Controlling robotic devices based on proximity detection

Patent metadata

Field	Value
Publication number	US-12564959-B1
Application number	US-202318123587-A
Country	US
Kind code	B1
Filing date	Mar 20, 2023
Priority date	Mar 20, 2023
Publication date	Mar 3, 2026
Grant date	Mar 3, 2026

Abstract

Techniques for controlling motion of physical, moving devices within a robotic work cell of an inventory system are disclosed. A user device (e.g., a wearable device) can be used within the workspace to transmit wireless signals. One of these signals can be received by one or more receiving devices associated with the robotic work cell. A proximity monitoring engine can transmit notification data to a machine controller while the signal is being received. Transmitting the notification data may cause the machine controller to execute instructions to halt motion of the robotic device (and/or other moving devices associated with the robotic work cell). The devices of the robotic work cell may remain in a halted state while the signal continues to be received. When the signal is no longer being received, the devices of the robotic work cell may be instructed to resume motion.

First claim

What is claimed is:

1 . An inventory management system, comprising:
a workspace comprising a robotic device, the robotic device being positioned at a stationary location within the workspace and within a robotic work cell, the robotic work cell being configured with one or more receiving devices that are configured by placement to detect signals from devices located within an area associated with the robotic work cell, the area being identified based at least in part on a distance that is determined to be great enough to account for a corresponding user device traveling at a presumed or known speed toward the robotic device such that the robotic device is able to halt motion completely prior to the corresponding user device reaching the robotic device; the user device comprising one or more transmitter devices configured to transmit one or more corresponding signals, the one or more corresponding signals being configured to affect movement of devices within the workspace upon receipt; a controller device configured to control the robotic device; and a proximity monitoring engine, comprising:
a processor; and
one or more memories having thereon computer-executable instructions that, when executed by the processor, cause the proximity monitoring engine to:
monitor for one or more faults in the one or more receiving devices, wherein detecting a fault based on monitoring causes the proximity monitoring engine to determine whether a sub-area of the area exists in which signals cannot be received and, when the sub-area exists, to transmit an indication of the fault causing the controller device to halt motion of the robotic device;
receive, from the one or more receiving devices, data indicating receipt of a signal corresponding to one of the one or more transmitter devices of the user device;
transmit, to the controller device, notification data that indicates the signal has been received, the controller device being configured to halt motion of the robotic device based at least in part on receipt of the notification data;
determine that the signal is no longer being received by the one or more receiving devices; and
execute one or more operations that causes the robotic device to resume motion.

2 . The inventory management system of claim 1 , wherein the workspace comprises a plurality of mobile drive units, wherein the one or more corresponding signals transmitted by the one or more transmitter devices of the user device are configured to affect motion of the plurality of mobile drive units upon receipt.

3 . The inventory management system of claim 1 , wherein the user device is a wearable device.

4 . The inventory management system of claim 1 , wherein each of the one or more receiving devices comprises two receivers, each of the two receivers being configured to receive one signal of the one or more corresponding signals transmitted by the one or more transmitter devices of the user device.

5 . A computer-implemented method performed by a proximity monitoring engine that is associated with a robotic work cell of a workspace, comprising:
monitoring for one or more faults in one or more receiving devices that are placed at respective locations within the robotic work cell to receive signals transmitted by user devices within an area of the robotic work cell, the area being identified based at least in part on a distance that is determined to be great enough to account for a corresponding user device traveling at a presumed or known speed toward the robotic device such that a robotic device of the robotic work cell is able to halt motion completely prior to the corresponding user device reaching the robotic device, wherein detecting a fault in the one or more receiving devices based on the monitoring causes the proximity monitoring engine to determine whether a sub-area of the area exists in which the signals transmitted by other devices cannot be received and, when the sub-area exists, to transmit an indication of the fault causing a controller device of the robotic work cell to halt motion of a robotic device of the robotic work cell; receiving, by the receiving device that is monitored by the proximity monitoring engine, from the user device, a signal transmitted by a transmitter device of the user device; transmitting, to the controller device associated with the robotic work cell, notification data that indicates the signal is being received, the controller device being configured to halt motion of the robotic device of the robotic work cell based at least in part on receiving the notification data; determining, by the proximity monitoring engine, that the signal is no longer being received by the receiving device; and executing one or more operations that cause the controller device to instruct the robotic device to resume motion.

6 . The computer-implemented method of claim 5 , wherein executing the one or more operations further comprises halting ongoing transmissions of the notification data to the controller device.

7 . The computer-implemented method of claim 5 , wherein a receiving device of the one or more receiving devices is associated with a corresponding transmitter, and wherein monitoring for the one or more faults comprises:
transmitting, by the corresponding transmitter, a second signal that simulates the signal transmitted by the transmitter device of the user device; and determining, by the proximity monitoring engine, that the receiving device is not receiving the second signal from the corresponding transmitter.

8 . The computer-implemented method of claim 5 , wherein the proximity monitoring engine periodically transmits the notification data that indicates the signal is being received while the signal is being received, and wherein the controller device is configured to cause the robotic device to resume motion when a predefined time period has elapsed since the notification data was last received.

9 . The computer-implemented method of claim 5 , wherein the controller device causes a second device of the robotic work cell to halt motion based at least in part on receipt of the notification data, wherein the second device is separate from the robotic device.

10 . The computer-implemented method of claim 5 , wherein the robotic device is at least one of a robotic arm or transfer apparatus, the robotic device and transfer apparatus being individually configured to move items from one location to another location within the workspace, while the robotic device and transfer apparatus remained affixed to a stationary location of the workspace.

11 . The computer-implemented method of claim 5 , wherein the receiving device is one of a plurality of receiving devices that are associated with the robotic work cell, and wherein the controller device is configured to halt motion of the robotic device based at least in part on receiving an corresponding indication that any of the plurality of receiving devices is receiving the signal.

12 . A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors of a proximity monitoring engine operating within a robotic work cell of a workspace, causes the proximity monitoring engine to:
monitor for one or more faults in one or more receiving devices that are placed at respective locations of the robotic work cell to detect signals transmitted by user devices within an area, the area being identified based at least in part on a distance that is determined to be great enough to account for a corresponding user device traveling at a presumed or known speed toward a robotic device of the robotic work cell such that the robotic

Assignees

• Amazon Tech Inc

Inventors

• Kaufman Seth R
• Connell Wesley Roy
• Aduri Siva
• Zarr Joshua
• Hayward Shaun

Classifications

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J13/006

  by means of a wireless system for controlling one or several manipulators · CPC title

• B25J19/06

  Safety devices · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title