CN107407936A - To promote the system and method that man/machine interacts - Google Patents

Abstract

What short range transmissions were used to identify between warehouse worker in Automatic Warehouse and warehouse robot possible interacts.The robot can be equipped with one or more short range transmissions labels, such as radio frequency identification (RFID) label, and the warehouse worker can be equipped with short range transmissions reader, such as RFID reader.The robot can detect the warehouse worker in the range of when the RFID label tag in the robot is write by the RFID reader.The warehouse robot and warehouse worker can also be equipped with one or more cameras, to identify the datum mark in the Automatic Warehouse and report the position of the datum mark.It is suitably warehouse robot and warehouse worker's routing to avoid accident that central control or interactive server, which can ensure that,.

Description

Systems and methods for facilitating human/computer interaction

Background technique

Modern inventory systems, such as those found in mail-order warehouses, supply chain distribution centers, airport baggage systems, and custom-order manufacturing facilities, comprise multiple complex systems including robotics, automated shelving systems, radio frequency identification (RFID), and automated Scheduling and routing equipment. For example, many systems include robots that travel to the shelving system to retrieve items, or retrieve the racks themselves, and return the items or the racks themselves to a central location for additional processing.

There are automated warehouses that use, for example, robots to move items or shelves from storage locations in the warehouse to shipping locations (eg, for boxing and shipping inventory items). However, the routes of robots and humans working in warehouses will inevitably cross. However, direct contact between human workers and robots can be problematic and a maintenance issue for the robots.

Description of drawings

The detailed description will be described with reference to the drawings. In the drawings, the left-most digit(s) of a reference number identifies the drawing in which the reference number first appears. The use of the same reference numbers in different drawings indicates similar or identical items or features.

1 is a diagrammatic flow diagram of an illustrative process for maintaining a predetermined working distance between a worker and a robot on an automated warehouse floor, according to some examples of the present disclosure.

2A and 2B are schematic diagrams depicting components of an automated warehouse, according to some examples of the present disclosure.

3 is an isometric view of a robot with multiple radio frequency identification (RFID) tags configured to be read by RFID readers on workers, according to some examples of the present disclosure.

4 is an isometric view of a worker wearing a garment having multiple RFID tags configured to be read by an RFID reader on a robot, according to some examples of the present disclosure.

5A is a front view of a vest with multiple RFID tags, according to some examples of the present disclosure.

5B is a front view of a baseball cap with multiple RFID tags, according to some examples of the present disclosure.

6 is an isometric view of a cart and robot each having one or more cameras to provide location information to a central control, according to some examples of the present disclosure.

7 is a detailed top view of fiducials including fiducial data, according to some examples of the present disclosure.

8 is a schematic diagram depicting components of another automated warehouse including individual servers, according to some examples of the present disclosure.

9 is a flowchart depicting a method of using location information to maintain a predetermined distance between a worker and a robot in an automated warehouse, according to some examples of the present disclosure.

10A is an isometric view of a stationary robotic arm including an RFID reader configured to be read by an RFID reader on a worker and a circular work area surrounding the stationary robotic arm, according to some examples of the present disclosure. multiple RFID tags.

10B is an isometric view of a worker wearing a garment configured to be read by an RFID reader on a stationary robotic arm and a spherical workspace surrounding the stationary robotic arm, according to some examples of the present disclosure.

10C is an isometric view of a stationary robotic arm including a plurality of RFID tags configured to be read by an RFID reader on the worker and a circular work area around the worker, according to some examples of the present disclosure.

detailed description

Examples of the present disclosure relate generally to automated warehouses, and in particular to one or more types of devices for use in warehouses to provide virtual workspaces around warehouse workers and/or warehouse robots. In some examples, the system may include one or more radio frequency identification (RFID) tags and one or more RFID readers. In some examples, a warehouse worker may wear one or more RFID tags to enable a robot to sense the warehouse worker's presence. In other examples, a warehouse robot may include one or more RFID tags and a warehouse worker may have an RFID reader. In this way, when a robot senses that an RFID reader associated with a warehouse worker is writing to the robot's RFID tag, the robot may sense the worker's presence. Warehouse workers, warehouse robots, or both can also incorporate one or more RFID readers to identify nearby tags, verify tags, and establish virtual workspaces as needed.

Although other short-range transmission technologies besides RFID can be used, such as and Near Field Communication (NFC), but one advantage of RFID tags is that they are inexpensive. In this way, redundancy can be provided simply by using multiple RFID tags. When incorporated into disposable garments such as vests or baseball caps, the entire garment can be replaced if the RFID tag has failed or is failing. Additionally, each garment and/or each robot may contain multiple RFID tags to ensure readability from multiple angles and orientations. In this way, at least one tag can be read and identified regardless of the relative motion and orientation between the robot and the worker.

To this end, as shown in FIG. 1 , examples of the present disclosure may include a system and method 100 for improving efficiency and reducing maintenance in an automated warehouse by, among other things, preventing work Collisions and other mishaps between human 102 and robot 120. In some examples, this can be accomplished using a virtual workspace 105 around the robot 120, the worker 102, or both. As mentioned above, in some examples, work area 105 may be implemented using relatively short-range communications, such as RFID, and readers capable of reading these short-range communications. In this way, for example, when a reader on robot 120 detects the presence of an RFID tag assigned to worker 102 (or vice versa), robot 120 may take evasive action (e.g., slow down, stop, or reroute). ).

At 110, during normal operations in the warehouse, the robot 120 can be routed to various locations through a central control to, for example, retrieve merchandise, receive maintenance and/or recharge, or perform maintenance itself (e.g., the robot 120 can take stock photos or to provide lighting for maintenance operations). In some instances, the central control can determine the robot's route from the robot's current location to the next task (eg, retrieving a shelving unit). In other examples, the central control may simply provide the location (eg, grid number, row number, or GPS location within the warehouse) to the robot 120, enabling the robot 120 to generate the robot's own route.

At 125 , the central control may receive a signal that worker 102 has entered a portion of warehouse floor 170 . In some cases, this may be to enable worker 102 to leave, for example, to use the toilet, perform maintenance operations in the warehouse, or go to lunch. In other cases, workers 102 may need to enter the warehouse to remove wrong items on the warehouse floor 170, eg, inventory items or trash that have fallen from shelving units. In other instances, worker 102 may need to manually retrieve an inventory item because a shelving unit has inadvertently become too heavy or out of balance, for example, to be transported by robot 120 .

In some examples, the central control may receive a signal from a supervisor with access to the inventory control system that one or more workers 102 are on the warehouse floor 170 . In other examples, worker 102 may walk past an RFID scanner, beam sensor, motion sensor, or other sensor to signal central control that worker 102 is present on warehouse floor 170 . In other examples, worker 102 may simply enter warehouse floor 170, and robot 120 may simply continuously scan RFID tags associated with worker 102 (as opposed to other robots 120).

Worker 102, robot 120, or both may be equipped with RFID tags and/or RFID readers. In some examples, worker 102 may wear clothing or other wearable devices that include RFID tags, such as shirts, vests, jackets, baseball caps, bracelets, necklaces, rings, bracelets, watches, and the like. Similarly, robot 120 may have one or more RFID tags positioned in various orientations (eg, right, left, top, bottom, front, and back). In either case, the RFID tag can be positioned such that it can be read from many angles and orientations.

At 135 , the robot 120 may detect the presence of the worker 102 due to the RFID interaction between the robot 120 and the worker 102 . In other words, depending on the configuration (several of which are discussed below), if the robot 120(1) senses one or more RFID tags associated with the worker 102 through the RFID reader, or (2 ) senses that the RFID tag on the robot 120 is being written to by the RFID reader associated with the worker 102, then this indicates that the robot 120 is within the worker's work area 105 and/or the worker 102 is within the robot's work area 105 in. In some examples, a tag and/or reader may simply sense that the tag and/or reader is in range based on the transmitted signal rather than actually performing a write to the tag.

In some examples, the robot 120 may send a detection signal of the presence of an RFID interaction to the central control. The central control may then send instructions to the robots to establish one or more work zones around the workers 102 and/or the robots 120 . In other examples, a processor on robot 120 may detect and process RFID interactions. Regardless, in response, robot 120 may take an appropriate "dodge" action.

In some examples, the robot 120 may simply stop until all RFID tags (or RFID readers) associated with the worker 102 are no longer within range of the RFID readers (or RFID tags) on the robot 120 . In other examples, the robot 120 may use RFID tags, fiducials, or other means as discussed below to detect the robot's distance from the worker to establish multiple concentric work zones 105 . In this way, the robot 120 may attempt to reroute around the worker 102 after initial contact with the outer work area 105a (e.g., 10 feet), e.g., slow down after contact with the intermediate work area 105b, and then detect Stop at inner work zone 105c (eg, 5 feet). At 145, when the robot 120 (1) no longer detects an RFID tag associated with the worker 102 (or any worker 102) with an RFID reader or (2) no longer detects a reader associated with the worker When the reader writes to the robot's RFID tag, the robot can return to normal operation (eg, continue its route at normal speed).

As shown in FIG. 2A , inventory control system 200 may include multiple robots 120 to transport inventory items 140 , shelving units or inventory holders 130 or other objects for additional processing. In some examples, robot 120 may retrieve, for example, inventory holder 130 and pass the inventory holder to workstation 150 . At workstation 150 , worker 102 may, for example, retrieve inventory item 140 from inventory holder 130 , replenish inventory holder 130 , or direct the inventory of inventory holder 130 , among other things.

As mentioned above, despite the robot 120 , in some circumstances it may still be necessary or desirable for the worker 102 to have access to the warehouse floor 170 . This may simply enable the worker 102 to step away, go to the toilet, perform maintenance operations in the warehouse or go to lunch. In other cases, workers 102 may need to access warehouse floor 170 to remove erroneous items on warehouse floor 170 , such as inventory items 140 or trash that have fallen from shelving units. In other examples, worker 102 may need to retrieve inventory item 140 because a shelving unit has inadvertently become too heavy or out of balance, for example, to be transported by robot 120 . Workers 102 may also simply need to cross the warehouse floor 170 to exit or go to the break room.

Regardless of the reason, it is desirable to prevent accidents between the worker 102 and the robot 120 . To this end, examples of the present disclosure may include an inventory control system 200 for establishing a workspace 105 around the robots 120 and workers 102 . As mentioned above, the work area 105 can be established using a variety of short-range transmission technologies, such as Near Field Communication (NFC) or RFID technology. Thus, while discussed herein with respect to RFID, it should be understood that other communication protocols may be used and are encompassed herein. It should also be noted that although commonly referred to as "RFID readers," it should be understood that RFID readers also typically have the ability to write to RFID tags.

RFID technology tends to have a relatively short range, eg, about 10 feet. Within this range, RFID tags can be detected, read and written to by RFID readers. Therefore, this limited range can also be used to establish an approximate distance between the RFID tag and the RFID reader. Additionally, RFID tags can be passive and active. Passive RFID tags are powered by electromagnetic induction that occurs when a reader reads the RFID tag. Active RFID tags are powered by a local power source (eg, the battery of the robot 120) and thus require less power to read, and can typically be read over greater distances, among other things.

Thus, based on the relatively short range of RFID tags, in some examples worker 102 may wear a garment, hat, accessory, or other wearable device that contains multiple RFID tags (e.g., in pockets or sewn into the garment), so that the RFID reader on the robot 120 can identify the worker 102 . In this configuration, robot 120 may slow down or stop while it is reading an RFID tag associated with worker 102 . When the robot 120 no longer detects the presence of the RFID tag associated with the worker 102, the robot can continue its normal course of business.

In other examples, robot 120 may include multiple RFID tags, and worker 102 may be equipped with an RFID reader. In this configuration, a processor in robot 120 in communication with the RFID tags on robot 120 detects that one or more RFID tags on robot 120 are being written to (or simply ground, the reader is in range), provides detection. As previously described, the robot 120 may slow down or stop when the robot detects that the robot's RFID tag is being written by a worker's RFID reader. In other words, in either case, the range of the RFID tag can establish the work zone 105 . In this way, when an RFID tag is within range of the reader (ie, detected or written to, respectively), then the robot 120 can take action (slow down, turn or stop).

As discussed above, in some cases RFID tags can also provide location or range information. In this configuration, inventory control system 200 may establish an outer workspace 105a, a middle workspace 105b, and an inner workspace 105c. In this way, the robot 120 may upgrade the robot's evasive maneuvers as the robot gets closer to the worker 102 . Thus, for example, the robot 120 may attempt to turn around the worker 102 after detecting the outer work zone 105a, slow down after detecting the intermediate work zone 105b, and come to a complete stop after detecting the inner work zone 105c.

As shown in FIG. 2B , the inventory control system 200 may also include a central control 115 , a plurality of robots 120 , one or more inventory containers, bins or holders 130 , and one or more inventory workstations 150 . Robots 120 may transport inventory holders 130 between points within warehouse floor 170 themselves, or in response to commands communicated through central control 115 . Each inventory holder 130 may store one or more types of inventory items 140 . Accordingly, inventory control system 200 is capable of moving inventory items 140 between locations within a workspace, such as a storage facility or warehouse floor 170, to facilitate entry, processing, and/or processing of inventory items 140 by inventory control system 200 Or remove and complete other tasks involving inventory items 140 .

The central control 115 may assign tasks to the appropriate components of the inventory control system 200 and coordinate the operation of the various components in completing the tasks. These tasks may involve the movement and handling of inventory items, as well as the management and maintenance of components of the inventory control system 200 . Central control 115 may allocate, for example, a portion of warehouse floor 170 as parking space for robots 120, for scheduled recharging or replacement of robots 120 batteries, for storage of inventory holders 130, or with inventory control system 200 and its various Any other operations associated with this component.

Central control 115 may also select components of inventory control system 200 to perform these tasks, and transmit appropriate commands and/or data to the selected components to facilitate completion of these operations. Although shown as a single discrete component in FIG. 2B , central control 115 may represent multiple components and may represent or include portions of robot 120 , inventory holder 130 , or other elements of inventory control system 200 . Thus, any or all interactions between a particular robot 120 and the central control 115 described below may, for example, represent peer-to-peer communication between said robot 120 and one or more other robots 120 , or may include, for example, internal commands in the memory.

As mentioned above, robot 120 may be used to move inventory holder 130 between locations within warehouse floor 170 . Robot 120 may represent many types of devices or components suitable for use in inventory control system 200 based on the characteristics and configuration of inventory holder 130 and/or other elements of inventory control system 200 . In particular embodiments of the inventory control system 200, the robot 120 may represent a self-contained self-powered device, such as a wheeled or tracked robot or a robotic cart, etc., configured to move freely around on the warehouse floor 170 . Examples of such inventory control systems are disclosed in U.S. Patent Publication Nos. 2012/0143427, published June 7, 2012, entitled "System and Method for Locating Mobile Drive Units," and published October 2, 2012, entitled " Method and System for Shipping Inventory Items," US Patent No. 8,280,547, the entire disclosures of which publication and patent numbers are incorporated herein by reference.

In other examples, robot 120 may comprise a track-guided robot configured to move along tracks, tracks, cables, crane systems, or other guide or support elements that traverse warehouse floor 170 Inventory holder 130 . In this configuration, the robot 120 may receive power, communication, and/or support by connecting to guide elements, such as power rails, slots, or tracks. Additionally, in some examples of inventory control system 200 , robot 120 may be configured to utilize alternative conveyance equipment to move within warehouse floor 170 and/or between separate sections of warehouse floor 170 .

Additionally, the robots 120 may be able to communicate with the central control 115 to receive tasks, inventory holders 130 assignments, transmit the robot's location or the location of other robots 120, or exchange other suitable information to be operated by the central control 115 or robots 120 used during. Robot 120 may communicate with central control 115 using, for example, a wireless, wired, or other connection. In some examples, robot 120 may communicate with a central wireless communication protocol using, for example, 802.11 specification wireless transmission (e.g., a/b/g/n), Bluetooth, radio frequency (RF), infrared data association (IrDA) standard, or other suitable wireless communication protocol. The controls 115 and/or communicate with each other.

In other examples, such as in an inventory control system 200 that uses tracks, the tracks or other guiding elements (e.g., slots or tracks) along which the robot 120 moves may be wired to facilitate communication between the robot 120 and other components of the inventory control system 200. Communication between components. Furthermore, as mentioned above, the robot 120 may include components of the central control 115, such as processors, modules, memory, and transceivers. Accordingly, communication between the central control 115 and a particular robot 120 may also refer to communication between components within a particular robot 120 for purposes of this description and the claims that follow. In general, robots 120 may be powered, propelled, and controlled in a number of ways based on the configuration and characteristics of a particular inventory control system 200 .

The inventory holder 130 is used to store inventory items and may include additional features as part of the inventory control system 200 . In some examples, each of inventory holders 130 may include multiple dividers to create multiple containers or compartments within inventory holder 130 . In this configuration, each inventory holder 130 can store one or more types of inventory items 140 in each container or compartment (e.g., each inventory holder 130 can store same inventory items 140, or store different inventory items 140 in each container or compartment, or have no containers or compartments and store only one type of item 140). Additionally, in certain examples, inventory items 140 may also hang from hooks or rails within or on inventory holders 130 . In general, inventory holder 130 may store inventory item 140 within inventory holder 130 and/or on an exterior surface of inventory holder 130 in any suitable manner.

Inventory holder 130 may be configured to be carried, rolled, and/or otherwise moved by robot 120 . In some examples, inventory holder 130 may also provide propulsion to supplement the propulsion provided by robot 120 , for example, when moving multiple inventory holders 130 . Additionally, each inventory holder 130 may include multiple sides, and each container or compartment may be accessed through one or more sides of the inventory holder 130 . For example, in a particular embodiment, inventory holder 130 includes four sides. In this embodiment, the container or compartment located at the corner of two sides is accessible through either of those two sides, while each of the other containers or compartments is accessible through one of the four sides. Open access, and free-standing inventory holders 130 with no containers or compartments are accessible via all four sides. Robot 120 may be configured to rotate inventory holder 130 at an appropriate time to present a particular face and container, compartment, shelf, or divider associated with that face to an operator or other components of inventory control system 200 , to facilitate removal, storage, counting, or other operations with respect to inventory items 140 .

In a particular example, inventory control system 200 may also include one or more inventory workstations 150 . Inventory workstation 150 represents a location designated for completing certain tasks involving inventory items. Such tasks may include removal of inventory items 140, addition or replenishment of inventory items, counting of inventory items 140, unpacking of inventory items 140 (e.g., from pallet or case-sized groups into individual inventory items), Consolidation of inventory items 140 between inventory holders 130 and/or handling or disposition of inventory items 140 in any other suitable manner. Workstation 150 may represent a physical location and also any suitable equipment for handling or disposing of inventory items, such as workstations, packaging tools and supply lines, scanners for monitoring the flow of inventory items into and out of inventory control system 200, for A communication interface and/or any other suitable component in communication with the central control 115 . Inventory workstation 150 may be fully or partially controlled by a human operator or may be partially or fully automated.

In operation, the central control 115 selects the appropriate component to complete a particular task and sends a task assignment 118 to the selected component. These tasks may involve retrieval, storage, replenishment, and counting of inventory items, and/or management of robots 120 , inventory holders 130 , inventory workstations 150 , and other components of inventory control system 200 . Depending on the component and the task to be completed, a particular task assignment 118 may identify a location, component, and/or action associated with the corresponding task, and/or any other appropriate information.

In certain examples, central control 115 generates task assignment 118 based in part on inventory requests central control 115 receives from other components of inventory control system 200 and/or from external components in communication with central control 115 . For example, in a particular instance, an inventory request may represent a shipping order specifying particular inventory items that have been purchased by a customer and are to be retrieved from inventory control system 200 for shipment to the customer. The central control 115 may also generate task assignments 118 (e.g., as part of a daily start-up or cleaning routine) according to a predetermined schedule in response to the occurrence of certain events (e.g., in response to a robot 120 requesting a space for parking), or Task assignments are generated at any suitable time based on the configuration and characteristics of the inventory control system 200 .

In some cases, central control 115 may communicate task assignment 118 to robot 120 , the task assignment including one or more destinations for robot 120 . In this regard, central control 115 may select a robot 120 based on the location or status of the robot 120, an indication that the robot 120 has completed a previously assigned task, a predetermined schedule, and/or any other suitable consideration. For example, task assignments may be based on the configuration, characteristics, and/or status of inventory control system 200 as a whole or individual components of inventory control system 200, defining locations of inventory holders 130 to retrieve, inventory workstations 150 to visit, where robots 120 should Park until receipt of another task's storage location or location associated with any other suitable task.

As part of completing these tasks, robot 120 may interface with various inventory holders 130 within warehouse floor 170 . Robot 120 may dock with inventory holder 130 by connecting to, lifting, and/or otherwise interacting with inventory holder 130 such that when docked, robot 120 is coupled to the inventory holder 130, and the inventory holder 130 can be moved within the warehouse floor 170. While the following description focuses on a particular example of robot 120 and inventory holder 130 configured to interface in a particular manner, alternative instances of robot 120 and inventory holder 130 may be configured to allow robot 120 to interface within warehouse floor 170 Any way of moving the inventory holder 130 docks.

Components of inventory control system 200 may provide information regarding the current status of the component, the status of other components of inventory control system 200 with which the component is interacting, and/or other conditions relevant to the operation of inventory control system 200 Give the central control 115 . This may allow the central control 115 to utilize feedback from relevant components to update algorithm parameters, adjust policies, or otherwise modify its decision making in response to changes in operating conditions or the occurrence of specific events. Additionally, while central control 115 may be configured to manage aspects of the operation of components of inventory control system 200, in certain instances, the components themselves may also have Decision making is in charge, thereby reducing the processing load on the central control 115 .

In some examples, the warehouse floor 170 floor may also include a number of markers or fiducials 175 to enable the robot 120 to establish its position in the warehouse. Because the robot 120 is generally low enough to travel under the inventory holder 130 (i.e., be able to lift the inventory holder), in some examples, the datum point 175 can also continue below the inventory holder 130 substantially across the entire floor. In some examples, the area between fiducial points 175 may define grid area 175a with fiducial points 175 at each corner. Thus, when attempting to locate a particular inventory holder 130, the robot 120 may locate a fiducial 175 or grid 175a associated with the location of the inventory holder, such as by scanning the floor with a downward facing scanner or camera, and then Confirm that it is in the correct position by scanning an identifier (eg, a 2D or 3D barcode, RFID tag, or other identifier) on the bottom of the inventory holder 130 with a face-up scanner or camera. In some examples, inventory holders 130 and/or fiducials 175 may include two- or three-dimensional barcodes, RFID tags, or other identifiers.

As shown in FIG. 3 , examples of the present disclosure may include a system 300 for maintaining a predetermined or threshold working distance between a worker 102 and a robot using RFID or other short-range transmission technology. In some examples, robot 120 may be equipped with one or more passive or active RFID tags 305 and worker 102 may be equipped with RFID reader 310 . In some examples, the RFID tag 305 on the robot 120 can include an active RFID tag 305 (i.e., a tag with a power source), and can be powered by a battery 320 on the robot 120 (e.g., the battery that powers the robot 120 or a separate battery). )powered by. The robot 120 may also include a processor 315 that communicates with one or more RFID tags 305 to monitor the status of the RFID tags 305 .

In this way, as the robot 120 travels through the warehouse, if the RFID tag 305 is sensed, scanned, or written to by a worker's RFID reader 310, the RFID tag 305 can send a signal reporting that to the processing device 315. The robot 120 may then take an evasive action because the robot senses that the robot is within range of the worker 102 . In other words, because the robot 120 must be within range of the RFID reader 310 for the RFID tag 305 to be sensed by or written to by the RFID reader 310, the robot 120 knows that the robot is in the work area within 105. As mentioned above, the robot 120 may then attempt to reroute, slow down, or stop as appropriate.

Of course, the predetermined or threshold distance to be maintained between a worker 102 and a robot 120 may vary widely depending on the size of the warehouse floor 170, the number of workers 102 and robots 120, and the level of activity on the warehouse floor 170 at a particular time. Variety. For example, if the warehouse floor 170 is particularly large, maintaining a relatively large work area 105 (eg, 25 feet) may be more manageable and require fewer system 300 resources while having little impact on the efficiency of the inventory control system 200 . On a smaller warehouse floor 170 or an inventory control system 200 with a larger number of robots 120 or a very busy warehouse floor 170, it may be desirable to reduce the size of the work area (e.g., to 10 feet) to reduce stress on the robots. 120 retrieves inventory holder 130 and performs other work effects. Of course, many predetermined distances can be chosen to suit many warehouse and traffic configurations.

In some examples, robot 120 may also be equipped with RFID reader 310 . RFID reader 310 may be in communication with processor 315 and may periodically scan for RFID tags 305 that are within range. In this manner, the robot 120 may run a self-test on the RFID tag 305 located on the robot 120 (ie, the robot's own RFID tag 305). In other examples, the RFID tag 305 on the robot 120 may be inspected when the robot 120 is parked for recharging (about once an hour) or otherwise maintained.

If one or more RFID tags 305 on a robot 120 malfunctions, the robot 120 may report the failure to the central control 115 . The central control 115 can then schedule maintenance on the robot 120 to replace the failed RFID tag 305 . Some or all of the RFID tags 305 may be replaced should any RFID tag 305 fail. In other words, because RFID tags 305 are inexpensive, it may be frugal to simply replace all RFID tags. In other examples, the central control 115 may only operate when a certain number or percentage of RFID tags 305 fail or only when the number of operational RFID tags 305 out of the total number of RFID tags 305 reaches a predetermined level (e.g., based on desired redundancy). level) when replacing the RFID tag 305.

Because RFID tags 305 are relatively inexpensive (less than $1), the robot 120 can be equipped with multiple RFID tags 305 to provide redundancy. In this way, a greater number of RFID tags 305 can fail without causing a problem because the greater number of RFID tags 305 are still operational. In some examples, the processor 315 and/or the central control 115 can monitor the location of the failed RFID tag 305 to ensure that at least one RFID tag 305 in each orientation (e.g., at least one on each side of the robot 120 RFID tag 305) is operable.

Similarly, as shown in FIG. 4 , examples of the present disclosure may include another system 400 for maintaining a predetermined distance between the worker 102 and the robot using RFID or other short-range transmission technology. In some examples, worker 102 may wear a garment 405 or other wearable device, such as a vest, hat, or overalls, that includes one or more RFID tags 305 . In some examples, RFID tags 305 may include surface RFID tags 305a, which may be sewn or glued to the surface of garment 405, for example. In other examples, RFID tag 305 may be an embedded RFID tag 305 b that is sewn or otherwise incorporated into garment 405 . Embedded RFID tag 305b may, for example, improve the aesthetics of garment 405, or may simply provide some protection to RFID tag 305 from abrasion or other damage. In this configuration, the RFID reader 310 on the robot 120 continuously polls the RFID tags 305 that are within range at predetermined intervals (eg, once every second, once every 0.5 seconds). When the robot 120 receives a return from the RFID tag 305 associated with the worker 102, the robot 120 may take evasive action.

As previously mentioned, the robot 120 may initially attempt to deviate slightly from the robot's current route to avoid the worker 102 . However, if, for example, worker 102 is still within range or the signal becomes stronger, robot 120 may slow down and eventually stop as desired. The robot 120 can remain in this mode of operation until the RFID reader 310 on the robot 120 no longer detects any RFID tags 305 associated with the worker 102 (or any worker 102), and then returns to normal operation.

To provide additional redundancy, the robot 120 may also contain one or more RFID tags 305 . The RFID reader 310 on the robot 120 can then scan these RFID tags 305 to ensure that the RFID reader 310 is working properly. If the RFID readers 310 on the robot 120 fail to detect a predetermined number or percentage of the RFID tags 305 on the robot 120 , the robot 120 may alert the central control 115 . The central control 115 can then take the robot 120 offline, enter a maintenance request, or stop the robot 120 immediately, among other things.

In some examples, the system 400 may also include an RFID reader 310 that may be worn by the worker 102 to ensure that a sufficient number of RFID tags 305 in the garment 405 or other wearable device are working properly to Meet the system indicators. In some examples, RFID reader 310 may also include indicator 325 . In some examples, indicator 325 may include a transceiver (eg, a wireless transceiver) to communicate with central control 115 to report a high number of malfunctioning RFID tags 305 . The central control 115 may then provide a message to, for example, the worker 102 or a supervisor that the worker 102 needs a new garment 405 or other wearable device. In other examples, the indicator 325 may include a light or an audible alarm to directly alert the worker 102 of the fault. Worker 102 may then retrieve a new garment 405 or other wearable device.

Regardless of the configuration (i.e., FIG. 3 or 4), in some examples, the systems 300, 400 may also use the reference point 175 in the warehouse floor 170 to 305 range to create a suitable workspace 105 . In other words, in some examples, fiducials 175 may also include RFID tags 305 to provide location information to RFID readers 310 on robots 120 and/or workers 102 to establish the range of the RFID readers. When, for example, an RFID reader reports to the central control 115, the RFID reader may contain all fiducials 175 that the RFID reader can "see" at any given time. Thus, based on the location information associated with the reported reference point 175, the central control 115 may determine the range of a particular RFID reader 310 or the average range of all RFID readers 310 in the system 300, 400, for example.

The central control 115 can then use this information in part to establish a radius for the outer workspace 105a. The range of the various RFID components 305, 310 can vary widely based on, for example, atmospheric conditions, local interference, layout, battery charge levels, and angle of incidence between the reader and tag. In addition to RFID range, the size of the work area 105 may also be based on the number of robots 120 and/or workers 102 on the warehouse floor 170, the travel speed of the robots 120, and the size of the warehouse floor 170, among other things. Because some of these variables may change, in some instances the system 300, 400 may periodically reset the workspace 105 based on current conditions.

In some examples, the systems 300, 400, on the other hand, may instruct one or more of the robots 120 to take evasive action if the range of the RFID reader 310 and/or the RFID tag 305 falls below a predetermined threshold. In other words, if the range of one or more RFID components 305, 310 in the system 300, 400 drops below a predetermined distance (e.g., 10 feet), then a suitable workspace 105 may be impossible or impractical . Therefore, to prevent unwanted interactions between robots 120 and workers 102, systems 300, 400 may instruct some or all of robots 120 to stop or slow down until range issues can be corrected (eg, with new batteries).

As shown in FIGS. 5A and 5B , the system 400 can include a vest 505, a hat 510, a coverall, a belt, or other clothing (collectively referred to as "garment") that can be easily donned and can include multiple RFID tags 305. In some examples, as shown, the garment may contain RFID tags 305 arranged in multiple orientations and positions such that the RFID tags 305 on the garment can be detected by the RFID reader 310 regardless of their What is the relative position of . In other words, the RFID reader 310 can detect at least one tag 305 regardless of whether the worker 102 is walking away from or toward the robot 120, and regardless of the worker's relative position relative to the robot (e.g., in front of, behind, or behind the robot 120). or either side).

The use of multiple RFID tags 305 in each garment also increases the redundancy of the system, requiring multiple RFID tags 305 to fail before significantly affecting the effectiveness of the garment. In some examples, the garment may be disposable such that, for example, when the number or percentage of RFID tags 305 failures reaches a predetermined number or percentage, the worker 102 may simply discard the vest 505 or hat 510 and retrieve a new vest or hat. In some examples, vest 505 and/or hat 510 may also include reflective tape or other features that enable the garment to be used for various purposes.

In some examples, the garment may include an RFID tag 305a mounted on the surface. In other embodiments, the garment may include an RFID tag 305b embedded (eg, sewn into) the garment. In other embodiments, the garment may contain multiple types of RFID tags 305a, 305b, such as passive, active, and semi-active RFID tags 305 .

In other embodiments, as shown in FIG. 6 , the robot 120 may include an onboard imaging device or camera 605 , and a transceiver 610 . Camera 605 may detect and identify fiducials 175 on warehouse floor 170 as robot 120 traverses warehouse floor 170 . The robot 120 can communicate with the central control 115 using the transceiver 610 and can provide position, direction, and velocity information, for example.

As shown in FIG. 7 , datum 175 may include, for example, a sticker or plaque attached to warehouse floor 170 . In some examples, fiducial 175 may provide the location of the fiducial in the warehouse (eg, the fiducial may include coordinates, row and column numbers, grid number, GPS location, or other information). In some examples, the location of fiducials 175 may be printed on fiducials 175 and may be read by camera 605 on robot 120 .

In other examples, as shown in detail in FIG. 7 , fiducial points 175 may also include additional fiducial data 705 . Benchmark data 705 may include, for example, a benchmark identification number (ID) 175b (eg, "Benchmark 186143a"). In some examples, the robot 120 may read the fiducial ID 175b with the camera 605 or other suitable device, and cross-reference the fiducial ID 175b with an on-board database to establish its position. In other embodiments, the central control 115 may contain a database of fiducials, and the robot 120 may send the fiducial ID 175b to the central control 115 , and the central control 115 may provide the location of the fiducials 175 to the robot 120 .

In other examples, the reference data 705 may include, for example, a barcode 175c and/or an RFID tag 305 that may be read by the robot 120, among other things. In some examples, the barcode 175c or RFID tag 305 may have embedded location information to provide the location information directly to the robot. In other embodiments, as discussed above, the robot 120 may read or scan the barcode 175c or RFID tag 305, send the reference data 705 to the central control, and receive the location information of the reference point 175 from the central control 115 to determine the warehouse floor The position of the robot 120 on 170 .

Referring back to FIG. 6 , worker 102 may also be equipped with one or more cameras 605 in some examples. In some examples, worker 102 may wear camera 605 on a headband, armband, or necklace. In other examples, worker 102 may utilize cart 615 equipped with one or more cameras 605 . Cart 615 may also include one or more shipping trays 630 to enable worker 102 to retrieve merchandise from inventory holders 130 , transport tools for maintenance operations, or retrieve trash or inventory items 140 from warehouse floor 170 , for example. Thus, like robot 120 , camera 605 may identify and report reference point 175 approaching cart 615 as worker 102 moves across warehouse floor 170 .

The cart 615 may also include a processor 650 and a transceiver 655 to transmit the location of the cart 615 to the central control 115 . In some examples, processor 650 may perform some or all of the image processing (eg, parsing) required for images from one or more cameras 605 to reduce bandwidth between cart 615 and central control 115 . Accordingly, the central control 115 may receive regular updates from both the robot 120 and the cart 615 regarding the location of the robot and cart 615 and/or include information from one or more cameras 605 on the robot 120 and the cart 615. Image related image or data. This may allow the central control 115 to track the location of the robot 120 and cart 615 and instruct the robot 120 to take evasive action if necessary. In some cases, for example, central control 115 may track robot 120 and cart 615, determine when robot 120 and cart 615 collide on a route, and reroute robot 120 if necessary.

Of course, it is possible that the worker 102 may walk away from the cart 615 so that the central control 115 is unaware of the worker's location. In other words, the camera 605 on the cart 615 provides the location of the cart 615 to the central control 115 rather than the location of the worker 102 as the worker 102 walks away from the cart. Thus, in some examples, system 600 may also include a “tether” 625 between cart 615 and worker 102 .

In some examples, tether 625 may be, for example, a physical tether 625 similar to those used on boats or jet skis, and may include a physical connection between cart 615 and worker 102 . The tether 625 may include, for example, a noose or wire harness around the worker's wrist or attached to the worker's clothing and then to a switch on the cart 615 . In other examples, tether 625 may include a motor connection between cart 615 and worker 102 . In some examples, for example, the handle 635 of the cart 615 may include one or more electrical contact pads for measuring the temperature, resistance, or capacitance of the handle 635 . In this configuration, central control 115 may determine that worker 102 has one or both hands on the handle.

In other embodiments, the tether 625 may comprise a tether that is an "electromagnetic" tether in nature. In other words, using RFID technology or other short-range links, the tether 625 can determine whether the worker 102 is within a certain distance of the cart 615 in a manner similar to that discussed above. Thus, for example, system 600 may include worker 102 clothing (eg, vest 505 ) that includes one or more RFID tags 305 , and cart 615 may include RFID reader 310 , as discussed above. Thus, when worker 102 is within range of RFID reader 310, tether 625 may be considered "locked" and system 600 may operate normally.

If worker 102 is not within range of RFID reader 310, tether 625, on the other hand, may be considered "unlocked," sending an unlock signal to central control 115, which may require central control 115 to stop in the warehouse or All robots 120 in a part of the warehouse, up to workers 102, can be "found". In other words, if tether 625 is unlocked, the location of worker 102 on warehouse floor 170 is essentially unknown. If this is the case, then the central control 115 cannot precisely route the robots 120 around the workers 102 and may have no choice but to shut down all the robots 120 . In some cases, when worker 102 returns to cart 615, tether 625 may automatically "relock," sending a relock signal to central control 115, and normal warehouse operations may resume. In some examples, to prevent total shutdown, system 600 may include an assisted positioning system that locates worker 102 using, for example, RFID, proximity sensors, infrared cameras, or facial recognition. In a preferred example, the worker 102 may simply be trained to stay within range of the worker's cart 615 at all times.

In some instances, a similar system 600 may be used in workstation 150 . In other words, while worker 102 in workstation 150 is theoretically stationary, in some instances worker 102 may need to temporarily leave the confines of workstation 150 to, for example, retrieve a dropped item. Thus, while a "permanent" work area 105 may exist relative to workstation 150 (to prevent robot 120 from traveling past workstation 150), if worker 102 leaves workstation 150, robot 120 may need to take additional evasive action.

To this end, if system 600 detects that worker 102 has exited workstation 150 , system 600 may, for example, instruct one or more robots 120 to slow down or stop. In this case, tether 625 may include, for example, a light curtain, light beam, or proximity sensor to determine when worker 102 leaves workstation 150 . In some examples, workstation 150 may also include additional RFID readers 310 to provide additional range information to central control 115 .

In some instances, as shown in FIG. 8, it may be desirable to have a warehouse system 800 with separate management and interaction systems. In other words, system 800 may include a central control 115 for managing overall routing and workflow, and a second server 805 for managing worker 102/robot 120 interactions. In this way, a higher level of redundancy can be provided and each system 100, 800 can be optimized for the upcoming purpose.

To this end, in addition to the redundancy provided by the use of multiple RFID tags 305 and RFID readers 310 as discussed above, in some examples, the workspace 105, the robot 120, and the worker 102 can communicate via a dedicated interaction server 805. Monitor and manage. In this configuration, central control 115 may handle routing and scheduling of robots 120 during normal operations (e.g., retrieving and delivering inventory holders 130 to workstations), while interaction server 805 may monitor workers 102 and robot 120 for accident prevention purposes only. In this way, among other things, the operations of the robot 120 and worker 102 do not conflict, reliability is increased via redundant communication and control systems, and downtime and maintenance are reduced by reducing the number of robot 120/worker 102 interactions .

In some examples, the bot 120 may communicate with the central control 115 via a first dedicated communication network 810 and communicate with the interaction server 805 via a second dedicated communication network 815 . Both networks may include, for example, wireless LANs (eg, 802.11x networks) or other suitable networks. In some instances, the interactive server 805 and the second network 815 may also be on a dedicated internet, power or network connection if necessary.

Thus, in some examples, the second network 815 may also include a network having a higher level of reliability and/or security than the first network 810 . The second network 815 may also be able to cover the first network 810 . In other words, if the interaction server 805 determines that an accident between the worker 102 and the robot 120 is imminent, the interaction server 805 can send the command to the robot 120 regardless of whether the robot 120 is currently receiving commands from the central control 115 . In this case, the robot 120 can ignore commands from the central control 115 , take evasive action if necessary, and then reconnect with the central control 115 when the worker is no longer close to the robot 120 .

As shown in FIG. 9 , examples of the present disclosure may also include methods for maintaining a predetermined distance between the worker and the robot using positional information from reference points 175 . At 905, the worker enters the floor of the warehouse. As mentioned above, there are several reasons why a worker may need or want access to the warehouse floor.

At 910, the aforementioned cameras may begin providing worker location information to the central control or interaction server. In some examples, the camera may be located on a worker or a cart used by the worker and may be activated manually by the worker, or automatically upon entry into the warehouse. In some examples, the cart may include, for example, a motion sensor that may signal the camera and transceiver to begin sending location information. In other examples, the system may include light beams, sensors, infrared sensors, motion sensors, or other means to detect workers in the warehouse. Location information from workers may be updated periodically at a constant or variable rate, which may vary based on the number of workers and robots moving in the warehouse, the level of activity in the warehouse, and other factors.

At 915, the central control or interaction server may also receive location information from a plurality of robots on the warehouse floor. In the case of a central control, location information may already be provided automatically as part of an inventory management system. In other cases, for example, the interaction server may start polling the robot for location information after receiving location information from a worker or after receiving a notification (eg, from a motion sensor in the warehouse) that a worker has entered the warehouse. Likewise, location information from robots may be updated periodically at a constant or variable rate, which may vary based on the number of workers and robots moving in the warehouse, the level of activity in the warehouse, and other factors.

At 920, based on the location information from the worker, the system can create a virtual workspace around the worker. As discussed above, this may include a single workspace at a predetermined distance (e.g., 10 feet), or may include multiple levels of workspace within which, as the robot gets closer and closer to the worker, The level of dodge moves is increased. At 925, the system may determine whether the robot is within the work area based on the location information. If the robot is not in the work area, the system can simply wait for the next location update from the worker at 910 and the next location update from the robot at 915 .

At 930, if the robot is within the work area, then, on the other hand, the system (ie, the central control or interaction server) can send a command to take evasive action. In some instances, such as in the case of a single-story work area, the system may simply command the robot to stop. In other examples, when the robot enters the outer workspace, the middle workspace, and the inner workspace respectively, the system can take an upgraded avoidance action, for example, reroute→decelerate→stop. In this way, a slight offset may enable the robot not to encounter the worker with little disturbance to the system when the robot and worker are only traveling close to each other or at an oblique angle. If the worker and the robot are on a collision course, then the robot, on the other hand, may need to simply stop and give the worker the right of way. At 935, the system can continue to monitor and control the robot as necessary until the worker clears the warehouse floor.

In other examples, the robot may switch to a different navigation/sensing system. In other words, part of an evasive maneuver could include switching to a sensor with higher resolution, such as a high-resolution camera, for more precise robotic manipulation. In other instances, the robot may switch to a second, more accurate navigation system or algorithm. In this way, the robot can utilize additional inputs to enable the robot to precisely re-route, slow down or stop when necessary, rather than simply moving from one reference point to the next along the direction of travel.

In other examples, the systems described herein can also be used to provide a workspace 105, 1005 around a stationary robotic arm 1020 (FIGS. 10A and 10B) or around a worker 102 in close proximity to the robotic arm 1020 (FIG. 10C). The stationary robotic arm 1020 may be used in a warehouse, for example, to unload boxes, perform maintenance, or handle other tasks that may be done in a relatively more consistent area. In other examples, the robotic arm 1020 may be movable, but not itself mobile, to perform tasks in, for example, a limited number of locations or over a longer work area. Regardless, although the robotic arm 1020 is immobile, the robotic arm 1020 still has a circle or sphere of motion within which it operates, depending on its function. Direct contact between worker 102 and robotic arm 1020 can be problematic, reducing efficiency and increasing maintenance of robotic arm 1020 .

To this end, as with the mobile robot 120 discussed above, it may be useful to establish one or more workspaces 1005, which may comprise a circle 105 (FIG. 10A) or a sphere 1005 (FIG. 10B). As previously mentioned, in some examples, system 1000 may include an outer workspace 105a, an intermediate workspace 105b, and an inner workspace 105c. This may cause robotic arm 1020 to take one or more evasive actions when worker 102 (or robot 120 ) enters workspace 105 . In some examples, system 1000 may use multiple spherical workspaces 1005

In some examples, system 1000 may slow robotic arm 1020 as worker 102 enters outer workspace 105a. The system 1000 may then apply the brakes and/or assume a predetermined position when the worker 102 enters the intermediate workspace 105b. Finally, the system 1000 can power down the robotic arm 1020 when the worker 102 enters the inner workspace 105c. In some examples, robotic arm 1020 may place the object down on the floor or other work surface and wait for worker 102 to exit work area 105 or take other additional action during the process.

As with systems 300, 400, 600 discussed above, system 1000 may include one or more RFID readers/tags and/or imaging devices to maintain a workspace 1005 around the robotic arm. In some examples, as shown in FIG. 10A , system 1000 may include one or more RFID tags 305 mounted on robotic arm 1020 and RFID reader 310 on worker 102 to detect RFID interactions. In other examples, as shown in FIG. 10B , the system 1000 may utilize multiple surface-mounted RFID tags 305a or embedded RFID tags 305b on the worker 102 and an RFID reader 1030 on the robotic arm 1020 to detect RFID interact. In other examples, the robotic arm 1020 may include one or more imaging devices 1025 to provide information related to the position of the robotic arm 1020 and/or the workspace 105 , 1005 .

While several possible examples are disclosed above, examples of the present disclosure are not limited thereto. For example, while a system is disclosed for maintaining a predetermined distance between a robot and a worker in an automated warehouse, the system can also be used anytime a human interacts with an automated machine or a stationary robotic system. Additionally, the location and configuration of various features used in examples of the present disclosure, such as the location and configuration of RFID tags and readers, the types of cameras or other sensors used, and the layout of the warehouse, can vary depending on, for example, the specific warehouse. , locations, or robots that require slight variations due to, for example, size or power constraints, types of robots required, or regulations related to transmission disturbances. Such changes are intended to be included within the scope of this disclosure.

The particular configuration, selection of materials, and size and shape of the various elements may vary according to particular design specifications or constraints requiring a device, system, or method to be constructed in accordance with the principles of the present disclosure. Such changes are intended to be included within the scope of this disclosure. Accordingly, the presently disclosed examples are to be considered in all respects as illustrative and not restrictive. The scope of the disclosure is indicated by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are intended to be embraced therein.

Clause 1. A system for maintaining a threshold distance between a robot and a worker in a workspace, the system comprising:

a wearable device comprising one or more radio frequency identification (RFID) tags, the wearable device being associated with the worker;

A robot configured to perform one or more tasks in the workspace, the robot comprising:

one or more drive mechanisms for moving the robot in the workspace;

an RFID reader configured to read the one or more RFID tags; and

a processor in communication with the RFID reader;

wherein the RFID reader sends a signal to the processor based at least in part on the RFID reader reading at least one of the one or more RFID tags; and

Wherein the processor instructs the robot to take an evasive action based at least in part on receiving the signal from the RFID reader.

Clause 2. The system of clause 1, wherein the RFID reader stops sending the signal based at least in part on the RFID reader no longer reading at least one of the one or more RFID tags to the processor; and

wherein the processor instructs the robot to resume normal operation based at least in part on the processor no longer receiving the signal from the RFID reader.

Clause 3. The system of clause 1, wherein taking an evasive action comprises the processor instructing the robot to at least one of: stop, slow down, or reroute.

Clause 4. The system of clause 1, wherein the one or more RFID tags comprise a first set of one or more RFID tags, and the signal comprises a first signal;

The robot also includes:

a second set of one or more RFID tags positioned on the robot;

wherein the RFID reader sends a second signal to the processor based at least in part on the RFID reader reading at least one of the second set of one or more RFID tags;

wherein said RFID reader stops sending said second signal to said processor when said RFID reader is no longer reading at least one of said second set of one or more RFID tags; as well as

Wherein the processor instructs the robot to stop based at least in part on the processor no longer receiving the second signal from the RFID reader.

Clause 5. The system of Clause 4, wherein the RFID reader comprises a first RFID reader, and further comprising:

a second RFID reader including an indicator and associated with the worker;

Wherein the indicator is activated when the second RFID reader is no longer reading a predetermined number of the first set of one or more RFID tags.

Clause 6. A system comprising:

a short-range transmission reader associated with a worker;

A robot for performing one or more tasks in a workspace, the robot comprising:

one or more short-range transport tags mounted on the robot in one or more positions and orientations; and

a processor in communication with the one or more short-range transport tags;

wherein the processor receives a signal from a first short-range transmission tag of the one or more short-range transmission tags based at least in part on being written to by the short-range transmission reader;

Wherein the first short-range transmission tag is written by the short-range transmission reader to indicate the short-range transmission interaction between the robot and the worker.

Clause 7. The system of Clause 6, wherein the processor instructs the robot to take evasive action based at least in part on receiving the signal.

Clause 8. The system of clause 7, wherein taking an evasive action comprises the processor instructing the robot to at least one of: stop, slow down, or reroute.

Clause 9. The system of clause 6, the robot further comprising:

a transceiver for wirelessly communicating with the central control;

wherein said processor sends said signal to said central control via said transceiver; and

Wherein the transceiver receives one or more instructions from the central control to cause the robot to take an evasive action.

Clause 10. The system of clause 9, wherein taking an evasive action comprises the processor instructing the robot to at least one of: stop, slow down, or reroute.

Clause 11. The system of clause 6, wherein the first short-range transmission tag stops sending the signal to the processor; and

Wherein the processor instructs the robot to resume normal operation based at least in part on the processor no longer receiving the signal from the first short-range transmission tag.

Clause 12. The system of clause 6, wherein the short-range transmission reader comprises a first short-range transmission reader, and the robot further comprises:

a second short-range transport reader positioned on said robot;

wherein said second short-range transmission reader writes to said one or more short-range transmission tags to verify operation of said one or more short-range transmission tags;

wherein each of the one or more short-range transmission tags sends an acknowledgment signal to the processor; and

Wherein the processor instructs the robot to seek maintenance when the processor no longer receives the acknowledgment signal from a predetermined number of the one or more short-range transmission tags.

Clause 13. The system of clause 6, wherein the short-range transmission tag comprises a radio frequency identification (RFID) tag; and

Wherein the short-range transmission reader comprises an RFID reader.

Clause 14. A method comprising:

receiving at the robot from the central control routing instructions including at least a destination to perform tasks in the workspace;

receiving, at the robot, a signal from the central control that a worker has entered the workspace;

At the robot, a first instruction is received from the central control in response to detecting an RFID interaction between the robot and the worker with one or more RFID tags by a radio frequency identification (RFID) reader take evasive action; and

At the robot, a second instruction is received from the central control in response to detecting, by the RFID reader, the contact between the robot and the worker with the one or more RFID tags The RFID interaction has ended and normal operations resume.

Clause 15. The method of Clause 14, wherein the one or more RFID tags are mounted on the robot and the RFID reader is associated with the worker, and further comprising:

detecting, with a processor on the robot, that the one or more RFID tags mounted on the robot are within range of the RFID reader associated with the worker; and

A detection signal is sent from the robot to the central control, the detection signal being indicative of the RFID interaction between the robot and the worker.

Clause 16. The method of clause 14, wherein the RFID reader is mounted on the robot and the one or more RFID tags are associated with the worker, and further comprising:

detecting the one or more RFID tags associated with the worker with the RFID reader on the robot; and

A detection signal is sent from the robot to the central control, the detection signal being indicative of the RFID interaction between the robot and the worker.

Clause 17. The method of clause 14, further comprising:

detecting with an RFID reader on the robot one or more RFID tags attached to a floor in the workspace;

sending data associated with the one or more RFID tags from the robot to the central control; and

At the robot, instructions are received from the central control to take evasive action based at least in part on a range calculation for at least one of the RFID reader or the one or more RFID tags, the range calculation being at least based in part on said data associated with said one or more RFID tags;

Wherein said data associated with said one or more RFID tags includes at least location information of said one or more RFID tags.

Clause 18. The method of clause 14, wherein the first instruction further includes information related to a virtual workspace surrounding the worker in response to the RFID interaction.

Clause 19. The method of clause 18, wherein the virtual workspace further comprises at least one of:

Outer workspace, intermediate workspace or inner workspace.

Clause 20. The method of Clause 19, wherein the evasive maneuver further comprises at least one of:

a first evasive maneuver by the robot as it traverses the outer workspace;

a second evasive maneuver as the robot traverses the intermediate workspace; or

A third evasive maneuver as the robot traverses the inner workspace.

Clause 21. A method to maintain a threshold distance between a worker and a robot in a workspace, the method comprising:

receiving, at a server, first position information of the robot in the workspace at a first time from an imaging device associated with the robot;

receiving, at the server, second location information for the worker in the workspace at a first time from an imaging device associated with the worker;

specifying with said server a workspace encompassing at least said worker and including at least an inner barrier and an outer barrier;

calculating, with the server, a distance between the robot and the worker based at least in part on the first location information of the robot and the second location information of the worker; and

sending an instruction from the server to the robot to take an evasive action based at least in part on the robot passing through the outer barrier;

wherein said first position information of said robot includes first reference data from a first reference point that is close to said robot at said first time;

Wherein said second location information of said worker includes second reference data from a second reference point that was proximate to said worker at said first time.

Clause 22. The method of clause 21, wherein the first reference data from the first reference point comprises a barcode received from the imaging device associated with the robot; and

Wherein said barcode includes at least the location of said first fiducial.

Clause 23. The method of clause 21, wherein the evasive action comprises at least one of: rerouting, slowing down, or stopping the robot.

Clause 24. The method of clause 21, further comprising:

Another instruction is sent from the server to the robot to take a different evasive action based at least in part on the robot passing through the inner barrier.

Clause 25. The method of clause 21, wherein the first fiducial data from the first fiducial comprises an image of the first fiducial received from the imaging device associated with the robot .

Clause 26. A system, the system comprising:

A robot for performing one or more tasks in a workspace, the robot comprising:

one or more imaging devices mounted on the robot to provide images of portions of the workspace proximate to the robot;

a plurality of fiducials, each fiducial comprising fiducial data, the fiducials being attached to the floor in the workspace; and

a trolley for transporting objects in the workspace, the trolley being associated with a worker and comprising:

one or more imaging devices positioned on the cart to provide images of portions of the workspace proximate to the cart;

a server in communication with the cart and the robot, the server receiving location information from the cart and the robot and establishing a barrier around the cart;

Wherein the server instructs the robot to take an evasive action based at least in part on the robot passing through the barrier around the cart.

Clause 27. The system of Clause 26, wherein each of the plurality of fiducials includes a radio frequency identification (RFID) tag, the RFID tag including location data or fiducials for each of the plurality of fiducials at least one of the identification numbers.

Clause 28. The system of clause 26, wherein each of the plurality of fiducials includes a barcode comprising at least one of location data or a fiducial identification number for each of the plurality of fiducials .

Clause 29. The system of Clause 26, wherein the cart further comprises:

a tether connecting the worker to the cart;

wherein a signal is sent to the server based at least in part on the distance between the worker and the cart detected via the tether exceeding a predetermined distance.

Clause 30. The system of clause 29, the tether further comprising:

a wire harness having a first end removably coupled to the worker and a second end removably coupled to a switch on the cart;

wherein the harness is detached from the switch based at least in part on the distance between the worker and the cart exceeding the predetermined distance; and

wherein the signal is sent to the server based at least in part on removal of the wire harness from the switch.

Clause 31. The system of clause 29, the tether further comprising:

a short-range transmission tag coupled to a wearable device associated with the worker; and

a short-range transmission reader coupled to the cart and configured to read the short-range transmission tag;

wherein said signal is sent to said short-range transmission tag based at least in part on said distance between said short-range transmission tag and said short-range transmission reader being beyond the range within which said short-range transmission reader can read said short-range transmission tag. server.

Clause 32. The system of clause 31, wherein:

The short-range transmission tag comprises a radio frequency identification (RFID) tag; and

The short-range transmission reader includes an RFID reader.

Clause 33. The system of clause 26, wherein the processor instructs the robot to take an escalated evasive action when the distance between the robot and the cart decreases.

Clause 34. The system of clause 26, wherein the server instructs the robot to at least one of:

rerouting based at least in part on the distance between the robot and the cart reaching a first predetermined distance;

decelerating based at least in part on the distance between the robot and the cart reaching a second predetermined distance; or

Stopping is based at least in part on the distance between the robot and the cart reaching a third predetermined distance.

Clause 35. A method comprising:

receiving, at the server, first position information of the robot in the workspace from one or more robot imaging devices associated with the robot;

At the server, receiving second location information for a cart associated with a worker from one or more cart imaging devices associated with the cart, the cart comprising:

a shipping tray for shipping one or more objects;

the one or more cart imaging devices configured to provide images proximate to the carts to the server;

a wireless transceiver for providing wireless communication between the cart and the server; and

a processor in communication with the one or more cart imaging devices and the wireless transceiver to transmit one or more signals to the server via the wireless transceiver;

specifying with said server a barrier covering at least said cart; and

An instruction is sent from the server to the robot to take an evasive action based at least in part on the robot passing through the barrier.

Clause 36. The method of clause 35, wherein the first position information of the robot comprises imagery data from the one or more robotic imaging devices, including one or more fiducials proximate to the robot benchmark data.

Clause 37. The method of Clause 35, wherein the second location information of the cart comprises imagery from the one or more cart imaging devices, including one or more reference points proximate to the cart. benchmark data.

Clause 38. The method of Clause 35, wherein the cart further comprises:

a tether for detecting that the distance between the worker and the trolley exceeds a predetermined distance;

The method also includes:

receiving, at the server, a signal from the processor based at least in part on the distance between the worker and the cart exceeding the predetermined distance; and

Based at least in part on the signal, another instruction is sent from the server to the robot to stop.

Clause 39. The method of clause 38, further comprising:

receiving at the server another signal from the processor based at least in part on the distance between the worker and the cart falling below the predetermined distance; and

Based at least in part on the another signal, a resume instruction is sent from the server to the robot to resume normal activity.

Clause 40. The method of Clause 38, wherein the tether comprises:

one or more radio frequency identification (RFID) tags positioned on one of the worker or the cart; and

an RFID reader positioned on the other of the worker or the cart;

Wherein the server receives the signal from the processor based at least in part on the RFID reader no longer reading at least one of the one or more RFID tags.

Claims (15)

1. a kind of system for being used to maintain the threshold distance between the robot in working space and worker, the system bag Include：

Wearable device, the wearable device include one or more radio frequency identifications (RFID) label, the wearable device It is associated with the worker；

Robot, to perform one or more tasks in the working space, the robot includes for the robot：

One or more drive mechanisms, the drive mechanism is to the mobile robot in the working space；

RFID reader, the RFID reader are configured to read one or more of RFID label tags；And

Processor, the processor communicate with the RFID reader；

Wherein described RFID reader is at least partially based on the RFID reader and read in one or more of RFID label tags It is at least one, send signal to the processor；And

Wherein described processor is at least partially based on from the RFID reader and receives the signal, indicates that the robot takes Hide action.

2. system according to claim 1, wherein the RFID reader is at least partially based on the RFID reader not Read again it is at least one in one or more of RFID label tags, stopping transmit the signal to the processor；And

Wherein described processor is at least partially based on the processor and no longer receives the signal, instruction from the RFID reader The robot enabling.

3. system according to claim 1, enter wherein taking to hide action and include the processor instruction robot It is at least one in the following operation of row：Stopping, deceleration or routing again.

4. system according to claim 1, wherein one or more of RFID label tags include one or more of first group Individual RFID label tag, and the signal includes the first signal；

The robot also includes：

Second group of one or more RFID label tags being placed in the robot；

Wherein described RFID reader is at least partially based on the one or more that the RFID reader reads described second group It is at least one in RFID label tag, secondary signal is sent to the processor；

Wherein when the RFID reader no longer reads at least one in described second group of one or more RFID label tags, The RFID reader stops the secondary signal being sent to the processor；And

Wherein described processor is at least partially based on the processor and no longer receives the secondary signal from the RFID reader, Indicate that the robot stops.

5. system according to claim 4, wherein the RFID reader includes the first RFID reader, and also include：

Second RFID reader, second RFID reader include indicator, and associated with the worker；

Wherein described indicator no longer reads one or more of described first group of predetermined number in second RFID reader It is activated during individual RFID label tag.

6. a kind of system, the system includes：

Short range transmissions reader, the short range transmissions reader are associated with worker；

Robot, to perform one or more tasks in working space, the robot includes for the robot：

One or more short range transmissions labels, the label are arranged on the robot on one or more positions and orientation On；And

Processor, the processor and one or more of short range transmissions label communications；

Wherein described processor is at least partially based on the first short range transmissions label in one or more of short range transmissions labels Write by the short range transmissions reader, from the first short range transmissions label reception signal；

Wherein described first short range transmissions label indicates the robot and the work by short range transmissions reader write-in Short range transmissions interaction between person.

7. system according to claim 6, wherein the processor, which is at least partially based on, receives the signal, described in instruction Robot, which takes, hides action.

8. system according to claim 7, enter wherein taking to hide action and include the processor instruction robot It is at least one in the following operation of row：Stopping, deceleration or routing again.

9. system according to claim 6, the robot also includes：

Transceiver, the transceiver are used to wirelessly communicate with central control；

Wherein described processor transmits the signal to the central control via the transceiver；And

Wherein described transceiver receives one or more instructions so that the robot, which takes, hides action from the central control.

10. system according to claim 9, enter wherein taking to hide action and include the processor instruction robot It is at least one in the following operation of row：Stopping, deceleration or routing again.

11. system according to claim 6, wherein the first short range transmissions label is in the first short range transmissions label Stop transmitting the signal to the processor when no longer being write by the short range transmissions reader；And

Wherein described processor is at least partially based on the processor and no longer receives the signal from the first short range transmissions label, refers to Show the robot enabling.

12. system according to claim 6, wherein the short range transmissions reader includes the first short range transmissions reader, And the robot also includes：

The second short range transmissions reader being placed in the robot；

It is one to verify that wherein described second short range transmissions reader is written to one or more of short range transmissions labels Or the operation of multiple short range transmissions labels；

Wherein when the second short range transmissions reader be respectively written into it is each in one or more of short range transmissions labels When individual, in one or more of short range transmissions labels it is described each will confirm that signal is sent to the processor；And

Wherein when the processor no longer receives the confirmation letter from one or more of short range transmissions labels of predetermined number Number when, the processor indicates that the robot seeks to safeguard.

13. system according to claim 6, wherein the short range transmissions label includes radio frequency identification (RFID) label；With And

Wherein described short range transmissions reader includes RFID reader.

14. system according to claim 7, wherein the processor, which is at least partially based on, receives the signal to identify The virtual work area around worker is stated, wherein the virtual work area is also including at least one in the following：

Outsourcing, middle workspace or internal work area.

15. system according to claim 14, wherein described hide action also including at least one in the following：

First during the outsourcing is passed through to hide action in the robot；

Second during the middle workspace is passed through to hide action in the robot；Or

The during the internal work area the 3rd is passed through to hide action in the robot.