# US 12,600,568 B1 · Integrated autonomous warehouse robot

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- Number: US 12,600,568 B1
- Document ID: US12600568B1
- Status: Granted
- Kind: B1
- Application number: 19/253,875
- Filed: 2025-06-29
- Granted: 2026-04-14
- Earliest claimed: 2025-06-29
- Assignees: Bao Tran
- Applicants: Bao Tran
- Inventors: Bao Tran
- Web page: https://patentgrep.com/patent/US12600568B1

## CPC

- B65G 1/065: {with self propelled cars}
- B25J 5/007: {mounted on wheels}
- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B25J 9/1697: {Vision controlled systems}
- B25J 11/008: {Manipulators for service tasks}
- B25J 19/005: {using batteries, e.g. as a back-up power source}
- B25J 19/023: {including video camera means}
- 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)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

An autonomous warehouse robotics system integrates a multi-sensor platform, adaptive payload handling, dynamic task reallocation, advanced navigation, energy management, and comprehensive safety features into one mobile robot chassis. The system utilizes LiDAR, stereo vision, ultrasonic sensors, mmWave radar, thermal cameras, and event cameras to perform complete environmental sensing and obstacle detection. Sensor fusion combines adaptive weighting, multi-modal data integration, and statistical filtering to create high-confidence maps for reactive path planning and collision avoidance. The robot's payload system features machine vision for item recognition, telescopic lifts, variable-width grippers, and real-time toolhead verification to handle a variety of goods. Fleet management is achieved through dynamic task reallocation that considers robot location, battery level, and operational delays, all coordinated by a cross-platform middleware architecture that ensures standardized communication, remote monitoring, and over-the-air updates among diverse robot brands. Energy management optimizes power usage via predictive routing, autonomous return-to-charge, and auction-based scheduling. Safety is maintained through proximity detection, behavior-based intervention, and human-robot cohabitation protocols while advanced localization is enhanced by fusing ultra-wideband positioning with visual landmark alignment, inertial sensing, and machine learning to deliver high accuracy in non-line-of-sight conditions. An onboard edge AI module further refines navigation and task prioritization through neural network inference, ensuring robust, adaptive operation in dynamic, unstructured warehouse environments.

## Claims

### Claim 1

A mobile robot for warehouse automation, comprising:
a drive system configured for autonomous movement along warehouse floors;
a vertical mobility mechanism configured to enable the robot to travel vertically along shelving structures or rails within a warehouse;
a sensor suite comprising at least at least one camera, and at least one inertial measurement unit (IMU), the sensor suite configured to detect environmental features and obstacles for navigation;
an ultra-wideband (UWB) positioning module configured to determine the position of the robot within the warehouse by communicating with a plurality of fixed UWB anchors;
a digital map storage module containing a digital representation of the warehouse layout including shelving locations and vertical travel paths;
a navigation controller operatively coupled to the sensor suite, the UWB positioning module, and the digital map storage module, the navigation controller configured to:
fuse data from the sensor suite and the UWB positioning module to determine a real-time position and orientation of the robot within the warehouse;
reference the digital map to plan and execute three-dimensional navigation routes, including both horizontal and vertical movements, to target locations in the warehouse;
autonomously control the drive system and the vertical mobility mechanism to transport the robot to selected positions on the floor or at different elevations along shelving structure; and
an energy management system, comprising:
a battery module;
a plurality of onboard sensors configured to monitor energy consumption by subsystems including drive motors, sensors, and payload handlers;
an energy optimization controller configured to dynamically adjust robot operating parameters in real time based on current battery level, predicted task energy requirements, and charging station availability.

### Claim 2 (depends on 1)

A robot of claim 1, including fuel cell or battery range extenders.

### Claim 3

A mobile robot for warehouse automation, comprising:
a drive system configured for autonomous movement along warehouse floors;
a vertical mobility mechanism configured to enable the robot to travel vertically along shelving structures or rails within a warehouse;
a sensor suite comprising at least at least one camera, and at least one inertial measurement unit (IMU), the sensor suite configured to detect environmental features and obstacles for navigation;
a digital map storage module containing a digital representation of the warehouse layout including shelving locations and vertical travel paths;
a navigation controller operatively coupled to the sensor suite and the digital map storage module, the navigation controller configured to determine a real-time position and orientation of the robot within the warehouse, reference the digital map to plan and execute three-dimensional navigation routes, including both horizontal and vertical movements, to target locations in the warehouse;
autonomously control the drive system and the vertical mobility mechanism to transport the robot to selected positions on the floor or at different elevations along shelving structure;
a warehouse mapping and navigation system including:
a plurality of mobile robots, each robot comprising a camera configured to capture visual data of the warehouse environment and an ultra-wideband (UWB) positioning module configured to determine a position of the robot within the warehouse by communicating with a plurality of fixed UWB anchors;
a central processing node operatively coupled to the plurality of mobile robots, the central processing node configured to:
receive, in real time, UWB position data and visual data from each of the plurality of mobile robots as the robots traverse the warehouse;
compare overlapping UWB position data and visual data from multiple robots to identify and filter out inconsistent or erroneous data using a statistical consensus algorithm;
update a digital map of the warehouse based on high-confidence data, wherein the digital map reflects recent changes in warehouse configuration or obstacles detected by the robots; and
transmit the updated digital map to the plurality of mobile robots to enable autonomous navigation that accounts for recent changes in the warehouse environment.

### Claim 4 (depends on 3)

A robot of claim 3 for transporting mixed inventory items in a warehouse, comprising:
an adaptive payload handling system comprising a telescopic lift and a variable-width gripper;
a machine vision module configured to identify item dimensions and orientation on a shelf;
a control system configured to adjust the telescopic lift height and gripper width based on the identified item dimensions and orientation.

### Claim 5 (depends on 3)

A robot of claim 3, comprising a dynamic task reallocation module for a fleet of autonomous mobile robots in a warehouse, wherein the module performs:
assigning, by a central task scheduler, initial transport, picking, or replenishing tasks to each robot based on current location and battery status;
monitoring, in real time, the progress of each robot and the occurrence of unexpected delays or obstacles;
automatically reassigning incomplete tasks to other available robots in response to detected delays, robot faults, or changes in warehouse conditions.

### Claim 6 (depends on 3)

A robot of claim 3 with a safety system for an autonomous mobile robot operating in a warehouse, comprising:
a multi-modal proximity detection suite including a 360-degree LiDAR sensor and at least one thermal imaging sensor;
a safety controller configured to detect human presence within a predefined safety zone;
an intervention module configured to execute at least one of speed reduction, audible warning, or emergency stop in response to detected human proximity.

### Claim 7 (depends on 3)

A robot of claim 3 with an edge AI module for an autonomous mobile robot operating in a warehouse, comprising:
an onboard processor configured to execute a neural network model for real-time task prioritization and navigation decisions;
a sensor interface for receiving data from LiDAR, vision, and inertial sensors;
a decision engine configured to select optimal actions based on current sensor data and task queue without requiring continuous communication with a central server.

### Claim 8 (depends on 3)

A robot of claim 3, comprising a positioning system with:
an ultra-wideband (UWB) tag mounted on a mobile robot;
a plurality of UWB anchors deployed in a warehouse environment;
an onboard camera capturing real-time image data;
a digital map storing structural features of the warehouse;
a fusion processor configured to:
(a) calculate UWB-based coordinates using time-difference-of-arrival (TDoA) measurements between the tag and anchors;
(b) extract visual landmarks from the image data;
(c) align the visual landmarks with corresponding features in the digital map;
(d) generate corrected robot coordinates by fusing UWB-based coordinates with landmark alignment data.

### Claim 9 (depends on 8)

The robot of claim 8, wherein the fusion processor applies a genetic annealing algorithm to minimize non-line-of-sight (NLOS) errors in UWB data using landmark-matched visual feedback.

### Claim 10 (depends on 8)

The robot of claim 8, wherein the robot self-calibrates its position using fixed visual landmarks identified in the digital map.

### Claim 11 (depends on 3)

A robot of claim 3 with cross-platform interoperability in a warehouse robot fleet, comprising:
a middleware translation layer configured to convert proprietary robot control protocols into a standardized communication format;
a central orchestration engine that dynamically assigns tasks to heterogeneous robots based on real-time capability, location, and workload data;
an API gateway providing bidirectional data exchange between warehouse management systems (WMS) and robots from different vendors.

### Claim 12 (depends on 3)

A robot of claim 3 with a modular payload system, comprising:
a magnetic coupling interface with auto-alignment;
swappable toolheads (grippers, vacuums, forks) with RFID-encoded capability profiles;
a vision-based toolhead verification system ensuring secure attachment.

### Claim 13 (depends on 3)

A robot of claim 3 with an energy management system for warehouse robots, comprising:
wireless charging pads at strategic workflow pause points;
a digital twin simulating energy consumption patterns;
an auction-based charging scheduler minimizing total fleet downtime.

### Claim 14 (depends on 13)

A robot of claim 13, wherein robots bid charging slots based on task urgency.

### Claim 15 (depends on 3)

A robot of claim 3, comprising a digital twin that predicts robot path, task management, or energy bottlenecks.

### Claim 16 (depends on 3)

A robot of claim 3 with a safety system for human-robot warehouse cohabitation, comprising:
ultra-wideband (UWB) personnel tags with haptic feedback;
robot-mounted thermal or ToF sensors detecting humans in blind spots;
a behavior-based safety governor overriding robot actions near humans.

### Claim 17 (depends on 3)

A robot of claim 3, including emergency stop gesture recognition.

### Claim 18 (depends on 3)

A robot of claim 3, comprising:
a chassis; and
a sensor fusion module configured to generate a unified environmental map by dynamically weighting sensor inputs based on detected warehouse conditions.

### Claim 19

A mobile robot for warehouse automation, comprising:
a drive system configured for autonomous movement along warehouse floors;
a vertical mobility mechanism configured to enable the robot to travel vertically along shelving structures or rails within a warehouse;
a sensor suite comprising at least at least one camera, and at least one inertial measurement unit (IMU), the sensor suite configured to detect environmental features and obstacles for navigation;
an ultra-wideband (UWB) positioning module configured to determine the position of the robot within the warehouse by communicating with a plurality of fixed UWB anchors;
a digital map storage module containing a digital representation of the warehouse layout including shelving locations and vertical travel paths;
a navigation controller operatively coupled to the sensor suite, the UWB positioning module, and the digital map storage module, the navigation controller configured to;
fuse data from the sensor suite and the UWB positioning module to determine a real-time position and orientation of the robot within the warehouse,
reference the digital map to plan and execute three-dimensional navigation routes, including both horizontal and vertical movements, to target locations in the warehouse;
autonomously control the drive system and the vertical mobility mechanism to transport the robot to selected positions on the floor or at different elevations along shelving structure;
a multi-sensor fusion module combining LiDAR, event cameras, and mmWave radar;
a transient obstacle classifier using spatial-temporal graph neural networks; and
a reactive path planner generating collision-free trajectories within 200 ms of obstacle detection.

### Claim 20

A system for warehouse automation, comprising:
a drive system configured for autonomous movement along warehouse floors;
a vertical mobility mechanism configured to enable a robot to travel vertically along shelving structures or rails within a warehouse;
a sensor suite comprising at least at least one camera, and at least one inertial measurement unit (IMU), the sensor suite configured to detect environmental features and obstacles for navigation;
a digital map storage module containing a digital representation of the warehouse layout including shelving locations and vertical travel paths;
a navigation controller operatively coupled to the sensor suite and the digital map storage module, the navigation controller configured to determine a real-time position and orientation of the robot within the warehouse, reference the digital map to plan and execute three-dimensional navigation routes, including both horizontal and vertical movements, to target locations in the warehouse;
autonomously control the drive system and the vertical mobility mechanism to transport the robot to selected positions on the floor or at different elevations along shelving structure;
a warehouse mapping and navigation system including:
a plurality of mobile robots, each robot comprising a camera configured to capture visual data of the warehouse environment and an ultra-wideband (UWB) positioning module configured to determine a position of the robot within the warehouse by communicating with a plurality of fixed UWB anchors;
a central processing node operatively coupled to the plurality of mobile robots, the central processing node configured to:
receive, in real time, UWB position data and visual data from each of the plurality of mobile robots as the robots traverse the warehouse;
compare overlapping UWB position data and visual data from multiple robots to identify and filter out inconsistent or erroneous data using a statistical consensus algorithm;
update a digital map of the warehouse based on high-confidence data, wherein the digital map reflects recent changes in warehouse configuration or obstacles detected by the robots; and
transmit the updated digital map to the plurality of mobile robots to enable autonomous navigation that accounts for recent changes in the warehouse environment.

### Claim 21

A method for warehouse automation with a drive system configured for autonomous movement along warehouse floors; a vertical mobility mechanism configured to enable a robot to travel vertically along shelving structures or rails within a warehouse; a sensor suite comprising at least at least one camera, and at least one inertial measurement unit (IMU), the sensor suite configured to detect environmental features and obstacles for navigation; a digital map storage module containing a digital representation of the warehouse layout including shelving locations and vertical travel paths; and a navigation controller operatively coupled to the sensor suite and the digital map storage module, the method comprising:
determining a real-time position and orientation of the robot within the warehouse, reference the digital map to plan and execute three-dimensional navigation routes, including both horizontal and vertical movements, to target locations in the warehouse;
autonomously controlling the drive system and the vertical mobility mechanism to transport the robot to selected positions on the floor or at different elevations along shelving structure;
performing warehouse mapping and navigation with a system including: a plurality of mobile robots, each robot comprising a camera configured to capture visual data of the warehouse environment and an ultra-wideband (UWB) positioning module configured to determine a position of the robot within the warehouse by communicating with a plurality of fixed UWB anchors, further including:
receiving, in real time, UWB position data and visual data from each of the plurality of mobile robots as the robots traverse the warehouse;
comparing overlapping UWB position data and visual data from multiple robots to identify and filter out inconsistent or erroneous data using a statistical consensus algorithm;
updating a digital map of the warehouse based on high-confidence data, wherein the digital map reflects recent changes in warehouse configuration or obstacles detected by the robots; and
transmitting the updated digital map to the plurality of mobile robots to enable autonomous navigation that accounts for recent changes in the warehouse environment.