Maneuvering a mobile drive unit

摘要

A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

主权项

1. A mobile drive unit for transporting an inventory holder, the mobile drive unit configured to:
dock with an inventory holder; move the inventory holder towards a destination; receive a wireless instruction from a management module, the wireless instruction comprising selectively rotating the inventory holder while moving the inventory holder towards a destination; while docked with the inventory holder, and in response to receiving the wireless instruction to selectively rotate the inventory holder while moving the inventory holder, selectively rotate the inventory holder while moving, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit; wherein an obstacle sensor is positioned on a first portion of the mobile drive unit and is configured to detect one or more objects located within a lateral range of motion of the mobile drive unit while rotating the inventory holder, the mobile drive unit being configured to avoid a collision based on a detection of the one or more objects during the rotation of the inventory holder, and wherein a position sensor is located on a second portion of the mobile drive unit and is configured to detect one or more fiducial marks located above or below the mobile drive unit, the mobile drive unit being configured to determine a location of the mobile drive unit in a workspace based on information derived from the one or more fiducial marks; and continue moving the inventory holder towards the destination.