile drive unit
20 may determine that a selected face of inventory holder 30 is
requested to be presented at inventory station 50. As a result,
mobile drive unit 20 may determine that rotating inventory holder
30 by a certain amount is necessary to achieve the presentation of
that selected face. As another example, mobile drive unit 20 may
determine that a turn, curve, or other change in translational
direction is required and may determine to combine a change in
translational direction or rotation of mobile drive unit 20 with a
rotation of inventory holder 30. As another example, path 16 may
have turns or changes in translational direction but mobile drive
unit 20 may determine to maintain inventory holder 30 facing the
same direction regardless of such turns or changes in translational
direction.
[0268] Once the mobile drive unit 20 determines that a rotation
maneuver is appropriate, mobile drive unit 20 may request, at step
2208, to reserve space sufficient to perform the rotation maneuver
along path 16. Mobile drive unit 20 may request the rotation
reservation prior to beginning movement along the path and/or at
any point along path 16. When segment reservation module 96
receives the request, segment reservation module 96 determines the
type of rotation maneuver is requested at step 2210. If the request
is to rotate mobile drive unit 20 only, segment reservation module
96 at step 2212 may attempt to place reservation rotations based on
the space required for mobile drive unit 20 to rotate. At step 2214
segment reservation module 96 may determine whether the request is
to rotate inventory holder 30 only. For example, as illustrated in
FIG. 21A, mobile drive unit 20 may move in a translational
direction and may rotate inventory holder 30 while continuing to
move in the same translational direction. If the request is to
rotate inventory holder 30 only, then at step 2216, segment
reservation module 96 will attempt to place the rotation
reservation based on the space required to rotate inventory holder
30. If, however, the request is to rotate mobile drive unit 20 and
inventory holder 30 at step 2218, segment reservation module may,
at step 2220, attempt to place rotation reservations for both the
mobile drive unit 20 and inventory holder 30 based on the space
required to rotate both mobile drive unit 20 and inventory holder
30.
[0269] After it is determined whether segment reservation module 96
has successfully reserved the appropriate rotation space at step
2212, 2216, or 2220, segment reservation module 22 may at step 2222
transmit a reservation response to mobile drive unit 20. The
reservation response may indicate whether the reservation was
successful and/or may indicate at which point along path 16 mobile
drive unit 20 may rotate. Alternatively, segment reservation module
96 may indicate that a reservation was not successful. If the
reservation was not successful, then at step 2224, mobile drive
unit 20 may wait a predetermined period of time and request another
rotation reservation at step 2208. Additionally or in the
alternative, at step 2224, mobile drive unit 20 may move along path
16 for some distance before making another reservation request for
another point along path 16 at step 2208. In some embodiments, in
response to receiving a failed reservation response, mobile drive
unit 20 may slow down and/or wait before making another reservation
request.
[0270] If the reservation response is successful, at step 2226
mobile drive unit 20 moves along received path 16 until the
reserved rotation space is reached at 2228. Once the reserved
rotation space is reached at 2228, mobile drive unit 20 executes
the rotation maneuver at step 2230. For example, mobile drive unit
20 may execute any of the rotation maneuvers described in the
present disclosure, including those described in FIGS. 21A, 21B,
21C, and/or 21D. As the rotation maneuver is executed at step 2232,
mobile drive unit 20 continues along received path 16 until mobile
drive unit 20 reaches the destination. For example, mobile drive
unit 20 may transport inventory holder 30 to inventory station 50
or other destination within workspace 70. At step 2234, mobile
drive unit 20 arrives at the destination with inventory holder
30.
[0271] Technical advantages of certain embodiments of the present
invention include the ability for a mobile drive unit to
selectively rotate an inventory holder while moving, which may
allow the mobile drive unit to achieve certain operational
efficiencies within a workspace. For example, selectively rotating
the inventory holder while moving may allow the mobile drive unit
to maintain an orientation of the inventory holder regardless of
the mobile drive unit's translational movements. Maintaining the
orientation of the inventory holder may, for instance, reduce the
space required for the mobile drive unit to complete changes in
translational movements. As another example, selectively rotating
the inventory holder while moving may allow the mobile drive unit
to present a selected face of the inventory holder at an inventory
station, which may facilitate the ability of the inventory station
to receive inventory items from the inventory holder. Another
technical advantage may include the flexibility for a mobile drive
unit to make a rotation maneuver at any appropriate point along a
path to a destination, which may reduce and/or eliminate any need
to pre-designate particular areas of a workspace as rotation areas.
By eliminating any requirement to rotate in pre-designated rotation
areas, path planning activities may be simplified and greater
operational efficiencies achieved. Moreover, rotating inventory
holders while moving may reduce and/or eliminate the need for
mobile drive units to stop and/or undock from inventory holders
while in transit.
[0272] Although the present invention has been described with
several embodiments, a myriad of changes, variations, alterations,
transformations, and modifications may be suggested to one skilled
in the art, and it is intended that the present invention encompass
such changes, variations, alterations, transformations, and
modifications as fall within the scope of the appended claims.
Moreover, although the present invention has been described as
having several embodiments, the teachings of the present disclosure
may describe various aspects of a single embodiment
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