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

To promote the system and method that man/machine interacts

Background technology

Modern inventory system, such as in mail-order warehouse, supply chain home-delivery center, Baggage Handling System in Airport and custom order system Those modern inventory systems in facility are made, comprising multiple complication systems, are known comprising robot, automation shelf system, radio frequency Not (RFID) and automatic dispatching and routing device.For example, many systems include robot, the robot advances to shelf System is to retrieve article, or retrieval shelf is in itself, and the article or shelf are returned into center in itself for extra Processing.

In the presence of using such as robot by article or shelf from the storage location in warehouse be moved to transporting position (for example, For casing and transporting stock article) Automatic Warehouse.However, the robot and the route of the mankind that are worked in warehouse will Inevitably intersect.However, the direct contact between human work person and robot can be problematic, and it is robot Maintenance issues.

Brief description of the drawings

Embodiment is described with reference to the drawings.In the drawings, the leftmost numeral of reference numeral identifies the reference number The figure that prefix time occurs.In different schemas similar or identical item or feature are indicated using identical reference numeral.

Fig. 1 be according to some examples of the disclosure be used for maintain worker and the robot on Automatic Warehouse floor Between predetermined work distance illustrative process illustrative flow chart.

Fig. 2A and Fig. 2 B are the schematic diagrames according to the part of the description Automatic Warehouse of some examples of the disclosure.

Fig. 3 is that according to some examples of the disclosure there is the RFID reader being configured to by worker to read The isometric view of the robot of multiple radio frequency identification (RFID) labels.

Fig. 4 is that had to be configured to be read by the RFID reader in robot according to the wearing of some examples of the disclosure Multiple RFID label tags clothes worker isometric view.

Fig. 5 A are the front views according to the vest with multiple RFID label tags of some examples of the disclosure.

Fig. 5 B are the front views according to the baseball cap with multiple RFID label tags of some examples of the disclosure.

Fig. 6 is the isometric view of the trolley and robot according to some examples of the disclosure, the trolley and machine Each there are people one or more cameras positional information is supplied into central control.

Fig. 7 is the detailed top view according to the datum mark including reference data of some examples of the disclosure.

Fig. 8 is the part for another Automatic Warehouse for including single server according to the description of some examples of the disclosure Schematic diagram.

Fig. 9 is to maintain the work in Automatic Warehouse using positional information according to the description of some examples of the disclosure The flow chart of the method for preset distance between person and robot.

Figure 10 A are the static machine robot arm according to some examples of the disclosure and the circle around the static machine robot arm The isometric view of workspace, the RFID reader that the static machine robot arm includes being configured to by worker read more Individual RFID label tag.

Figure 10 B are to be configured to according to the wearing of some examples of the disclosure by the RFID reader in static machine robot arm The worker of the clothes of the multiple RFID label tags read and the isometric view around the spherical work area of static machine robot arm.

Figure 10 C are read according to the RFID reader included being configured to by worker of some examples of the disclosure Multiple RFID label tags static machine robot arm and worker around circular work area isometric view.

Embodiment

The example of the disclosure relates generally to Automatic Warehouse, and relates in particular to be used in warehouse to provide warehouse work The device of one or more types of virtual work area around person and/or warehouse robot.In some instances, the system It may include one or more radio frequency identifications (RFID) label and one or more RFID readers.In some instances, warehouse The wearable one or more RFID label tags of worker are to cause robot to can sense when the presence of the warehouse worker.At it In its example, warehouse robot may include one or more RFID label tags and warehouse worker can have RFID reader.With this Mode, when robot senses the RFID label tag that the RFID reader associated with warehouse worker be just written to the robot When, the robot can sense the presence of worker.Warehouse worker, warehouse robot or both can also include one or Multiple RFID readers are with the label near identifying, checking label and establish virtual work area as needed.

Although other short range transmissions technologies in addition to RFID can be used, such asWith near-field communication (NFC), But an advantage of RFID label tag is that they are cheap.In this way, redundancy can be simply by using multiple RFID label tags To provide.When being attached in the disposable garment such as vest or baseball cap, break down in RFID label tag or just occurred Replaceable whole clothes during failure.In addition, each clothes and/or each robot can include multiple RFID label tags to ensure from more The readability of individual angle and orientation.In this way, regardless of the relative motion between robot and worker and orientation, all may be used Read and identify at least one label.

For this purpose, as shown in fig. 1, the example of the disclosure may include to be used to improve automated warehouse by following operation Efficiency in storehouse simultaneously reduces the system and method 100 of the maintenance in Automatic Warehouse：In addition to other things, worker is also prevented Collision and other fatal accidents between 102 and robot 120.In some instances, robot 120, worker can be used in this 102 or this both around virtual work area 105 realize.As mentioned above, in some instances, workspace 105 can make Relatively junction service and the readers of these junction services can be read to implement with such as RFID.In this way, for example, When the reader in robot 120 detects presence (or vice versa as the same) of the RFID label tag of the worker of distributing to 102, machine People 120, which can take, hides action (for example, deceleration, stopping or routing again).

At 110, robot 120 can be routed to various positions by central control in warehouse in the normal operation period For example to retrieve commodity, receive and safeguard and/or recharge, or itself perform and safeguard (for example, robot 120 can shoot stock's photograph Piece provides illumination for attended operation).In some instances, central control can determine that robot from the current location of robot to The route of next task (for example, retrieval shelving unit).In other examples, central control can be simply by position (for example, net Lattice numbering, line number or the GPS location in warehouse) robot 120 is supplied to, so that robot 120 can produce machine The route of people oneself.

At 125, central control can receive the signal that worker 102 has been enter into the part on warehouse floor 170.One In the case of a little, this be probably in order that worker 102 can leave, for example, go to toilet, performed in warehouse attended operation or Go to have lunch.In other cases, worker 102 can need to enter warehouse to remove the wrong article on warehouse floor 170, example Such as, the stock article or rubbish fallen from shelving unit.In other examples, worker 102 can need manually search library Storage product, because shelving unit has inadvertently become too heavy or unbalance, for example, so that it cannot being transported by robot 120.

In some instances, central control can receive one or more work from the supervisor of addressable system of inventory control Signal of the person 102 on warehouse floor 170.In other examples, worker 102 can pass by RFID scanner, beam sensor, Motion sensor or to signal other sensors that central control worker 102 is present on warehouse floor 170. In other examples, worker 102 can simply proceed to warehouse floor 170, and robot 120 simply continuously can be scanned and worked The associated RFID label tag (opposite with other robots 120) of person 102.

Worker 102, robot 120 or both can be equipped with RFID label tag and/or RFID readers.In some examples In, the wearable clothes comprising RFID label tag of worker 102 or other wearable devices, such as shirt, vest, jacket, rod Ball cap, bracelet, necklace, ring, bracelet, wrist-watch etc..Similarly, robot 120 can have positioned at it is various orientation (for example, right side, Left side, top side, bottom side, front side and rear side) on one or more RFID label tags.In any case, RFID label tag can be through fixed Position causes the RFID label tag to be read from many angles and orientation.

At 135, because the RFID between robot 120 and worker 102 is interacted, robot 120 can detect work The presence of person 102.In other words, depending on configuring (some configurations in the configuration are discussed herein below), if robot 120 (1) the one or more RFID label tags associated with worker 102 are sensed by RFID reader, or (2) sense machine RFID label tag on people 120 is just write by the RFID reader associated with worker 102, then this instruction robot 120 exists In the workspace 105 of worker and/or worker 102 is in the workspace 105 of robot.In some instances, label and/or Reader can perform write-in simply to sense the label and/or reading based on the signal launched rather than practically to label Device is taken in the range of.

In some instances, robot 120 RFID can be interacted existing for detection signal be sent to central control.Center control The instruction that one or more workspaces are established around worker 102 and/or robot 120 can be then sent to machine by part People.In other examples, the processor in robot 120 can detect and handle RFID interactions.Anyway, as response, machine Device people 120 can take appropriate " hiding " to act.

In some instances, robot 120 can simply stop, until all RFIDs associated with worker 102 are marked Label (or RFID reader) are all no longer in the range of the RFID reader in robot 120 (or RFID label tag).Other In example, RFID label tag, datum mark or other components as discussed below can be used to detect robot and work in robot 120 The distance of person, to establish multiple workspaces 105 with one heart.In this way, robot 120 can with outsourcing 105a (for example, 10 feet) initial contact after attempt the routing again around worker 102, for example, in the contact with middle workspace 105b After slow down, and then detecting that internal work area 105c (for example, 5 feet) stops afterwards.At 145, when robot 120 (1) No longer detect that the RFID label tag associated with worker 102 (or any worker 102) or (2) are no longer examined with RFID reader When measuring the reader associated with worker and being written to the RFID label tag of the robot, the robot can return to normally Operate (for example, its route is continued with normal speed).

As shown in Figure 2 A, system of inventory control 200 can include multiple robots 120 with transporting inventory article 140, shelf Unit or stock's holder 130 or other objects are for extra processing.In some instances, robot 120 can retrieve example Such as stock's holder 130, and stock's holder is delivered to work station 150.At work station 150, except other things Outside, worker 102 for example can retrieve stock article 140, holder 130 of replenishing the stock, or guiding stock from stock's holder 130 The stock of holder 130.

As mentioned above, in spite of robot 120, but in some cases, it can still need or it is expected that worker 102 enters Enter warehouse floor 170.This can simply enable worker 102 to leave, and go to toilet, and attended operation is performed in warehouse or is gone Have lunch.In other cases, worker 102 can need to enter warehouse floor 170 to remove the wrong thing on warehouse floor 170 Product, for example, the stock article 140 or rubbish that are fallen from shelving unit.In other examples, worker 102 can need to retrieve Stock article 140, because shelving unit has inadvertently become too heavy or unbalance, for example, so that it cannot pass through robot 120 Transport.Worker 102 can also simply need to leave or go lobby by warehouse floor 170.

Regardless of reason, all it is expected to prevent the accident between worker 102 and robot 120.For this purpose, the disclosure Example may include system of inventory control 200 for establishing workspace 105 around robot 120 and worker 102.As above Mentioned by text, workspace 105 can be established with a variety of short range transmissions technologies, such asNear-field communication (NFC) or RFID technique.Therefore, although being described herein with respect to RFID, it should be appreciated that can be used herein and cover other logical Believe agreement.Although it shall yet further be noted that commonly known as " RFID reader ", it should be appreciated that RFID reader is generally also provided with write-in To the ability of RFID label tag.

RFID technique often has relatively short distance, for example, about 10 feet.Within this range, RFID label tag can quilt RFID reader is detected, read and writes.Therefore, this limited range can also be used to establishing RFID label tag and RFID reader it Between approximate distance.In addition, RFID label tag can be passive and active.Passive RFID tags in reader by described in reading Electromagnetic induction caused by RFID label tag is powered.Active RFID tag passes through local power supply (for example, battery of robot 120) Power and therefore need less power to read, and generally can be read over a large distance in addition to other things.

Therefore, the relatively short distance based on RFID label tag, in some instances, worker 102 are wearable comprising multiple Clothes, cap, ornament or the other wearable devices of RFID label tag (for example, in pocket or sewing up in clothes), to cause RFID reader in robot 120 can identify worker 102.In this configuration, robot 120 can be in its reading and work Slow down during the RFID label tag that person 102 is associated or stop.When robot 120 no longer detect it is associated with worker 102 During the presence of RFID label tag, the robot can continue its normal business procedure.

In other examples, robot 120 may include multiple RFID label tags, and worker 102 can read equipped with RFID Device.In this configuration, the processor to be communicated with the RFID label tag in robot 120 in robot 120 detects robot One or more RFID label tags on 120 just write that (or simply, reader exists with the reader associated with worker 102 In the range of) when, there is provided detection.As it was previously stated, robot 120 can detect the RFID label tag of the robot in the robot Slow down when just being write by the RFID reader of worker or stop.In other words, in any case, the scope of RFID label tag can Establish workspace 105.In this way, when RFID label tag (that is, is being detected respectively or write) in the range of reader, then Robot 120 can take action (slow down, turn to or stop).

As discussed above, in some cases, RFID label tag may also provide position or range information.In this configuration, System of inventory control 200 can establish outsourcing 105a, middle workspace 105b and internal work area 105c.With this side Formula, what robot 120 can upgrade the robot when the robot is increasingly closer to worker 102 hides action.Therefore, For example, robot 120 can attempt to turn to around worker 102 after outsourcing 105a is detected, centre is being detected Slow down after the 105b of workspace, and stop completely after internal work area 105c is detected.

As shown in Figure 2 B, system of inventory control 200 can also include central control 115,120, one, multiple robots or Multiple stock containers, case or holder 130 and one or more stock's work stations 150.Robot 120 can be from warehouse Transporting inventory holder 130 between point in plate 170, or the order in response to being transmitted by central control 115 is come transporting inventory Holder.Each stock's holder 130 can store the stock article 140 of one or more types.Therefore, system of inventory control 200 can move stock article 140 between the position in working space, the working space such as storage facility or warehouse Plate 170, with order to realizing the entrance of stock article 140, processing and/or removal and completion by system of inventory control 200 It is related to other tasks of stock article 140.

Central control 115 can assign the task to the suitable part of system of inventory control 200, and be assisted in the task of completion Adjust the operation of various parts.These tasks can relate to the movement and processing of stock article, and the part of system of inventory control 200 Management and maintenance.Central control 115 can distribute the part on such as warehouse floor 170 parking space as robot 120, Predetermined for the battery of robot 120 recharges or replaced, for the storage of stock's holder 130, or with storage controlling system Any other operation that system 200 and its various parts are associated.

The part of system of inventory control 200 also may be selected to perform these tasks in central control 115, and will be suitable order And/or data are sent to selected part in order to complete these operations.Although being shown as single discreet component in fig. 2b, in Centre control 115 can represent multiple parts, and can represent or comprising the part in the following：Robot 120, stock's holder 130 or other elements of system of inventory control 200.Therefore, specific robot 120 and central control 115 described below it Between any or all of interaction can for example represent peer between the robot 120 and one or more of the other robot 120 Between communicate, or may include the internal command for example based on the memory in robot 120.

As mentioned above, robot 120 can be used for mobile stock's holder between the position in warehouse floor 170 130.Robot 120 can be based on other elements of stock's holder 130 and/or system of inventory control 200 characteristic and configuration, table Show the device or part for many types being suitable in system of inventory control 200.In the particular implementation of system of inventory control 200 In scheme, robot 120 can represent independent self-power supply device, such as wheeled or caterpillar type robot or robot stroller Deng the self-power supply device is configured to freely move around on warehouse floor 170.The example of such system of inventory control The U.S. Patent Publication No. of entitled disclosed in 7 days June in 2012 " being used for the system and method for positioning mobile driver element " The U.S. of entitled " method and system for being used for transporting inventory article " of issue on October 2nd, 2012/0143427 and 2012 is special The complete disclosure of sharp number 8,280,547 disclosures, the publication number and the patent No. is incorporated herein by reference.

In other examples, robot 120 may include crawler belt guiding type robot, the crawler belt guiding type robot by with Put along crawler belt, track, hawser, crane system or to cross other guidings or the support component on warehouse floor 170 to move storehouse Deposit holder 130.In this configuration, robot 120 can by being connected to guide element come receiving power, communication and/or support, The guide element such as power supply rail, slit or crawler belt.In addition, in some examples of system of inventory control 200, robot 120 can be configured to using the conveying equipment substituted with warehouse floor 170 and/or in the single portion on warehouse floor 170 / movement.

In addition, robot 120 be able to may be communicated with central control 115 distributed with reception task, stock's holder 130, Send the position of the robot or the position of other robots 120 or exchange other suitable information with by central control 115 Or robot 120 uses during operation.For example wireless, wired or other connections can be used to come and central control for robot 120 115 communications.In some instances, such as 802.11 specifications can be used to be wirelessly transferred (for example, a/b/g/n), indigo plant for robot 120 Tooth, radio frequency (RF), Infrared Data Association's (IrDA) standard or other suitable wireless communication protocols come with central control 115 and/ Or communicate with one another.

In other examples, for example in the system of inventory control 200 using crawler belt, shoe that robot 120 is moved along Band or other guide elements (for example, slit or track) can line it is other in order to robot 120 and system of inventory control 200 Communication between part.In addition, as mentioned above, robot 120 can include the part of central control 115, such as processor, Module, memory and transceiver.Therefore, the purpose of claims for this description and then, central control 115 and spy Communication between fixed robot 120 can also represent the communication between the part in specific robotic 120.In general, machine People 120 can based on specific system of inventory control 200 configuration and characteristic, power, promote and control in many ways.

Stock's holder 130 is used to store stock article, and can include extra feature to be used as system of inventory control 200 A part.In some instances, each in stock's holder 130 can include multiple separators with stock's holder Multiple containers or compartment are produced in 130.In this configuration, each stock's holder 130 can store in each container or compartment The stock article 140 of one or more types is (for example, each stock's holder 130 can store in all containers or compartment Identical stock article 140, or different stock articles 140 is stored in each container or compartment, or without container or compartment And store only one kind of article 140).In addition, in particular instances, stock article 140 can also be out of stock's holder 130 Hook or horizontal stripe suspension on or.In general, stock's holder 130 in any suitable manner can deposit stock article 140 Storage is in stock's holder 130 and/or is stored on the outer surface of stock's holder 130.

Stock's holder 130 can be configured to carry by robot 120, roll and/or otherwise move.One In a little examples, stock's holder 130 may also provide propulsion to supplement robot 120 for example in the multiple stock's holders 130 of movement When the propulsion that provides.In addition, each stock's holder 130 can include multiple sides, and each container or compartment can pass through stock One or more sides of holder 130 enter.For example, in specific embodiments, stock's holder 130 includes four sides Face.In this embodiment, positioned at two sides corner container or compartment can be by any one in that two sides Into, and each in other containers or compartment can be entered by the opening in one in four sides, and there is no container Or independent stock's holder 130 of compartment can enter via all four sides.Robot 120 can be configured to be adapted to Rotated at time stock holder 130 with to other parts of operating personnel or system of inventory control 200 present specific face and Container, compartment, shelf or the separator associated with the face, in order to the removal, storage, counting on stock article 140 Or other operations.

In particular instances, system of inventory control 200 can also include one or more stock's work stations 150.Stock works The position for completing the particular task for being related to stock article is specified in 150 expressions of standing.This generic task can include stock article 140 Remove, the addition of stock article or supplement, the counting of stock article 140, the unpacking of stock article 140 be (for example, from pallet or case The group of sub- size splits into an other stock article), the merging of stock article 140 between stock's holder 130 and/or to appoint The what processing or disposal for the stock article 140 that its suitable mode is carried out.Work station 150 can represent physical location and also useful In handle or disposal stock article any suitable equipment, for example, workbench, wrapping tool and supply line, for monitor into Go out the scanner of the stock article stream of system of inventory control 200, for the communication interface that is communicated with central control 115 and/or appoint What its suitable part.Stock's work station 150 can control fully or partially by human operator or can be partially or completely Automation.

In operation, the suitable part of the central selection of control 115 is to complete particular task, and task distribution 118 is sent To selected part.These tasks can relate to retrieval, storage, supplement and the counting of stock article, and/or to robot 120, storehouse Deposit the management of other parts of holder 130, stock's work station 150 and system of inventory control 200.Depending on the part and Task to be done, specific 118 recognizable position, part and/or the action being associated with corresponding task of task distribution, And/or any other suitable information that the distributed task of completion will be used for by associated components.

In particular instances, central control 115 is based partially on other portions of the central control 115 from system of inventory control 200 Part and/or the stock request received from the external component to be communicated with central control 115, produce task distribution 118.For example, in spy Determine in example, stock request can represent shipping order, and the shipping order is specified having been bought by client and treated from system of inventory control 200 retrieve for transporting the particular item of inventory of client.Central control 115 can also be according to predetermined schedule in response to specific The generation (for example, the space for parking is asked in response to robot 120) of event distributes 118 (for example, conduct to produce task The daily part for starting or cleaning routine), or the configuration based on system of inventory control 200 and characteristic are in any suitable time Locate the distribution of generation task.

In some cases, task can be distributed 118 and be sent to robot 120, the task distribution bag by central control 115 One or more destinations containing robot 120.In this regard, the position or shape that central control 115 can be based on robot 120 The instruction of the task that state, robot 120 have completed to be previously assigned, predetermined schedule and/or any other suitably consider to select Select robot 120.For example, task distributes individual part that can be based on the entirety of system of inventory control 200 or system of inventory control 200 Configuration, characteristic and/or state, define the position of stock's holder 130 to be retrieved, stock's work station 150 to be visited, its Middle robot 120 should park the storage location or the position associated with any other suitable task until receiving another task Put.

As the part for completing these tasks, robot 120 can and various stock holders interior on warehouse floor 170 130 docking.Robot 120 can be by being connected to stock's holder 130, lifting stock's holder and/or otherwise Interacted with stock's holder to be docked with stock's holder 130 so that in docking, robot 120 is coupled to stock and consolidated Holder 130, and stock's holder 130 can be moved in warehouse floor 170.It is configured to although description focuses on below with specific The robot 120 and the particular instance of stock's holder 130 that mode is docked, but the replacement of robot 120 and stock's holder 130 Example can be configured to by be adapted to allow for robot 120 in warehouse floor 170 mobile stock's holder 130 it is any in a manner of Docking.

The part of system of inventory control 200 will can interacted just on the current state of the part, the part The letter of the state of other parts of system of inventory control 200 and/or the other conditions related to the operation of system of inventory control 200 Breath is supplied to central control 115.This can allow central control 115 using come the feedback updated algorithm parameter of autocorrelation unit, Adjustable strategies otherwise change its decision-making, and sound is made with the change to operating condition or particular event Should.In addition, though central control 115 can be configured to manage system of inventory control 200 part operation each side, but In particular instance, the part in itself can also a pair some decision-makings related to some aspects of the operation of the part bear Duty, thus reduces the processing load on central control 115.

In some instances, the floor of warehouse floor 170 may also include multiple marks or datum mark 175, to cause robot 120 can establish its position in warehouse.Because robot 120 is generally sufficiently low to be advanced below stock's holder 130 (that is, stock's holder can be lifted), so in some instances, datum mark 175 can also continue in stock's holder 130 Lower section, substantially across whole floor.In some instances, the region between datum mark 175 can define net region 175a, its Middle datum mark 175 is in each corner.Therefore, when attempting to position specific stock's holder 130, robot 120 can be such as Positioned by using face-down scanner or camera scanning floor the datum mark 175 associated with the position of stock's holder or Grid 175a, and then by using the identifier (example on the bottom of face-up scanner or camera scanning stock holder 130 Such as, two dimension or three-dimensional barcode, RFID label tag or other identifiers), to confirm that it is in correct position.In some examples In, stock's holder 130 and/or datum mark 175 can include two dimension or three-dimensional barcode, RFID label tag or other identifiers.

As shown in Figure 3, the example of the disclosure may include to be used to maintain work using RFID or other short range transmissions technology Predetermined or threshold operative distance system 300 between author 102 and robot.In some instances, robot 120 can be equipped with There are one or more passive or active RFID tags 305, and worker 102 can be equipped with RFID reader 310.In some examples In, the RFID label tag 305 in robot 120 may include active RFID tag 305 (that is, the label with power supply), and can pass through Battery 320 (for example, battery or single battery for being powered to robot 120) power supply in robot 120.Robot 120 is also It may include processor 315, the processor is communicated with one or more RFID label tags 305 to monitor the state of RFID label tag 305.

In this way, when robot 120 travels through warehouse, if RFID label tag 305 is read by the RFID of worker Device 310 is sensed, scans or write, then the signal for reporting the situation can be sent to processor by RFID label tag 305 315.Robot 120, which can then take, hides action, because the robot senses model of the robot in worker 102 In enclosing.In other words, because robot 120 necessarily be in the range of RFID reader 310 so that RFID label tag 305 is by RFID Reader 310 is sensed or write by the RFID reader, and robot 120 knows the robot in workspace 105.As above Mentioned by text, robot 120 can then attempt routing again, deceleration or stopping in due course.

Certainly, the predetermined or threshold distance to be maintained between worker 102 and robot 120 may depend on warehouse floor 170 size, the number of worker 102 and robot 120 and in the active level at special time on warehouse floor 170 and It is extensively varied.For example, if warehouse floor 170 is especially big, then maintains relatively large workspace 105 (for example, 25 English Chi) it can be easier to manage and need the less resource of system 300, while almost there is no shadow to the efficiency of system of inventory control 200 Ring.In less warehouse floor 170 or the system of inventory control 200 or very busy of the robot 120 with greater number On warehouse floor 170, it may be desirable to which the size (for example, being decreased to 10 feet) for reducing workspace is retrieved with reducing to robot 120 Stock's holder 130 and the influence for performing other work.Certainly, many preset distances may be selected to be suitable for many warehouses and friendship Wildcard is put.

In some instances, robot 120 can also be equipped with RFID reader 310.RFID reader 310 can be with processor 315 communications, and the RFID label tag 305 in the range of can be periodically scanned for.In this way, robot 120 can be positioned at machine RFID label tag 305 (that is, the RFID label tag 305 of described robot itself) operation self-test on people 120.In other examples, machine RFID label tag 305 on device people 120 can be parked in robot 120 to recharge (about per hour once) or otherwise tie up Checked during shield.

If one or more RFID label tags 305 in robot 120 break down, then robot 120 can be by described in Report the failure to central control 115.Central control 115 can then arrange what the maintenance to robot 120 was broken down to replace RFID label tag 305.Some or all of RFID label tag 305 can be replaced when any RFID label tag 305 breaks down.Change sentence Talk about, because RFID label tag 305 is cheap, it can be thrifty simply to replace all RFID label tags.In other examples In, central control 115 can be only when a certain number or the RFID label tag of percentage 305 break down or only in RFID label tag 305 Total number in the number of operation RFID label tag 305 replace when reaching predeterminated level (for example, being based on desired level of redundancy) RFID label tag 305.

Because RFID label tag 305 is relatively cheap (being less than 1 dollar), robot 120 can mark equipped with multiple RFID 305 are signed to provide redundancy.In this way, the RFID label tag 305 of greater number can break down without throwing into question, because compared with The RFID label tag 305 of big figure is still to be exercisable.In some instances, processor 315 and/or central control 115 can monitor The position of the RFID label tag 305 to break down, to ensure at least one RFID label tag 305 in each orientation (for example, machine At least one RFID label tag 305 in every one side of people 120) it is exercisable.

Similarly, as shown in Figure 4, the example of the disclosure may include to be used to come using RFID or other short range transmissions technology Another system 400 of preset distance between maintenance worker 102 and robot.In some instances, worker 102 is wearable Clothes 405 or other wearable devices, such as vest, cap or coverall, it includes one or more RFID label tags 305.In some instances, RFID label tag 305 may include surface RFID label tag 305a, and the surface RFID label tag can be for example sewn to Or it is glued to the surface of clothes 405.In other examples, RFID label tag 305 can be embedded RFID label 305b, the insertion Formula RFID label tag is sewn to or is otherwise incorporated into clothes 405.Embedded RFID label 305b can for example improve clothes 405 aesthetic property, or a certain protection simply can be provided to RFID label tag 305, make the RFID label tag from abrasion or other Infringement.In this configuration, the RFID reader 310 in robot 120 is constantly at a predetermined interval (for example, once per second, often 0.5 second is once) RFID label tag 305 of the poll in the range of.When robot 120 is from the RFID label tag associated with worker 102 When 305 receptions return, robot 120, which can take, hides action.

As it was previously stated, robot 120 can initially attempt the current route slightly offset from robot with leadswinging person 102.If however, for example worker 102 still in the range of or signal become it is stronger, then robot 120 can slow down on demand and It is finally stopped.Robot 120 is positively retained in this operator scheme, until the RFID reader 310 in robot 120 no longer detects To any RFID label tag 305 associated with worker 102 (or any worker 102), and then return to normal operating.

To provide extra redundancy, robot 120 can also include one or more RFID label tags 305.In robot 120 RFID reader 310 can then scan these RFID label tags 305 to ensure that RFID reader 310 is rightly working.If machine RFID reader 310 on device people 120 fails to detect the RFID label tag 305 of the predetermined number or percentage in robot 120, So robot 120 can alert central control 115.Among other things, central control 115 can then make robot 120 offline, Maintenance request is inputted, or stops robot 120 immediately.

In some instances, system 400 can also include RFID reader 310, and the RFID reader can be by worker 102 Dress to ensure that the RFID label tag 305 of enough numbers in clothes 405 or other wearable devices is just rightly working to meet System index.In some instances, RFID reader 310 can also include indicator 325.In some instances, indicator 325 can Including transceiver (for example, wireless transceiver) to be communicated with central control 115 to report the RFID to break down of higher number Label 305.Central control 115 can then be provided to such as worker 102 or supervisor worker 102 need new clothes 405 or The message of other wearable devices.In other examples, indicator 325 may include lamp or audible alarm with directly to worker 102 warning failures.Worker 102 can then retrieve new clothes 405 or other wearable devices.

No matter how is configuration (that is, Fig. 3 or Fig. 4), in some instances, warehouse floor 170 also can be used in system 300,400 In datum mark 175 established the RFID reader 310 that is at least partially based in system 300,400 and the scope of label 305 Suitable workspace 105.In other words, in some instances, datum mark 175 can also include RFID label tag 305 with to robot 120 and/or worker 102 on RFID reader 310 provide positional information, to establish the scope of RFID reader.When for example RFID reader to central control 115 report when, the RFID reader can include the RFID reader when any given Between all datum marks 175 that " can see " of place.Therefore, based on the associated positional information of the datum mark 175 with being reported, center Control 115 can for example determine the scope of particular RFID reader 310 or all RFID readers 310 in system 300,400 Average range.

Central control 115 then can establish the radius for outsourcing 105a in part with this information.It is various The scope of RFID component 305,310 can be based on such as atmospheric conditions, local interference, layout, batteries charge level and reader Incidence angle between label and it is widely varied.In addition to RFID range, the size of workspace 105 can be also based among other things Warehouse floor 170 on the robot 120 and/or number of worker 102, the gait of march of robot 120 and warehouse The size of plate 170.Because some in these variables can change, in some instances, system 300,400 can be based on current Condition and periodically reset workspace 105.

In some instances, if the scope of RFID reader 310 and/or RFID label tag 305 drop to predetermined threshold it Under, then on the other hand, system 300,400 may indicate that one or more of robot 120 takes and hide action.In other words Say, if system 300, the scope of one or more of 400 RFID components 305,310 drop to preset distance (for example, 10 English Chi) under, then suitable workspace 105 can be impossible or unpractiaca.Therefore, for prevent robot 120 with work Undesired interaction between person 102, system 300,400 may indicate that some or all of robot 120 stops or slowed down, directly It can be adjusted to range problem (for example, with new battery).

As shown in figs. 5 a and 5b, system 400 can include vest 505, cap 510, coverall, waistband or other Clothing (is referred to as " clothes "), and the clothes can easily be dressed and can include multiple RFID label tags 305.In some instances, As illustrated, clothes can include RFID label tag 305, the RFID label tag is arranged so that on clothes in multiple orientations and position RFID label tag 305 can be detected by RFID reader 310, but regardless of their relative position how.In other words, RFID reader 310 can detect at least one label 305, be away from being also directed towards the row of robot 120 but regardless of worker 102 Walk, and the relative position (for example, in the front of robot 120, rear or either side) regardless of worker relative to robot.

Also increase the redundancy of system using multiple RFID label tags 305 in each clothes so that significantly affecting clothes Multiple failures of RFID label tag 305 are needed before validity.In some instances, clothes can be disposable so that for example when When the number of the failure of RFID label tag 305 reaches predetermined number or percentage, worker 102 can simply discard vest 505 or cap Son 510 simultaneously retrieves new vest or cap.In some instances, vest 505 and/or cap 510 can also include reflective tape or make Obtain the further feature that clothes can be used in a variety of purposes.

In some instances, clothes may include to install RFID label tag 305a on the surface.In other embodiments, take Dress may include the RFID label tag 305b being embedded in (for example, being sewn to) clothes.In other embodiments, clothes can include more RFID label tag 305a, 305b of type, such as passive, active and semi-active RFID label tag 305.

In other embodiments, as shown in Figure 6, robot 120 may include Airborne imaging device or camera 605, with And transceiver 610.When robot 120 crosses warehouse floor 170, camera 605 is detectable and identifies the base on warehouse floor 170 On schedule 175.Transceiver 610 can be used to be communicated with central control 115 for robot 120, and can provide such as position, direction and speed Spend information.

As shown in Figure 7, datum mark 175 may include the paster or plaque for being for example attached to warehouse floor 170.In some realities Example in, datum mark 175 can provide the datum mark in warehouse position (for example, the datum mark can include coordinate, line number and Row number, grid number, GPS location or other information).In some instances, the position of datum mark 175 can print in datum mark 175 On, and can be read by the camera 605 in robot 120.

In other examples, as being shown specifically in Fig. 7, datum mark 175 may also include extra reference data 705.Benchmark Data 705 may include for example, benchmark identifier (ID) 175b (for example, " benchmark 186143a ").In some instances, robot 120 can use camera 605 or other suitable devices to read benchmark ID 175b, and the benchmark ID that can be checked one against another with on-board data base 175b is to establish its position.In other embodiments, central control 115 can include benchmark database, and robot 120 can Benchmark ID 175b are sent to central control 115, and the position of datum mark 175 can be supplied to robot by central control 115 120。

In other examples, among other things, reference data 705 may also include can for example be read by robot 120 Bar code 175c and/or RFID label tag 305.In some instances, bar code 175c or RFID label tag 305 can have embedded Positional information by positional information to be directly supplied to robot.In other embodiments, as discussed above, robot 120 can be read or scan bar code 175c or RFID label tag 305, reference data 705 are sent into central control, and control from center Part 115 receives the positional information of datum mark 175 to determine the position of the robot 120 on warehouse floor 170.

Referring back to Fig. 6, in some instances, worker 102 can also be equipped with one or more cameras 605.At some In example, worker 102 can dress camera 605 on headband, armband or necklace.In other examples, worker 102 is available Equipped with the trolley 615 of one or more cameras 605.Trolley 615 can also include one or more transport pallets 630 so that Obtain worker 102 for example can retrieve commodity from stock's holder 130, transport the instrument for attended operation, or from warehouse Plate 170 retrieves rubbish or stock article 140.Therefore, as machine people 120, when worker 102 moves through warehouse floor When 170, camera 605 is recognizable and reports the datum mark 175 close to trolley 615.

Trolley 615 may also include processor 650 and transceiver 655, and the position of trolley 615 is sent into central control Part 115.In some instances, processor 650 may perform to the image procossing needed for the image from one or more cameras 605 Some or all of (for example, parsing), to reduce the bandwidth between trolley 615 and central control 115.Therefore, center control Part 115 can be received from both robot 120 and trolley 615 and regularly updated, and the renewal is on the robot and hand push The position of car and/or comprising related to the image of one or more cameras 605 in robot 120 and trolley 615 Image or data.This may be such that central control 115 tracks the position of robot 120 and trolley 615, and indicate robot 120 Take when necessary and hide action.In some cases, for example, robot 120 and trolley 615 can be traced in central control 115, Robot 120 and trolley 615 are determined when on collision course, and is the routing again of robot 120 when necessary.

It is possible, of course, that worker 102 can walk away from trolley 615, so that central control 115 is not known The position of worker.In other words, when worker 102 walks away from trolley, camera 605 on trolley 615 is by hand push The position of car 615 is supplied to central control 115, rather than the position of worker 102.Therefore, in some instances, system 600 is gone back It may include " tether " 625 between trolley 615 and worker 102.

In some instances, tether 625 can be such as department of physics's rope 625, similar to aboard ship or on wet bike making Those tethers, and may include the physical connection between trolley 615 and worker 102.Tether 625 may include such as work Around the wrist of author or the lasso trick or wire harness of the switch that are attached to the clothing of worker and are next attached on trolley 615. In other examples, tether 625 may include the motor connection between trolley 615 and worker 102.In some instances, example Such as, the handle 635 of trolley 615 may include one or more electrical contact pads for measuring temperature, resistance or the electricity of handle 635 Hold.In this configuration, central control 115 can determine that one or two hands are placed on handle by worker 102.

In other embodiments, tether 625 may include be essentially " electromagnetism " tether tether.In other words, use RFID technique or other short-haul links, in the way of similar in a manner of discussed above, tether 625 can determine that worker 102 is It is no in the specific range of trolley 615.Thus, for example, as discussed above, system 600 can include the clothes of worker 102 (for example, vest 505), the clothes include one or more RFID label tags 305, and trolley 615 may include RFID reader 310.Therefore, when worker 102 is when in the range of RFID reader 310, tether 625 can be considered as " pinning ", and system 600 Can normal operating.

If worker 102 is not in the range of RFID reader 310, then on the other hand, tether 625 can be considered as " unblock ", unlocking signal is sent to central control 115, this can need central control 115 to stop in warehouse or in warehouse All robots 120 in a part, until worker 102 " can be found ".In other words, if tether 625 unlocks, then The position of worker 102 on warehouse floor 170 is substantially unknown.If it is the case, the so central nothing of control 115 Method is accurately the routing of robot 120 around worker 102, thereby increases and it is possible to has no option, have to close all robots 120.In some cases, when worker 102 returns to trolley 615, tether 625 automatically " relocking " can be believed relocking Central control 115 number is sent to, and normal warehouse operation can recover.In some instances, to prevent Close All, system 600 can include aided positioning system, and the aided positioning system uses such as RFID, proximity transducer, infrared camera or face Identify to position worker 102.In the preferred embodiment, worker 102 can be simply trained to rest on the work all the time In the range of the trolley 615 of author.

In some instances, similar system 600 can be used in work station 150.In other words, although in work station 150 Worker 102 be theoretically static, but in some instances, worker 102 can need temporarily to leave work station 150 The article that border is dropped with for example retrieving.Therefore, although " permanent " workspace 105 can relative to work station 150 exist (to prevent Only the traveling of robot 120 passes through work station 150), but if worker 102 leaves work station 150, then robot 120 can need Take and extra hide action.

For this purpose, if system 600 detects that worker 102 has left work station 150, then system 600 can be such as Indicate that one or more robots 120 slow down or stopped.In the case, tether 625 may include such as light curtain, light beam or close Sensor is to determine when worker 102 leaves work station 150.In some instances, work station 150 may also include extra RFID reader 310 by extra range information to be supplied to central control 115.

In some instances, as shown in Figure 8, it may be desirable to there is warehouse system 800, the warehouse system has single Management and interactive system.In other words, system 800 may include the central control 115 for managing whole routing and workflow, with And the second server 805 for the interaction of the robot 120 of managing and serving system 102/.In this way, it is possible to provide high redundancy level, And each system 100,800 can optimize for upcoming purpose.

For this purpose, provided except as discussed above by using multiple RFID label tags 305 and RFID reader 310 superfluous Besides, in some instances, workspace 105, robot 120 and worker 102 can be supervised by special interactive server 805 Depending on and manage.In this configuration, central control 115 can be in normal operating (for example, retrieval stock holder 130 and by the storehouse Deposit holder and be delivered to work station) during disposal robot 120 routing and scheduling, while interactive server 805 can monitor work Author 102 and robot 120 are to be only used for preventing the purpose of accident.In this way, among other things, robot 120 and work The operation of author 102 does not conflict, and reliability increases via redundancy communication and control system, and downtime and maintenance are by subtracting The number of the few worker 102 of robot 120/ interaction is reduced.

In some instances, robot 120 can communicate via the first dedicated communications network 810 with central control 115, and Communicated via the second dedicated communications network 815 with interactive server 805.Both networks may comprise such as WLAN (example Such as, 802.11x networks) or other suitable networks.In some instances, the network 815 of interactive server 805 and second is in necessity When can also be in private internet, power supply or network connection.

Therefore, in some instances, the second network 815 may also include with more higher levels of than first network 810 reliable The network of property and/or security.Second network 815 is also possible to that first network 810 can be covered.In other words, if interaction clothes Business device 805 determines that the accident between worker 102 and robot 120 will occur, then interactive server 805 can be to robot 120 send order, are ordered but regardless of current whether just received from central control 115 of robot 120.In the case, robot The 120 negligible orders from central control 115, take hide action when necessary, and then do not reaccees machine in worker During device people 120 with the central reconnection of control 115.

As shown in Figure 9, the example of the disclosure may also include for being maintained using the positional information from datum mark 175 The method of preset distance between worker and robot.At 905, worker enters the floor in warehouse.As mentioned above, Some reasons that worker can need or want to enter into warehouse floor be present.

At 910, foregoing camera can start the positional information of worker being supplied to central control or interactive server. In some examples, camera can be located on the trolley that uses of worker or worker, and can by worker's manual actuation, or Activated automatically after into warehouse.In some instances, trolley may include such as motion sensor, and the motion sensor can be sent out Signal notifies camera and transceiver to start to send positional information.In other examples, the system can include light beam, sensing Device, infrared sensor, motion sensor or to detect other components of the worker in warehouse.Position letter from worker Breath can be updated with constant or variable rate periodic, and the speed can be based on the worker's and robot moved in warehouse Active level and other factorses in number, warehouse and change.

At 915, central control or interactive server can also be from multiple robot receiving position information on warehouse floor. In the case of central control, positional information can be automatically provided the part as inventory management system.In other situations Under, for example, interactive server can be after positional information is received from worker or at (for example, from the motion sensor in warehouse) After the worker of receiving has been enter into the notice in warehouse, start to be directed to positional information polling machine people.Equally, the position from robot Confidence breath can be updated with constant or variable rate periodic, and the speed can be based on the worker and machine moved in warehouse Number, the active level in warehouse and the other factorses of people and change.

At 920, based on the positional information from worker, virtual work that the system can be established around worker Area.As discussed above, this may include in the single workspace at preset distance (for example, 10 feet) place, or may include multistage work Make area, in the multistage operating area, when robot becomes closer to worker, hide the rank rise of action.925 Whether place, the system can determine robot in workspace based on positional information.If robot not in workspace, that The system can simply wait for the next position renewal from worker at 910, and at 915 under robot One location updating.

At 930, if robot is in workspace, then on the other hand, system (that is, central control or the interaction Server) it can be transmitted to order and hide action to take.In some instances, such as in the case of individual layer workspace, the system System simply order robot can stop.In other examples, when robot respectively enter outsourcing, middle workspace with And during internal work area, what the system can take upgrading hides action, for example, routing → deceleration → stopping again.With this side Formula, when robot and worker only advance close to each other or during bevel, skew somewhat may be such that robot can not be with work Author is met, and system is not almost interfered with.If worker and robot are on collision course, then on the other hand, machine People can need simply to stop and concede right-of-way to worker.At 935, the system can continue to monitor when necessary With control machine people, until worker leaves warehouse floor.

In other examples, robot switches to different navigation/sensing systems.In other words, the one of action is hidden Part may include to be switched to the sensor with high-resolution, such as high-resolution camera, to realize more accurate machine People manipulates.In other examples, robot switches to the second more accurate navigation system or algorithm.In this way, robot Accurately routing, deceleration or stopping again being allowed the robot to when necessary using extra input, rather than simply It is moved to along direct of travel from a datum mark next.

In other examples, system described herein can be additionally used in around static machine robot arm 1020 (Figure 10 A and figure 10B) or around the worker 102 close to robots arm 1020 (Figure 10 C) provides workspace 105,1005.Static machine people Arm 1020 can be used to for example unload chest, its that execution maintenance or disposal can be completed in relatively more consistent region in warehouse Its task.In other examples, robots arm 1020 can be moveable, but it is not that itself is mobile, with such as Finite Number Task is performed in purpose place or on longer operation interval.Anyway, although robots arm 1020 does not move, machine Device robot arm 1020, which depends on its function, still has motion circle or sphere, and the robots arm grasps in the motion circle or sphere Make.Direct contact between worker 102 and robots arm 1020 can be problematic, reduce efficiency, and increase to robot The maintenance of arm 1020.

For this purpose, as mobile robot 120 just as discussed above, establishing one or more workspaces 1005 can To be useful, the workspace can include 105 (Figure 10 A) of circle or sphere 1005 (Figure 10 B).As it was previously stated, in some instances, System 1000 can include outsourcing 105a, middle workspace 105b and internal work area 105c.This may be such that robot Arm 1020 takes one or more to hide action when worker 102 (or robot 120) enters workspace 105.In some realities In example, multiple spherical work areas 1005 can be used in system 1000

In some instances, system 1000 can slow down robots arm when worker 102 enters outsourcing 105a 1020.System 1000 then using braking and/or can assume precalculated position when worker 102 enters middle workspace 105b. Finally, system 1000 can power off when worker 102 enters internal work area 105c to robots arm 1020.In some examples In, object can be placed on downwards on floor or other working surfaces by robots arm 1020, and wait worker 102 to leave workspace 105 or other extra actions are taken during this process.

As discussed above as system 300,400,600, system 1000 may include one or more RFID readers/ Label and/or imaging device are with the maintenance workspace 1005 around robots arm.In some instances, as shown in FIG. 10A, it is System 1000 may include to be placed in one or more RFID label tags 305 on robots arm 1020 and the RFID on worker 102 Reader 310, to detect RFID interactions.In other examples, as shown in Figure 10 B, system 1000 is using in worker 102 On multiple surface mount RFID label tag 305a or embedded RFID label 305b and RFID on robots arm 1020 read Device 1030 is interacted with detecting RFID.In other examples, robots arm 1020 may include one or more imaging devices 1025 with The information related to the position of robots arm 1020 and/or workspace 105,1005 is provided.

Although some possible examples disclosed above, the example of the disclosure are not limited to this.For example, it is although open System for maintaining the preset distance between the robot in Automatic Warehouse and worker, but in people and automatic machinery Or whenever stationary machines people's system interaction all also can be used the system.In addition, for the disclosure example it is various The position of feature and configuration, for example, the position and configuration of RFID label tag and reader, used camera or other sensors The layout of type and warehouse, it can be changed according to for example specific warehouse, position or robot, specific warehouse, the position Put or robot is needed due to such as size or power constraint, the type of required robot or the rule related to transmission interference Change that will be somewhat.It is such to change one's intention in the scope of the present disclosure.

The particular configurations of various elements, material selection and size and shape can device, system or method roots as requested Change according to the particular design specification or constraint of the principle structure of the disclosure.It is such to change one's intention included in the scope of the present disclosure It is interior.Therefore, presently disclosed example is considered to be illustrative and be not restrictive in every respect.The scope of the present disclosure passes through Appended claims rather than it is described above indicate, and fall into all in the meaning and range of equivalents of claims Change one's intention and be included in.

A kind of system for being used to maintain the threshold distance between the robot in working space and worker of clause 1., it is described System includes：

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

Robot, the robot in the working space performing one or more tasks, the robot bag Include：

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 reads one or more of RFID marks It is at least one in label, send signal to the processor；And

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

System of the clause 2. according to clause 1, read wherein the RFID reader is at least partially based on the RFID Device no longer read 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 from the RFID reader, Indicate the robot enabling.

System of the clause 3. according to clause 1, include the processor instruction machine wherein taking and hiding action People carries out at least one in following operate：Stopping, deceleration or routing again.

System of the clause 4. according to clause 1, wherein one or more of RFID label tags include one of first group Or multiple RFID label tags, 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 one or more that the RFID reader reads described second group It is at least one in individual 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 When individual, 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 described second from the RFID reader Signal, indicate that the robot stops.

System of the clause 5. according to clause 4, wherein the RFID reader includes the first RFID reader, and also wrap Include：

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

Wherein described indicator no longer reads one of described first group of predetermined number in second RFID reader Or it is activated during multiple RFID label tags.

A kind of 6. system of clause, the system include：

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 machine on one or more positions and orientation On people；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 in one or more of short range transmissions labels Label is write by the short range transmissions reader, from the first short range transmissions label reception signal；

Wherein described first short range transmissions label by short range transmissions reader write-in indicate the robot with it is described Short range transmissions interaction between worker.

System of the clause 7. according to clause 6, wherein the processor, which is at least partially based on, receives the signal, instruction The robot, which takes, hides action.

System of the clause 8. according to clause 7, include the processor instruction machine wherein taking and hiding action People carries out at least one in following operate：Stopping, deceleration or routing again.

System of the clause 9. according to clause 6, the robot also include：

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 takes and hidden from the central control Action.

System of the clause 10. according to clause 9, include the processor instruction machine wherein taking and hiding action People carries out at least one in following operate：Stopping, deceleration or routing again.

System of the clause 11. according to clause 6, wherein the first short range transmissions label works as first short range transmissions When label is no longer write by the short range transmissions reader, stopping transmits the signal to the processor；And

Wherein described processor is at least partially based on the processor and no longer receives the letter from the first short range transmissions label Number, indicate the robot enabling.

System of the clause 12. according to clause 6, wherein the short range transmissions reader is read including the first short range transmissions Device, and the robot also includes：

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

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

Wherein when the second short range transmissions reader is respectively written into one or more of short range transmissions labels Each when, 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 is described really no longer from one or more of short range transmissions labels reception of predetermined number When recognizing signal, the processor indicates that the robot seeks to safeguard.

System of the clause 13. according to clause 6, wherein the short range transmissions label is marked including radio frequency identification (RFID) Label；And

Wherein described short range transmissions reader includes RFID reader.

A kind of 14. method of clause, it includes：

The routing instructions for including at least destination are received from central control at robot, are appointed with being performed in working space Business；

At the robot, the signal of the working space is had been enter into from the central control reception worker；

At the robot, the first instruction is received from the central control, with response to passing through radio frequency identification (RFID) Reader, which detects, to be interacted with the RFID of one or more RFID label tags between the robot and the worker and takes and hide Keep away action；And

At the robot, the second instruction is received from the central control, with response to passing through the RFID reader Detect to interact with the RFID of one or more of RFID label tags between the robot and the worker and terminated And enabling.

Method of the clause 15. according to clause 14, wherein one or more of RFID label tags are arranged on the machine On people, and the RFID reader is associated with the worker, and also includes：

Detected with the processor in the robot, one or more of RFID marks in the robot Label are in the range of the RFID reader associated with the worker；And

Detection signal is sent to the central control from the robot, the detection signal indicate the robot with RFID interactions between the worker.

Method of the clause 16. according to clause 14, wherein the RFID reader is arranged in the robot, and institute It is associated with the worker to state one or more RFID label tags, and also includes：

Detected with the RFID reader in the robot associated with the worker one or more of RFID label tag；And

Detection signal is sent to the central control from the robot, the detection signal indicate the robot with RFID interactions between the worker.

Method of the clause 17. according to clause 14, methods described also include：

The one or more on the floor in the working space is attached to the RFID reader detection in the robot RFID label tag；

The data associated with one or more of RFID label tags are sent to the central control from the robot； And

At the robot, receive instruction from the central control and be directed to the RFID reader to be at least partially based on Or at least one range computation in one or more of RFID label tags hides action to take, the range computation is at least It is based partially on the data associated with one or more of RFID label tags；

The data wherein associated with one or more of RFID label tags are marked including one or more of RFID At least positional information of label.

Method of the clause 18. according to clause 14, wherein it is described first instruction also include with around the worker The related information in virtual work area is with response to RFID interactions.

Method of the clause 19. according to clause 18, wherein the virtual work area is also included in the following at least One：

Outsourcing, middle workspace or internal work area.

Method of the clause 20. according to clause 19, wherein described hide action also including at least one in the following It is individual：

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.

Clause 21. is a kind of maintaining the method for the threshold distance between the worker in working space and robot, institute The method of stating includes：

At server, the working space at the very first time is received from the imaging device associated with the robot In the robot first position information；

At the server, the work at the very first time is received from the imaging device associated with the worker The second place information of the worker in space；

With the server assigned work area, the workspace cover at least described worker and including at least interior barrier and External shield；

It is at least partially based on the first position information of the robot and the second confidence of the worker Breath, the distance between the robot and the worker are calculated with the server；And

It is at least partially based on the robot and passes through the external shield, instruction is sent to the machine from the server People hides action to take；

The first position information of wherein described robot includes the first reference data from the first datum mark, described First datum mark is at the very first time close to the robot；

The second place information of wherein described worker includes the second reference data from the second datum mark, described Second datum mark is at the very first time close to the worker.

Method of the clause 22. according to clause 21, wherein first reference data from first datum mark Including the bar code received from the imaging device associated with the robot；And

Wherein described bar code includes the position of at least described first datum mark.

Method of the clause 23. according to clause 21, wherein it is described hide action include it is at least one in following operation： Make the robot routing, deceleration or stopping again.

Method of the clause 24. according to clause 21, methods described also include：

It is at least partially based on the robot and passes through the interior barrier, another instruction is sent to from the server described Action different is hidden to take by robot.

Method of the clause 25. according to clause 21, wherein first reference data from first datum mark Including the image of first datum mark received from the imaging device associated with the robot.

A kind of 26. system of clause, the system include：

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

One or more imaging devices, the imaging device are placed in the robot to provide the working space Close to the image of the part of the robot；

Multiple datum marks, each datum mark include reference data, and the datum mark is attached to the ground in the working space Plate；And

Trolley, for the trolley to transport object in the working space, the trolley is related to worker Join and including：

One or more imaging devices, the imaging device are placed on the trolley to provide the working space Close to the image of the part of the trolley；

Server, the server and the trolley and the robot communication, the server is from the trolley And the robot receiving position information and establish barrier around the trolley；

Wherein described server is at least partially based on the robot through the barrier around the trolley, instruction The robot, which takes, hides action.

System of the clause 27. according to clause 26, wherein each in the multiple datum mark includes radio frequency identification (RFID) label, the RFID label tag are included in the position data of each or benchmark identifier in the multiple datum mark It is at least one.

System of the clause 28. according to clause 26, wherein each in the multiple datum mark includes bar code, institute Bar code is stated including at least one in the position data of each in the multiple datum mark or benchmark identifier.

System of the clause 29. according to clause 26, wherein the trolley also includes：

The worker is connected to the trolley by tether, the tether；

Wherein at least it is based partially on the distance between the worker detected by the tether and described trolley More than preset distance, the server is sent signal to.

System of the clause 30. according to clause 29, the tether also include：

Wire harness, the wire harness have first end and the second end, and the first end is removably coupled to the work Person, and the switch on the trolley is removably coupled at second end；

The distance that wherein described wire harness is at least partially based between the worker and the trolley exceedes described Preset distance is pulled down from the switch；And

The wire harness is wherein at least based partially on to pull down from the switch and transmit the signal to the server.

System of the clause 31. according to clause 29, the tether also include：

Short range transmissions label, the short range transmissions label are coupled to the wearable device associated with the worker；With And

Short range transmissions reader, the short range transmissions reader be coupled to the trolley and being configured to read it is described short Journey transmits label；

The distance being wherein at least based partially between the short range transmissions label and the short range transmissions reader surpasses The scope that the short range transmissions label can be read in the short range transmissions reader is crossed, transmits the signal to the server.

System of the clause 32. according to clause 31, wherein：

The short range transmissions label includes radio frequency identification (RFID) label；And

The short range transmissions reader includes RFID reader.

System of the clause 33. according to clause 26, wherein the processor indicates the robot in the robot That upgrading is taken during the reduction of the distance between described trolley hides action.

System of the clause 34. according to clause 26, wherein the server indicates that the robot carries out following operate In it is at least one：

The distance between the robot and described trolley is at least partially based on to reach the first preset distance and select again Road；

The distance being at least partially based between the robot and the trolley reaches the second preset distance and subtracted Speed；Or

The distance being at least partially based between the robot and the trolley reaches the 3rd preset distance and stopped Only.

A kind of 35. method of clause, it includes：

At server, received from the one or more robot imaging devices associated with robot in working space The robot first position information；

At the server, from the one or more trolley imaging devices reception associated with trolley and worker The second place information of the associated trolley, the trolley include：

Transport pallet, the transport pallet are used to transport one or more objects；

One or more of trolley imaging devices, the imaging device is will be close to the image of the trolley It is supplied to the server；

Wireless transceiver, the wireless transceiver is providing the channel radio between the trolley and the server Letter；And

Processor, the processor communicate with one or more of trolley imaging devices and the wireless transceiver, So that one or more signals are sent into the server via the wireless transceiver；

The barrier for covering at least described trolley is specified with the server；And

It is at least partially based on the robot and passes through the barrier, instruction is sent to the robot from the server Hide action to take.

Method of the clause 36. according to clause 35, wherein the first position information of the robot includes coming from The image data of one or more of robot imaging devices, include one or more datum marks close to the robot Reference data.

Method of the clause 37. according to clause 35, wherein the second place information of the trolley includes coming from The image of one or more of trolley imaging devices, include the base of one or more datum marks close to the trolley Quasi- data.

Method of the clause 38. according to clause 35, wherein the trolley also includes：

Tether, the tether exceed preset distance to detect the distance between the worker and the trolley；

Methods described also includes：

The distance being at least partially based between the worker and the trolley exceedes the preset distance, in institute State at server from the processor reception signal；And

The signal is at least partially based on, another instruction is sent to the robot to stop from the server.

Method of the clause 39. according to clause 38, methods described also include：

The distance being at least partially based between the worker and the trolley drop to the preset distance it Under, receive another signal from the processor at the server；And

Another signal is at least partially based on, instruction will be recovered and be sent to the robot from the server to recover Normal activity.

Method of the clause 40. according to clause 38, wherein the tether includes：

One or more radio frequency identification (RFID) labels, the label placement is in the worker or the trolley On one；And

RFID reader, the RFID reader are placed on another in the worker or the trolley；

The RFID reader that wherein described server is at least partially based on no longer reads one or more of RFID marks It is at least one in label, receive the signal from the processor.

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.