U.S. patent application number 14/965409 was filed with the patent office on 2017-06-15 for mobile robot manipulator.
The applicant listed for this patent is Amazon Technologies, Inc.. Invention is credited to Diane Grieselhuber Mills, John Gregory Longtine, Andrew Stubbs, Matthew David Verminski, Parris S. Wellman.
Application Number | 20170166399 14/965409 |
Document ID | / |
Family ID | 57708753 |
Filed Date | 2017-06-15 |
United States Patent
Application |
20170166399 |
Kind Code |
A1 |
Stubbs; Andrew ; et
al. |
June 15, 2017 |
MOBILE ROBOT MANIPULATOR
Abstract
Embodiments are described for implementing a mobile inventory
transfer station within a workspace of an inventory management
system. In embodiments, inventory transfer instructions for moving
inventory stored within container holders in a workspace may be
received. A portion of container holders within the workspace may
be identified based on characteristics associated with the items of
the inventory transfer instructions and first information
identifying the items stored in the portion of container holders. A
mobile container unit and a mobile manipulator unit may be selected
based on distances between the units and the identified portion of
container holders within the workspace. Instructions may be
transmitted to the mobile container unit and mobile manipulator
unit for navigating to the identified portion of container holders
in the workspace and transferring inventory between a particular
container holder and a container associated with the mobile
container unit by the mobile manipulator unit.
Inventors: |
Stubbs; Andrew; (Waltham,
MA) ; Longtine; John Gregory; (Sudbury, MA) ;
Grieselhuber Mills; Diane; (Wilmington, MA) ;
Wellman; Parris S.; (Reading, MA) ; Verminski;
Matthew David; (North Andover, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Amazon Technologies, Inc. |
Seattle |
WA |
US |
|
|
Family ID: |
57708753 |
Appl. No.: |
14/965409 |
Filed: |
December 10, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
Y10S 901/01 20130101;
B25J 9/0096 20130101; G06Q 10/087 20130101; G05B 2219/40298
20130101; B25J 9/162 20130101; B65G 1/06 20130101; G06Q 50/28
20130101; B65G 1/1373 20130101; G06Q 10/08 20130101; G05B
2219/39091 20130101; B25J 9/1664 20130101 |
International
Class: |
B65G 1/137 20060101
B65G001/137; B25J 9/00 20060101 B25J009/00; B65G 1/06 20060101
B65G001/06; B25J 9/16 20060101 B25J009/16 |
Claims
1. An inventory management system, comprising: a plurality of
container holders arranged within a first area of a workspace, a
container holder of the plurality of container holders comprising
one or more containers for storage of inventory items; a plurality
of mobile drive units, each mobile drive unit configured to move
container holders of the plurality of container holders, using an
associated propulsion component, within the workspace according to
first instructions received from an inventory management module; a
plurality of mobile manipulator units configured to move within the
workspace according to second instructions received from the
inventory management module, at least one of the plurality of
mobile manipulator units comprising: a robotic arm configured to
transfer the inventory items between the one or more containers and
a subset of containers for transferring inventory; a plurality of
mobile container units configured to move the subset of containers
within the workspace according to third instructions received from
the inventory management module; and a processor coupled with
memory, configured to implement the inventory management module to:
receive inventory transfer instructions for an item within the
workspace; generate a virtual mobile inventory transfer station in
a second area within the workspace based at least in part on
characteristics of the item in the inventory transfer instructions
and first information indicating a location of a portion of the
container holders associated with the item within the workspace,
the virtual mobile inventory transfer station comprising the
portion of the container holders, a particular mobile drive unit of
the plurality of mobile drive units, a particular mobile container
unit of the plurality of mobile container units, and a particular
mobile manipulator unit of the plurality of mobile manipulator
units, the virtual mobile inventory transfer station not previously
associated with the second area; transmit the first instructions to
the propulsion component of the particular mobile drive unit, the
propulsion component configured to move the portion of the
container holders from the first area to the second area; transmit
the second instructions for moving the particular mobile
manipulator unit from a third area of the workspace to the second
area and transferring, utilizing the robotic arm, the item from a
particular container of the subset of containers to at least one of
the portion of the container holders; and transmit the third
instructions to the particular mobile container unit for moving
from a fourth area of the workspace to the second area, the
particular mobile container unit comprising the particular
container containing the item for transfer to the at least one of
the portion of the container holders.
2. The inventory management system of claim 1, wherein the
characteristics of the item comprise at least one of metrics that
identify a velocity of throughput for the item, historic order
information associated with the item indicating one or more other
items that are historically included in an order for the item,
second information indicating a distance between where the item is
stored within the workspace and a third area for inventory transfer
processing, third information indicating a packing type associated
with the item, or physical characteristic information associated
with the item.
3. The inventory management system of claim 1, wherein the third
instructions are based at least in part on the second area and the
inventory transfer instructions.
4. The inventory management system of claim 3, wherein the
inventory management module is further configured to transmit
fourth instructions to the particular mobile container unit for
moving to a fifth area within the workspace and for transferring
another item within the workspace based on other inventory transfer
instructions.
5. The inventory management system of claim 1, wherein each mobile
container unit of the plurality of mobile container units is
further configured to interact with and move the subset of
containers within the workspace.
6. A computer-implemented method, comprising: receiving, by a
computer system comprising a processor and memory, inventory
transfer instructions for moving an inventory item stored or to be
stored within at least one container holder of a plurality of
container holders within a workspace; identifying, by the computer
system, a portion of container holders of the plurality of
container holders within the workspace based at least in part on
characteristics associated with the inventory item identified by
the inventory transfer instructions and further based at least in
part on first information identifying inventory items associated
with the portion of container holders; generating, by the computer
system, a virtual mobile inventory transfer station to associate in
an area within the workspace based at least in part on identifying
the portion of container holders, the identified area within the
workspace comprising an approximate location of the portion of
container holders, the virtual mobile inventory transfer station
not previously associated with the area; selecting, by the computer
system, a mobile container unit and a mobile manipulator unit based
at least in part on respective distances between each of the mobile
container unit and the mobile manipulator unit within the workspace
and the identified area within the workspace for the virtual mobile
inventory transfer station, the mobile container unit configured to
carry a mobile container using an associated propulsion component,
and the mobile manipulator unit comprising a robotic arm configured
to transfer inventory items between the mobile container of the
mobile container unit and the at least one container holder of the
portion of container holders; transmitting, by the computer system,
first instructions to the mobile manipulator unit for navigating to
the identified area within the workspace for the virtual mobile
inventory transfer station and transferring, by the robotic arm,
the inventory item between the at least one container holder and
the mobile container of the mobile container unit; and
transmitting, by the computer system, second instructions to the
mobile container unit for navigating to the identified area within
the workspace for the virtual mobile inventory transfer station
with the mobile container, the propulsion component of the mobile
container unit using the second instructions to navigate to the
identified area.
7. The computer-implemented method of claim 6, further comprising
maintaining second information identifying a location of each
container holder of the plurality of container holders within the
workspace, wherein identifying the portion of container holders is
further based at least in part on the second information.
8. The computer-implemented method of claim 6, further comprising
second information identifying respective default locations within
the workspace for each of the mobile container unit and the mobile
manipulator unit, wherein respective distances between the
respective default locations of each of the mobile container unit
and the mobile manipulator unit and the area within the workspace
for the virtual mobile inventory transfer station is based at least
in part on the second information.
9. The computer-implemented method of claim 6, wherein the first
instructions for the mobile manipulator unit and the second
instructions for the mobile container unit comprise respective
optimized paths to the area within the workspace for the virtual
mobile inventory transfer station, the respective optimized paths
determined based at least in part on the inventory transfer
instructions.
10. The computer-implemented method of claim 6, wherein the first
instructions and the second instructions identify respective
velocities for the mobile manipulator unit and the mobile container
unit to maintain while navigating within the area within the
workspace for the virtual mobile inventory transfer station.
11. The computer-implemented method of claim 6, further comprising
transmitting third instructions to the mobile container unit for
navigating to a shipping area of the workspace based at least in
part on an indication from the mobile manipulator unit that the
inventory item has been transferred to the mobile container.
12. The computer-implemented method of claim 6, further comprising
selecting, by the computer system, a plurality of mobile
manipulator units to transfer the inventory item based at least in
part on respective locations of each mobile manipulator unit of the
plurality of mobile manipulator units and respective distances to
the area within the workspace for the virtual mobile inventory
transfer station.
13. The computer-implemented method of claim 6, wherein the
inventory transfer instructions comprise one or more customer
orders for inventory items stored in the workspace, the first
instructions to the mobile manipulator unit and the second
instructions to the mobile container unit further identifying the
inventory items required for fulfilling the one or more customer
orders utilizing the identified portion of container holders within
the workspace.
14. An inventory management system, comprising: a plurality of
container holders arranged within a first area of a workspace, a
container holder of the plurality of container holders comprising
one or more containers for storage of inventory items; a plurality
of mobile container units configured to move a subset of containers
for transferring inventory within the workspace using an associated
propulsion component according to first instructions; a plurality
of mobile manipulator units configured to move within the workspace
according to second instructions, at least one of the plurality of
mobile manipulator units comprising: a robotic arm configured to
transfer the inventory items between the one or more containers and
a particular container of the subset of containers of at least one
of the plurality of mobile container units; a plurality of mobile
drive units, each mobile drive unit configured to move container
holders of the plurality of container holders within the workspace
according to third instructions; and a processor coupled with
memory, configured to implement a management module to: receive
inventory transfer instructions for an inventory item within the
workspace; generate a virtual mobile inventory transfer station to
associate in a particular area within the workspace based at least
in part on characteristics of the inventory item, the particular
area including at least one container holder of the plurality of
container holders, the virtual mobile inventory transfer station
not previously associated with the particular area; select a
particular mobile container unit of the plurality of mobile
container units based at least in part on a distance between a
second area of the workspace associated with the particular mobile
container unit and the particular area within the workspace
associated with the virtual mobile inventory transfer station;
select a particular mobile manipulator unit of the plurality of
mobile manipulator units based at least in part on a distance
between a third area of the workspace associated with the
particular mobile manipulator unit and the particular area within
the workspace associated with the virtual mobile inventory transfer
station; select a particular mobile drive unit of the plurality of
mobile drive units based at least in part on a distance between a
fourth area of the workspace associated with the particular mobile
drive unit and the particular area within the workspace associated
with the virtual mobile inventory transfer station; transmit the
first instructions to move the particular mobile container unit of
the plurality of mobile container units using the associated
propulsion component from the second area of the workspace to the
particular area associated with the virtual mobile inventory
transfer station; transmit the second instructions to move the
particular mobile manipulator unit from the third area of the
workspace to the particular area associated with the virtual mobile
inventory transfer station and to transfer the inventory item,
utilizing the robotic arm, from the at least one container holders
to the particular container of the particular mobile container
unit; transmit the third instructions to move the particular mobile
drive unit from the fourth area of the workspace to the particular
area associated with the virtual mobile inventory transfer station
and to arrange the at least one container holder from a first
configuration to a second configuration within the particular area
based at least in part on the inventory transfer instructions.
15. The inventory management system of claim 14, wherein the
particular mobile manipulator unit further comprises an image
capture device.
16. The inventory management system of claim 15, wherein the image
capture device is utilized to capture images of the inventory item
as the inventory item is transferred to the particular
container.
17. The inventory management system of claim 14, wherein the
particular mobile manipulator unit further comprises a plurality of
robotic arms configured to transfer inventory items within the
workspace, each robotic arm of the plurality of robotic arms
associated with a different end of arm tool with associated
grasping capabilities.
18. The inventory management system of claim 14, wherein
identifying the particular area within the workspace is based at
least in part on a number of mobile manipulator units that are
within a certain distance of the particular area and a policy for
reducing resource usage by a potentially selected mobile
manipulator unit while transferring inventory items within the
workspace.
19. The inventory management system of claim 14, wherein selecting
the particular mobile manipulator unit is further based at least in
part on an amount of time calculated for the particular mobile
manipulator unit to fulfill the inventory transfer
instructions.
20. The inventory management system of claim 14, wherein selecting
the particular mobile manipulator unit comprises selecting two or
more mobile manipulator units based at least in part on a
determined first amount of time utilizing the particular mobile
manipulator unit to fulfill the inventory transfer instructions and
a determined second amount of time utilizing the two or more mobile
manipulator units to fulfill the inventory transfer instructions.
Description
BACKGROUND
[0001] 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 become 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.
BRIEF DESCRIPTION OF THE DRAWINGS
[0002] Various embodiments in accordance with the present
disclosure will be described with reference to the drawings, in
which:
[0003] FIG. 1 illustrates an example workflow for a mobile
inventory transfer station in a workspace as described herein, in
accordance with at least one embodiment;
[0004] FIG. 2 illustrates components of an inventory management
system, in accordance with at least one embodiment;
[0005] FIG. 3 illustrates in greater detail the components of an
example management module that may be utilized in particular
embodiments of the inventory management system shown in FIG. 2;
[0006] FIGS. 4 and 5 illustrate in greater detail an example mobile
drive unit that may be utilized in particular embodiments of the
inventory management system shown in FIG. 2;
[0007] FIG. 6 illustrates in greater detail an example inventory
holder that may be utilized in particular embodiments of the mobile
inventory transfer station within an inventory management system,
in accordance with at least one embodiment;
[0008] FIG. 7 illustrates an example mobile manipulator unit and
various end of arm tools that may be utilized by the mobile
manipulator unit to transfer inventory within the inventory
management system, in accordance with at least one embodiment;
[0009] FIG. 8 illustrates an example configuration for a mobile
manipulator unit and mobile container units transferring inventory
within an inventory management system, in accordance with at least
one embodiment;
[0010] FIG. 9 illustrates an example workflow for transferring
inventory within an inventory management system according to mobile
inventory transfer station features described herein, in accordance
with at least one embodiment;
[0011] FIG. 10 illustrates an example workflow for transferring
inventory within an inventory management system according to mobile
inventory transfer station features described herein, in accordance
with at least one embodiment;
[0012] FIG. 11 illustrates a flow diagram depicting example acts
for implementing techniques relating to mobile inventory transfer
station features within an inventory management system as described
herein, in accordance with at least one embodiment;
[0013] FIG. 12 illustrates a flow diagram depicting example acts
for implementing techniques relating to mobile inventory transfer
station features within an inventory management system as described
herein, in accordance with at least one embodiment; and
[0014] FIG. 13 illustrates an environment in which various features
of the mobile inventory transfer station within the inventory
management system can be implemented, in accordance with at least
one embodiment.
DETAILED DESCRIPTION
[0015] In the following description, various embodiments will be
described. For purposes of explanation, specific configurations and
details are set forth in order to provide a thorough understanding
of the embodiments. However, it will also be apparent to one
skilled in the art that the embodiments may be practiced without
the specific details. Furthermore; well-known features may be
omitted or simplified in order not to obscure the embodiment being
described.
[0016] Embodiments herein are directed to an inventory management
system having multiple container holders and drive units for
inventory within the inventory management system. Specifically,
features herein are directed to managing the transfer of inventory
at mobile inventory transfer stations within the inventory
management system. The container holders may include one or more
containers configured to hold items within the inventory management
system. Unmanned mobile drive units are provided to move inventory,
via mobile totes or entire container holders, among one or more
locations of a facility (e.g., a warehouse or workspace) within the
inventory management system. The container holders may operate
within one or more areas of the facility and hold inventory items
(within the containers) going to or coming from other areas of the
facility or outside the facility. The container holders may be
placed next to other container holders to form one or more rows of
dense storage. Mobile container units, which may be a separate
unmanned mobile drive unit or a modified unmanned mobile drive
unit, may utilize mobile totes to transfer inventory within the
inventory management system according to instructions from a
management module. The mobile totes may be examples of the
containers stored in the container holders and also may be
configured to temporarily store inventory that is being moved in
the inventory management system. In embodiments, mobile manipulator
units with robotic arms may transfer inventory between the mobile
container units and/or the container holders within the inventory
management system. In this way a mobile inventory transfer station
may be created at any area within the inventory management system
by providing instructions to the mobile container units, mobile
chive units, and mobile manipulator units to transfer inventory
within the facility.
[0017] A facility may generally operate at full capacity meaning
that the location and configuration of the container holders and
the virtual mobile inventory transfer stations described herein
enable efficient use of the space within the facility and increase
the efficiency of fulfilling inventory transfer orders or inventory
processing. Virtual mobile inventory transfer stations (mobile
inventory transfer stations) as used herein refer to areas or
locations within the inventory management system where one or more
of a mobile container unit, a mobile drive unit, and a mobile
manipulator unit may operate to transfer inventory, and thereafter
move to other areas or locations within the inventory management
system to transfer inventory. The ethereal nature of the mobile
inventory transfer station allows for multiple, dynamic layouts and
configurations for the container holders within a facility to
maximize use of the space. Further, mobile inventory transfer
stations can be implemented in multiple inventory management system
configurations which may include dedicated areas (such as the areas
where inventory is processed as discussed above) for inventory
processing while still providing a benefit of freeing up more
footprint space for other operations within the facility by
removing immobile inventory transfer stations, e.g., conventional
workstations for dedicated inventory processing.
[0018] In a non-limiting example, a computer system that includes a
management module for implementing the mobile inventory transfer
station features, described herein, may receive an order for an
item of inventory stored within a workspace. The workspace may
include several areas where one or more container holders store
various items of inventory. In an embodiment, the computer system
may identify a portion of container holders within the workspace
that can be utilized to fulfill the order for the item. The
computer system may select an appropriate mobile container unit,
mobile drive unit, and mobile manipulator unit based on their
respective distance within the workspace to an area of the
workspace associated with the identified portion of container
holders. Instructions may be provided to the mobile container unit
with an associated container to move to the area of the identified
portion of container holders. Instructions may be provided to the
mobile drive unit to move to the area of the identified portion of
the container holders and move, rotate, or otherwise manipulate one
or more container holders to facilitate retrieval of the item.
Instructions may be provided to the mobile manipulator unit to move
to the area and transfer the item from the portion of container
holders to the associated container of the mobile container unit.
The mobile manipulator unit may utilize a robotic arm to grasp and
transfer the item from one of the container holders. Thereafter,
further instructions may be provided to the mobile container unit
to move the associated container with the item to a different area
of the workspace or to leave the workspace all together.
[0019] In accordance with at least one embodiment, the computer
system implementing the mobile inventory transfer station features
described herein may maintain information identifying the location
of a plurality of mobile container units, mobile drive units, and
mobile manipulator units at any given time within the workspace. In
embodiments, the computer system may maintain information
indicating a default location for each mobile manipulator unit of
the plurality of mobile manipulator units within the facility. In
some examples, a particular mobile manipulator unit may be located
near one or more areas of interest within the facility. An area of
interest within the facility, as used herein, can include a
location of one or more container holders within the facility that
are frequently accessed by the mobile container units, the mobile
drive units, and the mobile manipulator units for fulfilling
inventory transfer orders. In accordance with at least one
embodiment, an area of interest may be created by instructions
provided by the computer system based at least in part on
characteristics of the items stored and/or associated with
container holders. In some embodiments, an area of interest may be
created based at least in part on distance in the facility between
a portion of container holders and another area of the facility
such as a shipping processing area or other suitable area within
the facility. Characteristics of items may include the velocity of
throughput of the item for inventory processing, a type of item, a
type of packing for the item, order history information associated
with an item indicating that the item is usually ordered with
another item, or physical characteristics associated with the item
such as size (i.e., physical dimensions) and weight. In
embodiments, mobile drive units may be configured to move one or
more container holders within the workspace to create an area of
interest or a suitable area for forming the virtual mobile
inventory transfer station. In an embodiment, a portion of
container holders may be moved from a first area within the
workspace to a second area of the workspace to form a virtual
mobile inventory transfer station. In accordance with at least one
embodiment, a portion of container holders may be arranged or
re-arranged from a first configuration within the identified area
of interest to a second configuration for forming the virtual
mobile inventory transfer station.
[0020] FIG. 1 illustrates an example workflow for a mobile
inventory transfer station in a workspace as described herein, in
accordance with at least one embodiment. The workflow 100 of FIG. 1
includes container holders 102 and 104 with one or more containers
106 and 108 that may include inventory. The container holders 102
and 104 may be configured to store an item, such as item 110, that
is not in a container. The container holders 102 and 104 may rest
on the floor 112 of a facility configured to store a plurality of
container holders. The workflow 100 of FIG. 1 includes a mobile
container unit 114 with an associated container 116 and a mobile
manipulator unit 118 with a robotic arm 120. In accordance with at
least one embodiment, the mobile container unit 114 may be
configured to move one or more containers, like container 116,
within the facility for inventory transfer to and from container
holders, such as 102 and 104. For example, instructions may be
provided via an access point within the facility to the mobile
container unit 114 for navigating to a particular container holder
to stow inventory within an associated container moved by the
mobile container unit 114 to the particular container holder. In
other examples, the mobile container unit 114 may move an empty
associated container, like container 116, to a portion of container
holders within the facility to obtain multiple items of inventory,
via the mobile manipulator unit 118. In accordance with at least
one embodiment, the mobile container unit 114 may be configured to
move one or more containers 116 throughout the facility for
inventory transfer or inventory processing.
[0021] The workflow 100 includes a transition 122 in the state of
the inventory and units 114 and 118 within the facility. The
transition 122 of workflow 100 illustrates the mobile manipulator
unit 118 transferring 124 a particular item 126 to the container
116 associated with the mobile container unit 114. In accordance
with at least one embodiment, the robotic arm 120 of the mobile
manipulator unit 118 may be configured to grasp and transfer one or
more items of inventory (110 and 126) from a container holder (102
and 104) or a container (106 and 108) from the container holder
(102 and 104) within the facility. The mobile manipulator unit 118,
via the robotic arm 120, may transfer items of inventory between
the container 116 associated with the mobile container unit 114 and
the container holders 102 and 104. As described herein, a computer
system may transmit instructions to the mobile container unit 114
and mobile manipulator unit 118 for moving to a particular area
within the facility and setting up a mobile inventory transfer
station near one or more container holders (102 and 104) of the
facility. The inventory transfer station is considered mobile
because the same mobile container unit 114 and mobile manipulator
unit 118 may be present only temporarily in the location near the
one or more container holders (102 and 104) for the period of time
required to fulfill an order for an item or according to inventory
transfer instructions received from the computer system. It should
be noted that the mobile container unit 114 and mobile manipulator
unit 118 may be utilized to fulfill multiple orders or inventory
transfer instructions before moving to a different area of the
facility. In embodiments, instructions may be provided to move the
mobile container unit 114 to the particular area for setting up the
virtual mobile inventory transfer station before instructions are
provided to the mobile manipulator unit 118, or instructions may be
provided to move the mobile manipulator unit 118 to the particular
area for setting up the virtual mobile inventory transfer station
before instructions are provided to the mobile container unit 114.
In some embodiments, instructions may be provided in real time,
subsequently, or in any suitable manner for forming the virtual
mobile inventory transfer station. Thus, the mobile inventory
transfer stations can provide the benefits of more efficiently
fulfilling orders by moving to one or more areas within the
facility as required by the inventory transfer instructions and
providing more floor space within the facility for use by the
container holders or other components of the inventory management
system as required.
[0022] FIG. 2 illustrates the components of an inventory management
system 210. Inventory management system 210 includes a management
module 215, one or more mobile drive units 220, one or more
inventory holders (container holders) 230, and mobile inventory
transfer stations 250. Mobile drive units 220 transport inventory
holders 230 between points within a workspace 270 in response to
commands communicated by management module 215. Each inventory
holder 230 stores one or more types of inventory items. As a
result, inventory system 210 is capable of moving inventory items
between locations within workspace 270 to facilitate the entry,
processing, and/or removal of inventory items from inventory system
210 and the completion of other tasks involving inventory items.
The inventory management system 210 includes a mobile container
unit 275 and a mobile manipulator unit 280 for transferring
inventory within the workspace 270 by forming a mobile inventory
transfer station 250 within the workspace 270 as opposed to the
inventory station 285. The mobile drive units 220, mobile container
unit 275, and mobile manipulator unit 280 may be referred to as
"mobile units" 220, 275, and 280 herein.
[0023] Management module 215 assigns tasks to appropriate
components of inventory management system 210 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 management system 210. For example,
management module 215 may assign portions of workspace 270 as
parking spaces for the mobile units 220, 275, and 280, the
scheduled recharge or replacement of mobile unit batteries, the
storage of empty inventory holders 230, or any other operations
associated with the functionality supported by inventory management
system 210 and its various components. Management module 215 may
select components of inventory management system 210 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. 2 as a single, discrete component,
management module 215 may represent multiple components and may
represent or include portions of mobile units 220, 275, and 280, or
other elements of inventory management system 210. As a result, any
or all of the interactions between a particular mobile unit 220,
275, or 280, and management module 215 that are described herein
may, in particular embodiments, represent peer-to-peer
communication between that mobile units 220, 275, and 280, and one
or more other mobile units 220, 275, and 280. The components and
operation of an example embodiment of management module 215 are
discussed further below with respect to FIG. 3.
[0024] Mobile drive units 220 move inventory holders 230 between
locations within workspace 270. Mobile drive units 220 may
represent any devices or components appropriate for use in
inventory management system 210 based on the characteristics and
configuration of inventory holders 230 and/or other elements of
inventory management system 210. In a particular embodiment of
inventory management system 210, mobile drive units 220 represent
independent, self-powered devices configured to freely move about
workspace 270. Examples of such inventory systems are disclosed in
U.S. Pat. No. 9,087,314, issued on Jul. 21, 2015, titled "SYSTEM
AND METHOD FOR POSITIONING A MOBILE DRIVE UNIT" and U.S. Pat. No.
8,280,547, issued on Oct. 2, 2012, titled "METHOD AND SYSTEM FOR
TRANSPORTING INVENTORY ITEMS", the entire disclosures of which are
herein incorporated by reference. In alternative embodiments,
mobile drive units 220 represent elements of a tracked inventory
system configured to move inventory holder 230 along tracks, rails,
cables, crane system, or other guidance or support elements
traversing workspace 270. In such an embodiment, mobile drive units
220 may receive power and/or support through a connection to the
guidance elements, such as a powered rail. Additionally, in
particular embodiments of inventory management system 210 mobile
drive units 220 may be configured to utilize alternative conveyance
equipment to move within workspace 270 and/or between separate
portions of workspace 270. The components and operation of an
example embodiment of a mobile drive unit 220 are discussed further
below with respect to FIGS. 4 and 5. In accordance with at least
one embodiment, the mobile container unit 275 and mobile
manipulator unit 280 may be examples of mobile drive units 220 that
are modified for specific tasks associated with the mobile
inventory transfer stations described herein.
[0025] Additionally, mobile units 220, 275, and 280 may be capable
of communicating with management module 215 to receive information
identifying selected inventory holders 230, transmit the locations
of mobile units 220, 275, and 280, or exchange any other suitable
information to be used by management module 215 or mobile units
220, 275, and 280 during operation. Mobile units 220, 275, and 280
may communicate with management module 215 wirelessly, using wired
connections between mobile units 220, 275, 280, and management
module 215, and/or in any other appropriate manner. As one example,
particular embodiments of mobile units 220, 275, and 280 may
communicate with management module 215 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 management
system 210, tracks or other guidance elements upon which mobile
units 220, 275, and 280 move may be wired to facilitate
communication between mobile units 220, 275, 280, and other
components of inventory management system 210. Furthermore, as
noted above, management module 215 may include components of
individual mobile units 220, 275, and 280. Thus, for the purposes
of this description and the claims that follow, communication
between management module 215 and a particular mobile unit 220,
275, and 280 may represent communication between components of a
particular mobile unit 220, 275, or 280. In general, mobile units
220, 275, and 280 may be powered, propelled, and controlled in any
manner appropriate based on the configuration and characteristics
of inventory management system 210.
[0026] Inventory holders (container holders) 230 store inventory
items. In a particular embodiment, inventory holders 230 include
multiple storage bins (containers) with each storage bin capable of
holding one or more types of inventory items. Inventory holders 230
are capable of being carried, rolled, and/or otherwise moved by
mobile units 220, 275, and 280. In particular embodiments,
inventory holder 230 may provide additional propulsion to
supplement that provided by mobile units 220, 275, and 280 when
moving inventory holder 230.
[0027] Additionally, in particular embodiments, inventory items may
also hang from hooks or bars (not shown) within or on inventory
holder 230. In general, inventory holder 230 may store inventory
items in any appropriate manner within inventory holder 230 and/or
on the external surface of inventory holder 230.
[0028] Additionally, each inventory holder 230 may include a
plurality of faces, and each bin may be accessible through one or
more faces of the inventory holder 230. For example, in a
particular embodiment, inventory holder 230 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 units 220, 275, or 280 may be configured to rotate
inventory holder 230 at appropriate times to present a particular
face and the bins associated with that face to an operator, other
mobile units 220, 275, 280, or other components of inventory
management system 210.
[0029] Inventory items represent any objects suitable for storage,
retrieval, and/or processing in an automated inventory management
system 210. For the purposes of this description, "inventory items"
may represent any one or more objects of a particular type that are
stored in inventory management system 210. Thus, a particular
inventory holder 230 is currently "storing" a particular inventory
item if the inventory holder 230 currently holds one or more units
of that type. As one example, inventory management system 210 may
represent a mail order warehouse facility, and inventory items may
represent merchandise stored in the warehouse facility. During
operation, mobile units 220, 275, and 280 may retrieve inventory
holders 230 containing one or more inventory items requested in an
order to be packed for delivery to a customer or inventory holders
230 carrying pallets containing aggregated collections of inventory
items for shipment. Moreover, in particular embodiments of
inventory management system 210, boxes containing completed orders
may themselves represent inventory items.
[0030] In particular embodiments, inventory management system 210
may also include one or more mobile inventory transfer stations
250. Mobile inventory transfer stations 250 represent locations
designated for the completion of particular tasks involving
inventory items. Such tasks may include the removal of inventory
items from inventory holders 230, the introduction of inventory
items into inventory holders 230, the counting of inventory items
in inventory holders 230, the decomposition of inventory items
(e.g. from pallet- or case-sized groups to individual inventory
items), the consolidation of inventory items between inventory
holders 230, and/or the processing or handling of inventory items
in any other suitable manner. In particular embodiments, mobile
inventory transfer stations 250 may just represent the physical
locations where a particular task involving inventory items can be
completed within workspace 270. As described herein, the mobile
inventory transfer stations 250 can manifest based on instructions
provided by the management module 215 to a mobile drive unit 220, a
mobile container unit 275, and a mobile manipulator unit 280 at any
location within the workspace 270. Further, the mobile inventory
transfer stations 250 can move to other locations within the
workspace 270 based on instructions from the management module 215
or may be uninstantiated or be removed from within workspace 270.
In alternative embodiments, mobile inventory transfer stations 250
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 management system 210, communication interfaces for
communicating with management module 215, and/or any other suitable
components. Mobile inventory transfer stations 250 may be
controlled, in part, by human operators or may be fully automated.
Moreover, the human or automated operators of mobile inventory
transfer stations 250 may be capable of performing certain tasks to
inventory items, such as packing, counting, or transferring
inventory items, as part of the operation of inventory management
system 210. In particular embodiments, inventory management system
may include one or more inventory stations 285. Inventory stations
285 represent locations designated for the completion of particular
tasks involving inventory items similar to those tasks described
above for mobile inventory transfer stations 250. In some examples,
the inventory stations 285 represent fixed or immobile locations
designated for the completion of particular tasks involving
inventory items.
[0031] Workspace 270 represents an area associated with inventory
management system 210 in which mobile units 220, 275, and 280 can
move and/or inventory holders 230 can be stored. For example,
workspace 270 may represent all or part of the floor of a
mail-order warehouse in which inventory management system 210
operates. Although FIG. 2 shows, for the purposes of illustration,
an embodiment of inventory management system 210 in which workspace
270 includes a fixed, predetermined, and finite physical space,
particular embodiments of inventory management system 210 may
include mobile units 220, 275, 280, and inventory holders 230 that
are configured to operate within a workspace 270 that is of
variable dimensions and/or an arbitrary geometry. While FIG. 2
illustrates a particular embodiment of inventory management system
210 in which workspace 270 is entirely enclosed in a building,
alternative embodiments may utilize workspaces 270 in which some or
all of the workspace 270 is located outdoors, within a vehicle
(such as a cargo ship), or otherwise unconstrained by any fixed
structure.
[0032] In operation, management module 215 selects appropriate
components to complete particular tasks and transmits task
assignments 218 to the selected components to trigger completion of
the relevant tasks. Each task assignment 218 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 units 220, 275,
280, inventory holders 230, mobile inventory transfer stations 250,
inventory stations 285, and other components of inventory
management system 210. Depending on the component and the task to
be completed, a particular task assignment 218 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.
[0033] In particular embodiments, management module 215 generates
task assignments 218 based, in part, on inventory requests
(inventory transfer instructions) that management module 215
receives from other components of inventory management system 210
and/or from external components in communication with management
module 215. These inventory requests identify particular operations
to be completed involving inventory items stored or to be stored
within inventory management system 210 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 management
system 210 for shipment to the customer. Management module 215 may
also generate task assignments 218 independently of such inventory
requests, as part of the overall management and maintenance of
inventory management system 210. For example, management module 215
may generate task assignments 218 in response to the occurrence of
a particular event (e.g., in response to a mobile drive unit 220
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
management system 210. After generating one or more task
assignments 218, management module 215 transmits the generated task
assignments 218 to appropriate components for completion of the
corresponding task. The relevant components then execute their
assigned tasks.
[0034] Inventory management system 210 includes one or more access
points 290 for communicating the tasks generated by the management
module 215 to the components of inventory management system 210
including mobile units 220, 275, and 280. The access points 290
located within workspace 270 may aid and enable communication
between components of the inventory management system 210 utilizing
technologies described herein including 802.11, Bluetooth, or
Infrared Data Association (IrDA) standards, or any other
appropriate wireless communication protocol. The access points 290
located within workspace 270 may include devices that act as
transmitters and receivers of local area wireless network signals
(e.g., "Wi-Fi," Long Term Evolution (LTE), Bluetooth, Wireless HD
and WiGig, and Z-wave). Examples of inventory management systems
and access points are disclosed in U.S. patent application Ser. No.
14/497,110, filed Sep. 25, 2014, titled "WIRELESS VISUALIZATION
INTERFACE FOR AUTONOMOUS GROUND VEHICLE SIGNAL COVERAGE." The
mobile units 220, 275, and 280 may be configured to utilize an
imaging device or scanner for reading fiducial markings located
through the inventory management system 210 to aid the management
module 215 in determining the location of mobile units 220, 275,
and 280 within the inventory management system 210 as is disclosed
in U.S. Pat. No. 9,087,314, issued on Oct. 2, 2012, titled "SYSTEM
AND METHOD FOR POSITIONING A MOBILE DRIVE UNIT," and U.S. Pat. No.
8,280,547, issued on Oct. 2, 2012, titled "METHOD AND SYSTEM FOR
TRANSPORTING INVENTORY ITEMS."
[0035] In embodiments, the inventory management system 210 may
include light emitting elements, such as optical fibers that
conduct light from one or more light sources and emit the conducted
light at defined physical locations distributed within the
inventory management system 210 and workspace 270. The mobile units
220, 275, and 280 may capture an image of one or more of the light
emitting elements when moving throughout the inventory management
system 210 and workspace 270 and the image may be processed, by the
management module 215, to determine the location of the mobile
units 220, 275, and 280 within the inventory management system 210
and workspace 270. In an embodiment, the management module 215
implementing the features described herein may utilize a mapping
between captured images to light emitting element placements to
determine the location of the mobile units 220, 275, and 280, or
unique light signal(s) detected at various locations may be
utilized to determine the location of the mobile units 220, 275,
and 280. In embodiments, the inventory management system 210 may
include barcodes, radio frequency identification (REED) tags, and
any other suitable identifiers that are placed throughout the
workspace 270 and that may be scanned or read by the mobile units
220, 275, and 280 to determine the location of the mobile units
220, 275, and 280 within the inventory management system 210. For
example, unique barcodes may be associated with inventory holders
230. As mobile units 220, 275, and 280 move throughout the
workspace 270 an associated scanner may read the barcode and
communicate the information contained therein to management module
215 via the access points 290 that can determine the location of
the mobile units 220, 275, and 280 based on the scanned barcode. In
accordance with at least one embodiment, one or more fiducial
markers may be placed throughout the inventory management system
210 and workspace 270 at a distance that an image capture device
(such as a camera) can capture an image of the one or more fiducial
markers. The fiducial markers may be placed in such a way that a
captured image will create a unique combination for each location
of the mobile units 220, 275, and 280 within the inventory
management system 210 and workspace 270. In embodiments, mobile
units 220, 275 and 280 may be configured to utilize an image
capture device (such as a camera or digital video recorder) to
capture images of inventory being transferred. Data captured by the
image capture device may be provided to the management module 215
for determining proper processing of inventory or for performing
quality control (identifying missing items from a particular
container holder or damaged items).
[0036] With respect to mobile units 220, 275, and 280,
specifically, management module 215 may, in particular embodiments,
communicate task assignments 218 to selected mobile units 220, 275,
and 280 that identify one or more destinations for the selected
mobile units 220, 275, and 280. Management module 215 may select a
mobile unit 220, 275, or 280 to assign the relevant task based on
the location or state of the selected mobile unit 220, 275, or 280,
an indication that the selected mobile unit 220, 275, or 280 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 215 is
executing or a management objective the management module 215 is
attempting to fulfill. For example, the task assignment may define
the location of an inventory holder 230 to be retrieved, may define
a temporary location where a mobile inventory transfer station 250
is to be formed, a storage location or default location where the
mobile units 220, 275, and 280 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 management system 210, as a whole, or individual
components of inventory management system 210. For example, in
particular embodiments, such decisions may be based on the
popularity of particular inventory items, the location of
particular mobile inventory transfer stations 250, the tasks
currently assigned to a particular mobile unit 220, 275, or 280,
and/or any other appropriate considerations.
[0037] As part of completing these tasks mobile drive units 220 may
dock with and transport inventory holders 230 within workspace 270.
Mobile drive units 220 may dock with inventory holders 230 by
connecting to, lifting, and/or otherwise interacting with inventory
holders 230 in any other suitable manner so that, when docked,
mobile drive units 220 are coupled to and/or support inventory
holders 230 and can move inventory holders 230 within workspace
270. As part of completing the tasks noted herein mobile drive
units 220 may dock with inventory holders 230 by connecting to,
lifting, going underneath, and/or otherwise interacting with
inventory holders 230 in any other suitable manner so that, when
docked, mobile manipulator units 280 can transfer inventory between
the inventory holders 230 and/or the mobile container units 275, as
described herein. In some embodiments, the mobile container unit
275 may perform the tasks noted herein without docking and/or
connecting to the inventory holders 230. For example, the mobile
container unit 275 may reside in a location near the inventory
holders 230 while the mobile manipulator unit 280 transfers
inventory between the two.
[0038] As part of completing the tasks noted herein, the mobile
manipulator unit 280 may dock with inventory holders 230 by
connecting to, lifting, going underneath, and/or otherwise
interacting with inventory holders 230 in any other suitable manner
to transfer inventory between the inventory holders 230 and the
mobile container unit 275. In some embodiments, the mobile
manipulator unit 280 may perform the tasks noted herein without
docking and/or connecting to the inventory holders 230. For
example, the mobile manipulator unit 280 may reside or be
temporarily located within a distance of a particular container
holder 230 and a mobile container unit 275 for transferring
inventory. In embodiments, the mobile units 220, 275, 280, and
inventory holder 230 may be configured to interact in any manner
suitable to allow mobile units 220, 275, and 280 to transfer
inventory within workspace 270. Additionally, as noted herein, in
particular embodiments, mobile drive units 220 represent all or
portions of inventory holders 230. In such embodiments, mobile
drive units 220 may not dock with inventory holders 230 before
transporting inventory holders 230 and/or mobile drive units 220
may each remain continually docked with a particular inventory
holder 230. In some embodiments, the mobile manipulator unit 280
may remain continually docked with a particular inventory holder
230 or a portion of inventory holders 230.
[0039] While the appropriate components of inventory management
system 210 complete assigned tasks, management module 215 may
interact with the relevant components to ensure the efficient use
of space, equipment, manpower, and other resources available to
inventory management system 210. As one specific example of such
interaction, management module 215 is responsible, in particular
embodiments, for planning the paths mobile units 220, 275, and 280
take when moving within workspace 270 and for allocating use of a
particular portion of workspace 270 to a particular mobile unit(s)
220, 275, and 280 for purposes of completing an assigned task. In
such embodiments, mobile units 220, 275, and 280 may, in response
to being assigned a task, request a path to a particular
destination associated with the task. Moreover, while the
description herein focuses on one or more embodiments in which
mobile units 220, 275, and 280 requests paths from management
module 215, mobile units 220, 275, and 280 may, in alternative
embodiments, generate their own paths.
[0040] Components of inventory management system 210 may provide
information to management module 215 regarding their current state,
other components of inventory management system 210 with which they
are interacting, and/or other conditions relevant to the operation
of inventory management system 210 including locations of
components of inventory management system 210 within the workspace
270. This may allow management module 215 to utilize feedback from
the relevant components to update algotithm parameters, adjust
policies, or otherwise modify its decision-making to respond to
changes in operating conditions or the occurrence of particular
events.
[0041] In addition, while management module 215 may be configured
to manage various aspects of the operation of the components of
inventory management system 210, 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 215.
[0042] Thus, based on its knowledge of the location, current state,
and/or other characteristics of the various components of inventory
management system 210 and an awareness of all the tasks currently
being completed, management module 215 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 management system 210 may be able to
support a number of techniques for efficiently executing various
aspects of the operation of inventory management system 210. As a
result, particular embodiments of management module 215 may, by
implementing one or more techniques described herein, enhance the
efficiency of inventory management system 210 and/or provide other
operational benefits.
[0043] FIG. 3 illustrates in greater detail the components of an
example management module 215 that may be utilized in particular
embodiments of the inventory management system shown in FIG. 2. As
shown, the example embodiment includes a mobile inventory transfer
station module 300, an inventory transfer instructions module 302,
a mobile unit path module 304, a mobile unit selection module 306,
a communication interface module 308, a processor 310, and memory
312. Management module 215 may represent a single component,
multiple components located at a central location within inventory
management system 210, or multiple components distributed
throughout inventory management system 210. For example, management
module 215 may represent components of one or more mobile units
220, 275, and 280 that are capable of communicating information
between the mobile units 220, 275, 280, and coordinating the
movement of mobile units 220, 275, and 280 within workspace 270. In
general, management module 215 may include any appropriate
combination of hardware and/or software suitable to provide the
described functionality.
[0044] Processor 310 is operable to execute instructions associated
with the functionality provided by management module 215. Processor
310 may comprise one or more general purpose computers, dedicated
microprocessors, or other processing devices capable of
communicating electronic information. Examples of processor 310
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.
[0045] Memory 312 stores processor instructions, inventory transfer
requests, inventory requests, reservation information, state
information for the various components of inventory management
system 210, and/or any other appropriate values, parameters, or
information utilized by management module 215 during operation.
Memory 312 may represent any collection and arrangement of volatile
or nonvolatile, local or remote devices suitable for storing data.
Examples of memory 312 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.
[0046] Mobile inventory transfer station module 300 may be
configured to identify or select an area of the workspace 270 of an
inventory management system 210 for forming a mobile inventory
transfer station. In embodiments, the area identified or selected
can include one or more container holders and an associated space
around the container holders in which the mobile drive unit, the
mobile container unit, and the mobile manipulator unit may operate
while transferring inventory within the workspace 270. The mobile
inventory transfer station module 300 may be configured to generate
tasks for implementation and completion by components of the
inventory management system 210 as described herein. The mobile
inventory transfer station module 300 may communicate the assigned
tasks to the appropriate components utilizing communication
interface 308. In accordance with at least one embodiment, the
mobile inventory transfer station module 300 may maintain
information that identifies the locations of one or more mobile
inventory transfer stations within a workspace 270. The mobile
inventory transfer station module 300 may maintain the information
identifying the location of a mobile inventory transfer station for
as long as the station is instantiated and upon de-instantiation
may update the information removing the location for that
particular station. The mobile inventory transfer station module
300 may transmit instructions to mobile units that are selected for
fulfilling inventory transfer instructions based at least in part
on input from the mobile unit selection module 306.
[0047] The inventory transfer instructions module 302 may be
configured to receive and maintain one or more instructions for
transferring inventory to, from, and within the inventory
management system 210. The inventory transfer instructions module
302 may track inventory as it is processed according to the
inventory transfer instructions until the transfer is complete or
leaves the workspace 270. In embodiments, the inventory transfer
instructions module 302 may be configured to assign a number of
associated containers for a mobile container unit to move within
the inventory management system 210. For example, inventory
transfer instructions may require a single mobile container unit,
for efficiency purposes, to obtain and move multiple containers to
a particular area of the workspace 270 for fulfilling the inventory
transfer instructions or a customer order. The inventory transfer
instructions module 302 may be configured to re-assign a mobile
container unit upon completion of a stow operation for a pick
operation within the inventory management system 210 based on
feedback and input from the components of inventory management
system 210. In accordance with at least one embodiment, the
inventory transfer instructions module 302 may identify the
required items of inventory for fulfilling a customer order or
inventory transfer instructions based at least in part on
maintained information that identifies which container holders are
associated with or store which particular items of inventory. The
inventory transfer instructions module 302 maintains information
about the location and number of inventory items in the inventory
management system 210. Information can be maintained about the
number of inventory items in a particular inventory holder 230, and
the maintained information can include the location of those
inventory items in the inventory holder 230. The inventory transfer
instructions module 302 can also communicate with the mobile units,
utilizing task assignments to maintain, replenish, or move
inventory items within the inventory management system 210.
[0048] The mobile unit path module 304 may be configured determine
particular paths or generate instructions indicating paths for the
mobile units to follow when transferring inventory within the
inventory management system. For example, a particular path may be
generated and transmitted to a mobile container unit for navigating
between a portion of inventory holders 230 to fulfill a customer
order or to transfer inventory according to inventory transfer
instructions. In embodiments, a different path may be generated by
the mobile unit path module 304 and transmitted to a selected
mobile manipulator unit for transferring inventory to the mobile
container unit according to inventory transfer instructions or to
fulfill a customer order for items of inventory. In some examples,
a generated path may be suitable for both the mobile container unit
and mobile manipulator unit to navigate between inventory holders
230 or the workspace 270. In embodiments, the mobile unit path
module 304 may be configured to generate and transmit instructions
to particular mobile units to move underneath, below, around, or
above, inventory holders 230 within the workspace 270 to create
clear paths for other mobile units to navigate the workspace
270.
[0049] The mobile unit path module 304 may transmit instructions to
one or more mobile units within the inventory management system 210
for blocking certain portions of the workspace (such as by forming
a line between one or more inventory holders 230 within the
workspace 270) to prevent a human operator from taking a particular
path in the workspace 270. The same blocking mechanism may be
utilized to avoid mobile unit paths from crossing human operator
paths or potential paths within the workspace 270. Additionally,
mobile unit path module 304 may receive route requests from the
mobile units (220, 275, 280). These route requests may identify one
or more destinations associated with a task the requesting mobile
unit is executing. In response to receiving a route request, mobile
unit path module 304 generates a path to one or more destinations
identified in the route request. Mobile unit path module 304 may
implement any appropriate algorithms utilizing any appropriate
parameters, factors, and/or considerations to determine the
appropriate path. After generating an appropriate path, mobile unit
path module 304 transmits a route response identifying the
generated path to the requesting mobile unit using communication
interface module 308. Mobile unit path module 304 may receive
reservation requests from mobile units attempting to move along
paths generated by the mobile unit path module 304. These
reservation requests request the use of a particular portion of
workspace 270 (referred to herein as a "segment") to allow the
requesting mobile unit to avoid collisions with other mobile units
while moving across the reserved segment. In response to received
reservation requests, the mobile unit path module 304 may transmit
a reservation response granting or denying the reservation request
to the requesting mobile unit using the communication interface
module 308.
[0050] The mobile unit selection module 306 may be configured to
select an appropriate mobile drive unit, mobile container unit, and
mobile manipulator unit for forming a mobile inventory transfer
station as described herein. In embodiments, the mobile unit
selection module 306 may be configured to select the appropriate
mobile units based at least in part on current locations of the
mobile units and the distance from the current locations to a
different location required to fulfill a customer order or
inventory transfer instructions. The distance may be the distance
between the mobile units and the area of interest or temporary
location for the mobile inventory transfer station within the
workspace. The mobile unit selection module 306 may be configured
to maintain one or more default locations or resting locations for
the mobile units within the inventory management system 210 to
reside when not performing a task generated by the management
module 215. In embodiments, the mobile unit selection module 306
may be configured to generate and transmit a user interface or user
interface components for presentation on a computing device that
enables a user to provide input. The input may be utilized by the
mobile unit selection module 306 and communication interface module
308 to aid a robotic arm associated with a mobile manipulator unit
in grasping items of inventory to fulfill a customer order or
inventory transfer instructions via teleoperation. Additionally,
mobile unit selection module 306 may also be responsible for
generating assigned tasks associated with various management
operations, such as prompting mobile units to recharge batteries or
have batteries replaced, instructing inactive mobile units to park
in a location outside the anticipated traffic flow or a location
near the anticipated site of future tasks, and/or directing mobile
units selected for repair or maintenance to move towards a
designated maintenance station within the inventory management
system 210.
[0051] Communication interface module 308 facilitates communication
between management module 215 and other components of inventory
management system 210, 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 215 and may include any suitable information. Depending on
the configuration of management module 215, communication interface
module 308 may be responsible for facilitating either or both of
wired and wireless communication between management module 215 and
the various components of inventory management system 210. In
embodiments, communication interface module 308 may facilitate
communication between management module 215 and other parts of the
same system component.
[0052] In general, mobile inventory transfer station module 300,
inventory transfer instructions module 302, mobile unit path module
304, mobile unit selection module 306, and communication interface
module 308 may each represent any appropriate hardware and/or
software suitable to provide the described functionality. In
addition, as noted above, management module 215 may, in particular
embodiments, represent multiple different discrete components and
any or all of mobile inventory transfer station module 300,
inventory transfer instructions module 302, mobile unit path module
304, mobile unit selection module 306, and communication interface
module 308 may represent components physically separate from the
remaining elements of management module 215. Moreover, any two or
more of mobile inventory transfer station module 300, inventory
transfer instructions module 302, mobile unit path module 304,
mobile unit selection module 306, and communication interface
module 308 may share common components. For example, in particular
embodiments, mobile inventory transfer station module 300,
inventory transfer instructions module 302, mobile unit path module
304, mobile unit selection module 306, and communication interface
module 308 may share a wireless transmitter, a wireless receiver,
and a related computer process executing on processor 310.
[0053] FIGS. 4 and 5 illustrate in greater detail the components of
a particular embodiment of mobile drive unit 220. In particular,
FIGS. 4 and 5 include a front and side view of an example mobile
drive unit 220. As described herein, the mobile drive unit 220 may
be an example of a mobile container unit or a mobile manipulator
unit, or the mobile container unit and mobile manipulator unit may
be comprised of a modified mobile drive unit 220. For example, the
modified mobile drive unit 220 may include one or more robotic arms
for transferring inventory or platforms for moving containers.
Mobile drive unit 220 includes a docking head 410, a drive module
420, a docking actuator 430, and a control module 470.
Additionally, mobile drive unit 220 may include one or more sensors
configured to detect or determine the location of mobile drive unit
220, inventory holder 230, and/or other appropriate elements of
inventory management system 210. In the illustrated embodiment,
mobile drive unit 220 includes a position sensor 440, a holder
sensor 450, an obstacle sensor 460, and an identification signal
transmitter 462.
[0054] Docking head 410, in particular embodiments of mobile drive
unit 220, couples mobile drive unit 220 to inventory holder 230
and/or supports inventory holder 230 when mobile drive unit 220 is
docked to inventory holder 230. Docking head 410 may additionally
allow mobile drive unit 220 to maneuver inventory holder 230, such
as by lifting inventory holder 230, propelling inventory holder
230, rotating inventory holder 230, and/or moving inventory holder
230 in any other appropriate manner. Docking head 410 may also
include any appropriate combination of components, such as ribs,
spikes, and/or corrugations, to facilitate such manipulation of
inventory holder 230. For example, in particular embodiments,
docking head 410 may include a high-friction portion that abuts a
portion of inventory holder 230 while mobile drive unit 220 is
docked to inventory holder 230. In such embodiments, frictional
forces created between the high-friction portion of docking head
410 and a surface of inventory holder 230 may induce translational
and rotational movement in inventory holder 230 when docking head
410 moves and rotates, respectively. As a result, mobile drive unit
220 may be able to manipulate inventory holder 230 by moving or
rotating docking head 410, either independently or as a part of the
movement of mobile drive unit 220 as a whole.
[0055] Drive module 420 propels mobile drive unit 220 and, when
mobile drive unit 220 and inventory holder 430 are docked,
inventory holder 230. Drive module 420 may represent any
appropriate collection of components operable to propel mobile
drive unit 220. For example, in the illustrated embodiment, drive
module 420 includes motorized axle 422, a pair of motorized wheels
424, and a pair of stabilizing wheels 426. One motorized wheel 424
is located at each end of motorized axle 422, and one stabilizing
wheel 426 is positioned at each end of mobile drive unit 220.
[0056] Docking actuator 430 moves docking head 410 towards
inventory holder 230 to facilitate docking of mobile drive unit 220
and inventory holder 230. Docking actuator 430 may also be capable
of adjusting the position or orientation of docking head 410 in
other suitable manners to facilitate docking. Docking actuator 430
may include any appropriate components, based on the configuration
of mobile drive unit 220 and inventory holder 230, for moving
docking head 410 or otherwise adjusting the position or orientation
of docking head 410. For example, in the illustrated embodiment,
docking actuator 430 includes a motorized shaft (not shown)
attached to the center of docking head 410. The motorized shaft is
operable to lift docking head 410 as appropriate for docking with
inventory holder 230.
[0057] Drive module 420 may be configured to propel mobile drive
unit 220 in any appropriate manner. For example, in the illustrated
embodiment, motorized wheels 424 are operable to rotate in a first
direction to propel mobile drive unit 220 in a forward direction.
Motorized wheels 424 are also operable to rotate in a second
direction to propel mobile drive unit 220 in a backward direction.
In the illustrated embodiment, drive module 420 is also configured
to rotate mobile drive unit 220 by rotating motorized wheels 424 in
different directions from one another or by rotating motorized
wheels 424 at different speeds from one another.
[0058] Position sensor 440 represents one or more sensors,
detectors, or other components suitable for determining the
location of mobile drive unit 220 in any appropriate manner. For
example, in particular embodiments, the workspace 270 associated
with inventory management system 210 includes a number of fiducial
marks that mark points on a two-dimensional grid that covers all or
a portion of workspace 270. In such embodiments, position sensor
440 may include a camera and suitable image- and/or
video-processing components, such as an appropriately-programmed
digital signal processor, to allow position sensor 440 to detect
fiducial marks within the camera's field of view. Control module
470 may store location information that position sensor 440 updates
as position sensor 440 detects fiducial marks. As a result,
position sensor 440 may utilize fiducial marks to maintain an
accurate indication of the location mobile drive unit 220 and to
aid in navigation when moving within workspace 270.
[0059] Holder sensor 450 represents one or more sensors, detectors,
or other components suitable for detecting inventory holder 230
and/or determining, in any appropriate manner, the location of
inventory holder 230, as an absolute location or as a position
relative to mobile drive unit 220. Holder sensor 450 may be capable
of detecting the location of a particular portion of inventory
holder 230 or inventory holder 230 as a whole. Mobile drive unit
220 may then use the detected information for docking with or
otherwise interacting with inventory holder 230.
[0060] Obstacle sensor 460 represents one or more sensors capable
of detecting objects located in one or more different directions in
which mobile drive unit 220 is capable of moving. Obstacle sensor
460 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 220. In particular
embodiments, obstacle sensor 460 may transmit information
describing objects it detects to control module 470 to be used by
control module 470 to identify obstacles and to take appropriate
remedial actions to prevent mobile drive unit 220 from colliding
with obstacles and/or other objects.
[0061] Obstacle sensor 460 may also detect signals transmitted by
other mobile drive units 220 operating in the vicinity of the
illustrated mobile drive unit 220. For example, in particular
embodiments of inventory management system 210, one or more mobile
drive units 220 may include an identification signal transmitter
462 that transmits a drive identification signal. The drive
identification signal indicates to other mobile drive units 220
that the object transmitting the drive identification signal is in
fact a mobile drive unit. Identification signal transmitter 462 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
220.
[0062] Additionally, in particular embodiments, obstacle sensor 460
may also be capable of detecting state information transmitted by
other mobile drive units 220. For example, in particular
embodiments, identification signal transmitter 462 may be capable
of including state information relating to mobile drive unit 220 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
220, in particular embodiments, mobile drive unit 220 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.
[0063] Control module 470 monitors and/or controls operation of
drive module 420 and docking actuator 430. Control module 470 may
also receive information from sensors such as position sensor 440
and holder sensor 450 and adjust the operation of drive module 420,
docking actuator 430, and/or other components of mobile drive unit
220 based on this information. Additionally, in particular
embodiments, mobile drive unit 220 may be configured to communicate
with a management device of inventory management system 210 and
control module 470 may receive commands transmitted to mobile drive
unit 220 and communicate information back to the management device
utilizing appropriate communication components of mobile drive unit
220. Control module 470 may include any appropriate hardware and/or
software suitable to provide the described functionality. In
particular embodiments, control module 470 includes a
general-purpose microprocessor programmed to provide the described
functionality. Additionally, control module 470 may include all or
portions of docking actuator 430, drive module 420, position sensor
440, and/or holder sensor 450, and/or share components with any of
these elements of mobile drive unit 220.
[0064] Moreover, in particular embodiments, control module 470 may
include hardware and software located in components that are
physically distinct from the device that houses drive module 420,
docking actuator 430, and/or the other components of mobile drive
unit 220 described above. For example, in particular embodiments,
each mobile drive unit 220 operating in inventory management system
210 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 420, docking actuator 430,
and other appropriate components of mobile drive unit 220. This
drive agent may be responsible for requesting and receiving tasks,
requesting and receiving routes, transmitting state information
associated with mobile drive unit 220, and/or otherwise interacting
with management module 215 and other components of inventory
management system 210 on behalf of the device that physically
houses drive module 420, docking actuator 430, and the other
appropriate components of mobile drive unit 220. As a result, for
the purposes of this description and the claims that follow, the
term "mobile drive unit, mobile container unit, and mobile
manipulator unit" includes software and/or hardware, such as agent
processes, that provides the described functionality on behalf of
mobile drive unit 220 but that may be located in physically
distinct devices from the drive module 420, docking actuator 430,
and/or the other components of mobile drive unit 220 described
above.
[0065] While FIGS. 4 and 5 illustrate a particular embodiment of
mobile drive unit 220 containing certain components and configured
to operate in a particular manner, mobile drive unit 220 may
represent any appropriate component and/or collection of components
configured to transport and/or facilitate the transport of
inventory holders 230. As another example, mobile drive unit 220
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 230. After docking with inventory holder 230, the crane
assembly may then lift inventory holder 230 and move inventory to
another location for purposes of completing an assigned task.
[0066] Furthermore, in particular embodiments, mobile drive unit
220 may represent all or a portion of inventory holder 230.
Inventory holder 230 may include motorized wheels or any other
components suitable to allow inventory holder 230 to propel itself.
As one specific example, a portion of inventory holder 230 may be
responsive to magnetic fields. Inventory management system 210 may
be able to generate one or more controlled magnetic fields capable
of propelling, maneuvering and/or otherwise controlling the
position of inventory holder 230 as a result of the responsive
portion of inventory holder 230. In such embodiments, mobile drive
unit 220 may generate the controlled magnetic fields that affect
the responsive portion of inventory holder 230 and/or the
components of inventory management system 210 responsible for
generating and controlling these magnetic fields. While this
description provides several specific examples, mobile drive unit
220 may, in general, represent any appropriate component and/or
collection of components configured to transport and/or facilitate
the transport of inventory holders 230.
[0067] FIG. 6 illustrates in greater detail an example inventory
holder that may be utilized in particular embodiments of the mobile
inventory transfer station within an inventory management system,
in accordance with at least one embodiment. In particular, FIG. 6
illustrates the structure and contents of one side of an example
inventory holder 230. In a particular embodiment, inventory holder
230 may comprise any number of faces with similar or different
structure. As illustrated, inventory holder 230 includes a frame
610, a plurality of legs 620, and one or more shelves 630 for
storing inventory in containers 640 of various sizes. Although FIG.
6 illustrates the inventory holder 230 storing inventory in
containers 640, embodiments described herein include the inventory
holder 230 storing inventory that is not in containers 640. In some
configurations for inventory holders 230, the plurality of legs 620
are situated in such a way as to place the frame 610 above a
surface 650 of a workspace 270.
[0068] The frame 610 of the inventory holder 230 may rest a
variable height above the surface 650 of the workspace 270 to allow
for one or more mobile units (220, 275, 280), such as mobile unit
660 to move underneath. For example, in response to instructions
from the management module 215, the mobile unit 660 may move below
or underneath the inventory holder 230 to free up space or clear a
path for a human operator or other mobile unit to move past the
inventory holder 230 within the workspace 270. In embodiments, the
mobile unit 660 may include a mobile manipulator unit and the
associated robotic arm may be configured to collapse for temporary
storage with the mobile unit 660 underneath the inventory holder
230. In accordance with at least one embodiment, the configuration
of the inventory holder 230, frame 610, and plurality of legs 620
may be such that one or more mobile units 660 may be temporarily
stored underneath or travel from one point to another in the
workspace by traveling underneath the inventory holder 230.
Instructions provided by the management module 215 may result in
any mobile units 660 temporarily stored or parked underneath the
inventory holder 230 moving out from underneath and continuing
along a path according to a generated task or waiting idly by the
inventory holder 230 until a task is communicated.
[0069] FIG. 7 illustrates an example mobile manipulator unit and
various end of arm tools that may be utilized by the mobile
manipulator unit to transfer inventory within the inventory
management system, in accordance with at least one embodiment. FIG.
7 includes an example mobile manipulator unit 700 with associated
robotic arms 710 and a plurality of end of arm tools 720-760 for
grasping inventory for transfer as described herein. In
embodiments, each robotic arm 710 may be configured to utilize a
particular end of arm tool, a mix of end of arm tools, or a
plurality of end of arm tools 720-760. The end of arm tools may
allow the mobile manipulator unit to grasp inventory items that are
stored in containers of the inventory holders 230 or to grasp
inventory that is loosely stored without packaging in inventory
holders 230. The robotic arms may facilitate the movement of
inventory items and other features of the inventory management
system 210 among and between components of the inventory management
system 210. The end of arm tools illustrated in FIG. 7 include a
mechanical pincher 720, an adaptive gripper tool 740, and a vacuum
tool 760. In embodiments, various combinations of the end of arm
tools 720-760 may be utilized to grasp and transfer inventory. In
an embodiment, a particular end of arm tool may be combined with
another end of arm tool to be utilized on a single robotic arm. For
example, the mechanical pincher 720 and vacuum tool 760 may be
configured to work in combination to grasp and transfer
inventory.
[0070] The robotic arms 710 may be controlled, based on
instructions from the management module 215 or from a human
operator, so as to grasp items in a manner particularly suited for
grasping of a target item. For example, a target item, or
characteristics thereof, may be identified, such as by optical or
other sensors, in order to determine a grasping strategy for the
item. The grasping strategy may be generated by the management
module 215 based at least in part upon a database containing
information about the item, characteristics of the item, and/or
similar items, such as information indicating grasping strategies
that have been successful or unsuccessful for such items in the
past. Entries or information in the database may be originated
and/or updated based on human input for grasping strategies,
determined characteristics of a particular item, and/or machine
learning related to grasping attempts of other items sharing
characteristics with the particular item. It should be noted that
although some end of arm tools (720-760) are included in FIG. 7,
any suitable end of arm tool or end effectors may be utilized for
grasping items and transferring the items according to inventory
transfer embodiments described herein. Further, the mobile
manipulator unit 700 may be configured to utilize as few as one
robotic arm 710 or multiple (two or more) robotic arms 710 for
transferring inventory within the inventory management system
210.
[0071] FIG. 8 illustrates an example configuration for a mobile
manipulator unit and mobile container units transferring inventory
within an inventory management system, in accordance with at least
one embodiment. FIG. 8 includes an example configuration for a
mobile manipulator unit 800 comprised of robotic arms 810, treads
820, and legs 830. As described herein, the robotic arms 810 may be
utilized by the mobile manipulator unit 800 to transfer inventory
to one or more mobile container units (840 and 850) and their
associated containers (860 and 870). The treads 820 may allow the
mobile manipulator unit 800 to move along a surface 880 within the
workspace 270 for transferring inventory between inventory holders
230 and containers 860 and 870. The illustrated configuration for
mobile manipulator unit 800 included in FIG. 8 may allow for one or
more mobile container units 840 and 850 to travel underneath or
below the mobile manipulator unit 800 while transferring inventory,
such as item 890, within the workspace 270. For example, as mobile
container unit 850 travels underneath the mobile manipulator unit
800, the robotic arms 810 may grasp item 890 and transfer the item
to the container 870 as part of a task to fulfill a customer order
or according to inventory transfer instructions provided by the
management module 215.
[0072] The example configuration illustrated in FIG. 8 allows for
movement of one or more mobile container units 840 and 850 through
the workspace 270, such as by navigating between a portion of
inventory holders 230, while maximizing the floor space and
avoiding a traffic build up within the workspace 270. In accordance
with at least one embodiment, the management module 215 may
generate and transmit instructions to the mobile manipulator unit
800 and mobile container units 840 and 850 to maintain a certain
velocity within the workspace 270 while fulfilling customer orders
or transferring inventory according to inventory transfer
instructions. For example, the management module 215 may identify
the location of the mobile units (800, 840, and 850), and transmit
particular paths for the mobile units (800, 840, and 850) to follow
at a certain velocity. The robotic manipulator 800 may be
configured to identify the items of inventory (890) required to be
transferred to or from inventory holders 230 and/or the containers
860 and 870 while moving through the workspace 270 without
stopping. The management module 215 may provide instructions to
stop or reduce speed based on feedback or input provided by other
components of inventory management system 210 such as other mobile
container units, mobile drive units, or mobile manipulator units in
the workspace 270. In some embodiments, the robotic manipulator 800
may be configured to accommodate underneath it as few as one mobile
container unit 840 or more mobile container units than depicted in
FIG. 8. In embodiments, the robotic manipulator 800 may be
configured to process inventory transfers while navigating between
one or more container holders within a workspace. The robotic
manipulator 800 may be configured to dimensions enabling navigation
between various distances that may occur between the one or more
container holders within the workspace depending on the
configuration and placement of the one or more container
holders.
[0073] FIG. 9 illustrates an example workflow for transferring
inventory within an inventory management system according to mobile
inventory transfer station features described herein, in accordance
with at least one embodiment. FIG. 9 includes a workspace 900 which
may be an example of workspace 270 in an inventory management
system 210. The workspace 900 may comprise inventory holders 905
storing containers 910 with items of inventory, one or more access
points 915, a management module 920 (which may be an example of
management module 215), a mobile manipulator unit 925 with a
robotic arm, a mobile container unit 930 with an associated
container 935, and a shipping processing area 940. The workflow
illustrated in FIG. 9 may include a first step or transition 945
that includes the mobile container unit 930 moving the associated
container 935 within the workspace 900 to an area of interest or an
area designated by the management module 920 for a mobile inventory
transfer station 950. As described herein, the management module
920 may identify or determine the area for the mobile inventory
transfer station 950 based at least in part on inventory included
in inventory transfer instructions or based at least in part on
characteristic of items stored in workspace 900. Further,
instructions 955 may be transmitted by the management module 920,
via the access points 915, to move the mobile container unit 930,
associated container 935, and mobile manipulator unit 925 to form
the mobile inventory transfer station 950. The area or portion of
containers forming the mobile inventory transfer station 950 may
exist to fulfill a single and/or multiple orders or to complete
multiple inventory transfer instructions.
[0074] In accordance with at least one embodiment, upon the mobile
container unit 930 and the associated container 935 reaching the
area of the mobile inventory transfer station 950, the mobile
manipulator unit 925 may utilize a robotic arm to transfer an item
960 to the container 935. In embodiments, the management module 920
may identify the appropriate item 960 and transmit instructions 955
to the mobile manipulator unit 925 to transfer based on received
inventory transfer instructions. In some embodiments, the mobile
manipulator unit 925 may transfer one or more items to the
container 935 to be moved by the mobile container unit 930
according to inventory transfer instructions received by the
management module 920. The workflow of FIG. 9 includes another
transition or step 965 that includes the mobile container unit 930
moving the associated container 935 and item 960 to a shipping
processing area 940. In some embodiments, upon the mobile container
unit 930 completing the task of moving the item 960 to the shipping
processing area 940, the mobile inventory transfer station 950, or
information identifying the station 950, may be removed or no
longer maintained by the management module 920. The management
module 920 may form a new mobile inventory transfer station or may
maintain multiple mobile inventory transfer stations within the
workspace 900 at any given time, using any combination of mobile
container units 930 and mobile manipulator units 925. In accordance
with at least one embodiment, upon completion of the task, by the
mobile container unit 930 and mobile manipulator unit 925,
instructions may be provided to both units (925 and 930) to move to
a different area within workspace 900 and form another mobile
inventory transfer station for transferring inventory according to
inventory transfer instructions. In some embodiments, a mobile
manipulator unit 925 may be situated in a default location that is
near one or more historic areas of interest or sites of historic
mobile inventory transfer stations. The default locations may be
determined by the management module 920 and based on previous
locations of the mobile inventory transfer stations within the
workspace 900.
[0075] FIG. 10 illustrates an example workflow for transferring
inventory within an inventory, management system according to
mobile inventory transfer station features described herein, in
accordance with at least one embodiment. FIG. 10 includes a
workspace 1000 which may be an example of workspace 270 in an
inventory management system 210. The workspace 1000 may comprise
inventory holders 1005 storing containers 1010 with items of
inventory, one or more access points 1015, a management module 1020
(which may be an example of management module 215), a mobile
manipulator unit 1025 with a robotic arm, and mobile container
units 1030 and 1035 with associated containers 1040 and 1045. The
workflow illustrated in FIG. 10 may include a first step or
transition 1050 that includes the mobile container unit 1035 moving
the associated container 1045 and item 1055 outside the workspace
1000 based on instructions 1060 by the management module 1020. The
mobile manipulator unit 1025 and mobile container unit 1035 may
have formed or previously been in an area representative of mobile
inventory transfer station 1070.
[0076] FIG. 10 may include another step or transition 1075 for
forming a new mobile inventory transfer station 1080. In
embodiments, the mobile manipulator unit 1025 may be provided
instructions, by the management module 1020 via access points 1015,
to move to the mobile inventory transfer station 1080 for
fulfilling a customer order or to complete inventory transfer
instructions. Similarly, instructions may be provided to mobile
container unit 1030 to move associated container 1040 to form the
new mobile inventory transfer station 1080 within workspace 1000.
Upon arriving at the mobile inventory transfer station 1080,
indications of the location of mobile units 1025 and 1030 may be
provided to management module 1020 to cause the provision of
further instructions to mobile units 1025 and 1030 to transfer
inventory such as container 1010. In embodiments, the mobile
manipulator unit 1025 may have been selected by the management
module 1020 based on a distance between the location of the mobile
manipulator unit 1025 within the workspace to the intended area of
the new mobile inventory transfer station 1080. Further, the mobile
container unit 1030 may have been selected for forming the new
mobile inventory transfer station 1080 and transferring inventory
based on an indication that the mobile container unit 1030 was idle
or not actively perform a task generated by management module 1020.
In accordance with at least one embodiment, forming the new mobile
inventory transfer station 1080 may include moving particular
container holders (such as inventory holder 1005) from one area
within the workspace 1000 to another area within the workspace
1000. In embodiments, forming the new mobile inventory transfer
station 1080 may include moving a portion of container holders
(such as inventory holder 1005, inventory holder 1085, and
inventory holder 1090) from an initial or first configuration to a
different configuration within an area associated with the new
mobile inventory transfer station 1080. In some embodiments,
inventory holders may be moved from a first mobile inventory
transfer station (such as 1070) to the new mobile inventory
transfer station 1080. In embodiments, mobile drive units may be
configured to receive instructions for moving or rearranging
container holders (inventory holders 1005, 1085, and 1090) to form
a mobile inventory transfer station. The moving or rearranging of
container holders within the workspace to form virtual mobile
inventory transfer stations may be based on item characteristics of
items stored in the respective container holders or based on
inventory transfer instructions. The mobile inventory transfer
stations may be formed dynamically at any location within the
workspace by any number or combination of independently controlled
or instructed inventory holders, mobile drive units, mobile
container units, and/or mobile manipulator units.
[0077] FIGS. 11 and 12 illustrate flow diagrams depicting example
acts for implementing techniques relating to mobile inventory
transfer station features within an inventory management system as
described herein, in accordance with at least one embodiment. The
management module 215 (FIGS. 2 and 3) may perform the processes
1100 and 1200 of FICA. 11 and 12. The example steps included in
processes 1100 and 1200 include one or more operations. However,
the order in which the operations are described is not intended to
be construed as a limitation, and any number of the described
operations can be combined in any order and/or in parallel to
implement the described flows. The process 1100 may include
receiving inventory transfer instructions for an item within a
workspace at 1102. For example, the inventory transfer instructions
may include an order by a customer for an item stored within the
workspace, an order to consolidate inventory with the workspace, or
an order to transfer inventory from one workspace to another
workspace. The process 1100 may include identifying a particular
area within the workspace based at least in part on characteristics
associated with the item at 1104. In embodiments, the management
module 215 may identify the items included in the inventory
transfer instructions and maintain one or more item characteristics
for the item including item throughput velocity within the
workspace, item type, packaging type for the item, etc., and
determine a portion of inventory holders within the workspace that
can be utilized for forming a mobile inventory transfer
station.
[0078] The process 1100 may include selecting a particular mobile
manipulator unit based on a distance between the mobile manipulator
unit and the particular area within the workspace 1106 and/or based
on a capability of a particular mobile manipulator unit, e.g., a
particular end of arm tool or lifting capacity. In embodiments, the
management module 215 may select an appropriate mobile manipulator
unit to increase efficiency and item throughput for inventory
transfer within the inventory management system 210. Particular
mobile manipulator units may be selected for forming mobile
inventory transfer stations based on their current location and the
distance of their current location to the potential location for
the mobile inventory transfer station. For example, the management
system would likely not select a particular mobile manipulator unit
if its current location required it to traverse the entire length
of the workspace 270 to reach the potential area of interest. In
accordance with at least one embodiment, a selection of one or more
mobile container units that are holding associated containers and a
selection of one or more mobile drive units to move one or more
container holders may accompany the selection of the particular
mobile manipulator unit at 1106. The process 1100 may include
transmitting first instructions to move a mobile container unit
with a container to the particular area at 1108. In embodiments,
the first instructions may be transmitted to the mobile container
unit via access points situated throughout the workspace 270 and
inventory management system 210. The process 1100 may include
transmitting second instructions to move the selected particular
mobile manipulator unit for transferring the item from a container
holder in the particular area to the container of the mobile
container unit utilizing a robotic arm at 1110. In some examples,
the mobile manipulator unit may utilize a robotic arm with a
particular end of arm tool to transfer the inventory between the
container holder and the mobile container unit. The process 1100
may conclude at 1112 by transmitting third instructions to the
mobile drive unit for arranging the one or more container holders
from a first configuration to a second configuration within the
particular area. In embodiments, the process 1100 may include
transmitting third instructions for moving the mobile container
unit with the item in the associated container to another area for
further inventory transfer processing. Further inventory transfer
processing can include preparing the item for shipping, performing
quality control, or human oversight operations.
[0079] The process 1200 may include receiving inventory transfer
instructions for moving inventory stored within a plurality of
container holders in a workspace at 1202. In some embodiments,
inventory may be stowed in the container holders according to the
inventory transfer instructions. The process 1200 can include
identifying a portion of container holders within the workspace
based on characteristics associated with the inventory and
information identifying items associated with the portion of
container holders 1204. For example, the management module may
maintain information identifying what items are stored in which
particular container holders within a workspace. The process 1200
may include selecting a mobile drive unit, a mobile container unit,
and a mobile manipulator unit based on a distance between the
mobile units and the portion of container holders in the workspace
at 1206 and/or based on capabilities or states of the mobile units.
The management module 215 may maintain one or more rules or
thresholds indicating a particular minimum distance to be
considered for selection as appropriate for forming the mobile
inventory transfer station near the identified portion of container
holders. The rules or thresholds may be further based at least in
part on characteristics of the item. For example, high throughput
velocity items may have a higher threshold whereas lower throughput
velocity items may have a lower threshold. The process 1200 may
conclude at 1208 by transmitting instructions to the mobile drive
unit, the mobile container unit, and the mobile manipulator unit
for navigating between the portion of container holders of the
workspace, which container holders may be moved or reoriented by
the mobile drive unit, and transferring the inventory by the mobile
manipulator unit to the mobile container unit utilizing a robotic
arm. In embodiments, the mobile manipulator unit may transfer one
or more items to multiple containers associated and moved by the
mobile container unit or by multiple mobile container units.
[0080] FIG. 13 illustrates aspects of an example environment 1300
for implementing aspects in accordance with various embodiments. As
will be appreciated, although a Web-based environment is used for
purposes of explanation, different environments may be used, as
appropriate, to implement various embodiments. The environment
includes an electronic client device 1302, which can include any
appropriate device operable to send and receive requests, messages,
or information over an appropriate network 1304 and convey
information back to a user of the device. Examples of such client
devices include personal computers, cell phones, handheld messaging
devices, laptop computers, set-top boxes, personal data assistants,
electronic book readers, and the like. The network can include any
appropriate network, including an intranet, the Internet, a
cellular network, a local area network or any other such network or
combination thereof. Components used for such a system can depend
at least in part upon the type of network and/or environment
selected. Protocols and components for communicating via such a
network are well known and will not be discussed herein in detail.
Communication over the network can be enabled by wired or wireless
connections and combinations thereof. In this example, the network
includes the Internet, as the environment includes a Web server
1306 for receiving requests and serving content in response
thereto, although for other networks an alternative device serving
a similar purpose could be used as would be apparent to one of
ordinary skill in the art.
[0081] The illustrative environment includes at least one
application server 1308 and a data store 1310. It should be
understood that there can be several application servers, layers,
or other elements, processes or components, which may be chained or
otherwise configured, which can interact to perform tasks such as
obtaining data from an appropriate data store. As used herein the
term "data store" refers to any device or combination of devices
capable of storing, accessing, and retrieving data, which may
include any combination and number of data servers, databases, data
storage devices and data storage media, in any standard,
distributed or clustered environment. The application server can
include any appropriate hardware and software for integrating with
the data store as needed to execute aspects of one or more
applications for the client device, handling a majority of the data
access and business logic for an application. The application
server provides access control services in cooperation with the
data store and is able to generate content such as text, graphics,
audio and/or video to be transferred to the user, which may be
served to the user by the Web server in the form of HyperText
Markup Language ("HTML"), Extensible Markup Language ("XML") or
another appropriate structured language in this example. The
handling of all requests and responses, as well as the delivery of
content between the client device 1302 and the application server
1308, can be handled by the Web server. It should be understood
that the Web and application servers are not required and are
merely example components, as structured code discussed herein can
be executed on any appropriate device or host machine as discussed
elsewhere herein.
[0082] The data store 1310 can include several separate data
tables, databases or other data storage mechanisms and media for
storing data relating to a particular aspect. For example, the data
store illustrated includes mechanisms for storing information which
can be used by modules described herein, such as mobile inventory
transfer station location information 1312, inventory transfer
instructions information 1314, path information 1316, and/or
inventory information 1318, which may include information about the
mobile units and other components of the inventory management
system. It should be understood that there can be many other
aspects that may need to be stored in the data store, such as for
page image information and to access right information, which can
be stored in any of the above listed mechanisms as appropriate or
in additional mechanisms in the data store 1310. The data store
1310 is operable, through logic associated therewith, to receive
instructions from the application server 1308 and obtain, update or
otherwise process data in response thereto.
[0083] Each server typically will include an operating system that
provides executable program instructions for the general
administration and operation of that server and typically will
include a computer-readable storage medium (e.g., a hard disk,
random access memory, read only memory, etc.) storing instructions
that, when executed by a processor of the server, allow the server
to perform its intended functions. Suitable implementations for the
operating system and general functionality of the servers are known
or commercially available and are readily implemented by persons
having ordinary skill in the art, particularly in light of the
disclosure herein.
[0084] The environment in one embodiment is a distributed computing
environment utilizing several computer systems and components that
are interconnected via communication links, using one or more
computer networks or direct connections. However, it will be
appreciated by those of ordinary skill in the art that such a
system could operate equally well in a system having fewer or a
greater number of components than are illustrated in FIG. 13. Thus,
the depiction of the system 1300 in FIG. 13 should be taken as
being illustrative in nature and not limiting to the scope of the
disclosure.
[0085] The various embodiments further can be implemented in a wide
variety of operating environments, which in some cases can include
one or more user computers, computing devices or processing devices
which can be used to operate any of a number of applications. User
or client devices can include any of a number of general purpose
personal computers, such as desktop or laptop computers running a
standard operating system, as well as cellular, wireless and
handheld devices running mobile software and capable of supporting
a number of networking and messaging protocols. Such a system also
can include a number of workstations running any of a variety of
commercially-available operating systems and other known
applications for purposes such as development and database
management. These devices also can include other electronic
devices, such as dummy terminals, thin-clients, gaming systems and
other devices capable of communicating via a network.
[0086] Most embodiments utilize at least one network that would be
familiar to those skilled in the art for supporting communications
using any of a variety of commercially-available protocols, such as
Transmission Control Protocol/Internet Protocol ("TCP/IP"), Open
System Interconnection ("OSI"), File Transfer Protocol ("FTP"),
Universal Plug and Play ("UpnP"), Network File System ("NFS"),
Common Internet File System ("CIFS") and AppleTalk. The network can
be, for example, a local area network, a wide-area network, a
virtual private network, the Internet, an intranet, an extranet, a
public switched telephone network, an infrared network, a wireless
network, and/or any combination thereof.
[0087] In embodiments utilizing a Web server, the Web server can
run any of a variety of server or mid-tier applications, including
Hypertext Transfer Protocol ("HTTP") servers, FTP servers, Common
Gateway Interface ("CGI") servers, data servers, Java servers and
business application servers. The server(s) also may be capable of
executing programs or scripts in response requests from user
devices, such as by executing one or more Web applications that may
be implemented as one or more scripts or programs written in any
programming language, such as Java.RTM., C, C# or C++, or any
scripting language, such as Perl, Python or TCL, as well as
combinations thereof. The server(s) may also include database
servers, including without limitation those commercially available
from Oracle.RTM., Microsoft.RTM., Sybase.RTM., and IBM.RTM..
[0088] The environment can include a variety of data stores and
other memory and storage media as discussed above. These can reside
in a variety of locations, such as on a storage medium local to
(and/or resident in) one or more of the computers or remote from
any or all of the computers across the network. In a particular set
of embodiments, the information may reside in a storage-area
network ("SAN") familiar to those skilled in the art. Similarly,
any necessary files for performing the functions attributed to the
computers, servers or other network devices may be stored locally
and/or remotely, as appropriate. Where a system includes
computerized devices, each such device can include hardware
elements that may be electrically coupled via a bus, the elements
including, for example, at least one central processing unit
("CPU"), at least one input device (e.g., a mouse, keyboard,
controller, touch screen or keypad) and at least one output device
(e.g., a display device, printer or speaker). Such a system may
also include one or more storage devices, such as disk drives,
optical storage devices and solid-state storage devices such as
random access memory ("RAM") or read-only memory ("RUM"), as well
as removable media devices, memory cards, flash cards, etc.
[0089] Such devices also can include a computer-readable storage
media reader, a communications device (e.g., a modem, a network
card (wireless or wired), an infrared communication device, etc.)
and working memory as described above. The computer-readable
storage media reader can be connected with, or configured to
receive, a computer-readable storage medium, representing remote,
local, fixed, and/or removable storage devices as well as storage
media for temporarily and/or more permanently containing, storing,
transmitting, and retrieving computer-readable information. The
system and various devices also typically will include a number of
software applications, modules, services or other elements located
within at least one working memory device, including an operating
system and application programs, such as a client application or
Web browser. It should be appreciated that alternate embodiments
may have numerous variations from that described above. For
example, customized hardware might also be used and/or particular
elements might be implemented in hardware, software (including
portable software, such as applets) or both. Further, connection to
other computing devices such as network input/output devices may be
employed.
[0090] Storage media and computer readable media for containing
code, or portions of code, can include any appropriate media known
or used in the art, including storage media and communication
media, such as but not limited to volatile and non-volatile,
removable and non-removable media implemented in any method or
technology for storage and/or transmission of information such as
computer readable instructions, data structures, program modules or
other data, including RAM, ROM, Electrically Erasable Programmable
Read-Only Memory ("EEPROM"), flash memory or other memory
technology. Compact Disc Read-Only Memory ("CD-ROM"), digital
versatile disk (DVD) or other optical storage, magnetic cassettes,
magnetic tape, magnetic disk storage or other magnetic storage
devices or any other medium which can be used to store the desired
information and which can be accessed by the a system device. Based
at least in part on the disclosure and teachings provided herein, a
person of ordinary skill in the art will appreciate other ways
and/or methods to implement the various embodiments.
[0091] The specification and drawings are, accordingly, to be
regarded in an illustrative rather than a restrictive sense. It
will, however, be evident that various modifications and changes
may be made thereunto without departing from the broader spirit and
scope of the disclosure as set forth in the claims.
[0092] Other variations are within the spirit of the present
disclosure. Thus, while the disclosed techniques are susceptible to
various modifications and alternative constructions, certain
illustrated embodiments thereof are shown in the drawings and have
been described above in detail. It should be understood, however,
that there is no intention to limit the disclosure to the specific
form or forms disclosed, but on the contrary, the intention is to
cover all modifications, alternative constructions and equivalents
falling within the spirit and scope of the disclosure, as defined
in the appended claims.
[0093] The use of the terms "a" and "an" and "the" and similar
referents in the context of describing the disclosed embodiments
(especially in the context of the following claims) are to be
construed to cover both the singular and the plural, unless
otherwise indicated herein or clearly contradicted by context. The
terms "comprising," "having," "including," and "containing" are to
be construed as open-ended terms (i.e., meaning "including, but not
limited to,") unless otherwise noted. The term "connected" is to be
construed as partly or wholly contained within, attached to, or
joined together, even if there is something intervening. Recitation
of ranges of values herein are merely intended to serve as a
shorthand method of referring individually to each separate value
falling within the range, unless otherwise indicated herein and
each separate value is incorporated into the specification as if it
were individually recited herein. All methods described herein can
be performed in any suitable order unless otherwise indicated
herein or otherwise clearly contradicted by context. The use of any
and all examples, or exemplary language (e.g., "such as") provided
herein, is intended merely to better illuminate embodiments of the
disclosure and does not pose a limitation on the scope of the
disclosure unless otherwise claimed. No language in the
specification should be construed as indicating any non-claimed
element as essential to the practice of the disclosure.
[0094] Preferred embodiments of this disclosure are described
herein, including the best mode known to the inventors for carrying
out the disclosure. Variations of those preferred embodiments may
become apparent to those of ordinary skill in the art upon reading
the foregoing description. The inventors expect skilled artisans to
employ such variations as appropriate and the inventors intend for
the disclosure to be practiced otherwise than as specifically
described herein. Accordingly, this disclosure includes all
modifications and equivalents of the subject matter recited in the
claims appended hereto as permitted by applicable law. Moreover,
any combination of the above-described elements in all possible
variations thereof is encompassed by the disclosure unless
otherwise indicated herein or otherwise clearly contradicted by
context.
[0095] All references, including publications, patent applications
and patents, cited herein are hereby incorporated by reference to
the same extent as if each reference were individually and
specifically indicated to be incorporated by reference and were set
forth in its entirety herein.
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