# US 2014/0195040 A1 · Maneuvering a mobile drive unit > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195040 A1 - Document ID: US20140195040A1 - Status: Published application - Kind: A1 - Application number: 14/147,406 - Filed: 2014-01-03 - Published: 2014-07-10 - Earliest claimed: 2006-06-19 - Assignees: Amazon Technologies, Inc. - Applicants: Amazon Technologies, Inc. - Inventors: Peter R. Wurman; Raffaello D'Andrea; Michael T. Barbehenn; Andrew Edward Hoffman; David C. Koehler; Michael Cordell Mountz - Web page: https://patentgrep.com/patent/US20140195040A1 ## CPC - B65G 1/137: with arrangements or automatic control means for selecting which articles are to be removed - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G06Q 10/08743: {using optimisation of routes} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract 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. ## Claims ### Claim at position 1 -37. (canceled) ### Claim 38 A mobile drive unit for transporting an inventory holder, the mobile drive unit operable to: dock with an inventory holder; move the inventory holder towards a destination; while docked with 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; and continue moving the inventory holder towards the destination. ### Claim 39 (depends on 38) The mobile drive unit of claim 38, the mobile drive unit further operable to: receive a route to the destination; reserve a rotation area adjacent to the route to the destination; and wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area. ### Claim 40 (depends on 38) The mobile drive unit of claim 38, wherein docking with the inventory holder comprises: moving the mobile drive unit to a location of the inventory holder; docking the mobile drive unit with the inventory holder at the location, and the mobile drive unit is further operable to: undock the mobile drive unit from the inventory holder at the destination; and move away from the inventory holder. ### Claim 41 (depends on 38) The mobile drive unit of claim 38, wherein the mobile drive unit is further operable to prevent collisions with other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area. ### Claim 42 (depends on 38) The mobile drive unit of claim 38, the mobile drive unit further operable to: receive a request from a management module to present a selected face of the inventory holder to an inventory station at the destination; and wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station. ### Claim 43 (depends on 38) The mobile drive unit of claim 38, wherein docking with the inventory holder comprises: positioning the mobile drive unit beneath the inventory holder; and raising a docking head of the mobile drive unit towards the inventory holder. ### Claim 44 (depends on 38) The mobile drive unit of claim 38, the mobile drive unit comprising a docking head; and wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of the mobile drive unit. ### Claim 45 A method for transporting inventory holders, comprising: docking with an inventory holder; moving the inventory holder towards a destination; while docked with the inventory holder, selectively rotating the inventory holder while moving, wherein the inventory holder selectively rotates independently of translational movement of the mobile drive unit; and continuing to move the inventory holder towards the destination. ### Claim 46 (depends on 45) The method of claim 45, further comprising: receiving a route to the destination; reserving a rotation area adjacent to the route to the destination; and wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area. ### Claim 47 (depends on 45) The method of claim 45, wherein docking with the inventory holder comprises: moving a mobile drive unit to a location of the inventory holder; docking the mobile drive unit with the inventory holder at the location, and the method further comprises; undocking the mobile drive unit from the inventory holder at the destination; and moving away from the inventory holder. ### Claim 48 (depends on 45) The method of claim 45, further comprising: preventing collisions of the inventory holder with mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area. ### Claim 49 (depends on 45) The method of claim 45, further comprising: receiving a request from a management module to present a selected face of the inventory holder to an inventory station at the destination; and wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station. ### Claim 50 (depends on 45) The method of claim 45, wherein clocking with the inventory holder comprises: positioning a mobile drive unit beneath the inventory holder; and raising a docking head of the mobile drive unit towards the inventory holder. ### Claim 51 (depends on 45) The method of claim 45, wherein selectively rotating the inventory holder while moving comprises independently rotating a docking head of a mobile drive unit. ### Claim 52 A mobile drive unit for transporting an inventory holder, the mobile drive unit comprising: a first actuator that selectively rotates the inventory holder while the mobile drive unit is moving; and a second actuator that moves the mobile drive unit, wherein the first and second actuators are different. ### Claim 53 (depends on 52) The mobile drive unit of claim 52, wherein the mobile drive unit is operable to: receive a route to the destination; reserve a rotation area adjacent to the route to the destination; and wherein selectively rotating the inventory holder while moving comprises selectively rotating the inventory holder while moving through the reserved rotation area. ### Claim 54 (depends on 52) The mobile drive unit of claim 52, wherein the mobile drive unit is operable to; move to a location of an inventory holder; dock with the inventory holder at the location; undock the mobile drive unit from the inventory holder at a destination; and move away from the inventory holder. ### Claim 55 (depends on 52) The mobile drive unit of claim 52, wherein the mobile drive unit is further operable to prevent collisions with the other mobile drive units by selectively rotating the inventory holder while moving through a reserved rotation area. ### Claim 56 (depends on 52) The mobile drive unit of claim 52, wherein the mobile drive unit is further operable to: receive a request from a management module to present a selected face of the inventory holder to an inventory station at the destination; and wherein selectively rotating the inventory holder comprises rotating the inventory holder by an amount calculated to present the selected face to the inventory station. ### Claim 57 (depends on 52) The mobile drive unit of claim 52, wherein the mobile drive unit further comprises a docking head; and wherein selectively rotating the inventory holder while moving comprises independently rotating the docking head of a mobile drive unit.