US 12,145,800 B1
Structured field map generation for inventory system
Aayush Aggarwal, Medford, MA (US); and Vishnu R. Ayyagari, Boxboro, MA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Nov. 25, 2020, as Appl. No. 17/104,914.
Int. Cl. B65G 1/04 (2006.01); B65G 1/16 (2006.01); G05D 1/00 (2024.01)
CPC B65G 1/0492 (2013.01) [B65G 1/16 (2013.01); G05D 1/0234 (2013.01); G05D 1/0219 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
generating, by one or more processors, a floor plan for use by a plurality of mobile drive units within an inventory system, the floor plan being generated based at least in part on:
(a) defining, by the one or more processors, a grid for the floor plan according to one or more predefined grid rules;
(b) specifying, by the one or more processors, at first locations within the grid, one or more predefined inventory station blocks corresponding to one or more inventory stations at which the inventory system is externally accessible;
(c) specifying, by the one or more processors, at second locations within the grid, one or more predefined travel blocks defining one or more dedicated travel paths for the plurality of mobile drive units, wherein one or more predefined connection rules specify one or more faces of the one or more predefined inventory station blocks that are permitted to connect with one or more faces of the one or more predefined travel blocks, wherein placing the one or more predefined travel blocks comprises specifying, for each travel block of the one or more predefined travel blocks, an orientation of the travel block such that a respective first face of the travel block connects to a respective second face of a respective inventory station block of the one or more predefined inventory station blocks;
(d) specifying, by the one or more processors, at third locations within the grid, one or more predefined storage blocks for storing inventory holders that are selectively movable by the plurality of mobile drive units, wherein the one or more predefined connection rules further specify one or more faces of the one or more predefined inventory station blocks that are permitted to connect with one or more faces of the one or more predefined travel blocks; and
(e) generating, by the one or more processors, a map representing the floor plan, wherein the map comprises location information for fiducial markers corresponding to the one or more predefined inventory station blocks, the one or more predefined travel blocks, and the one or more predefined storage blocks; and
controlling, by the one or more processors, an unmanned mobile drive unit to apply the fiducial markers to a floor according to the floor plan.