# US 2024/0174445 A1 · Adaptive autonomous mobile robot tasking

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- Number: US 2024/0174445 A1
- Document ID: US20240174445A1
- Status: Published application
- Kind: A1
- Application number: 18/525,029
- Filed: 2023-11-30
- Published: 2024-05-30
- Earliest claimed: 2022-11-30
- Assignees: Dematic Corp.
- Applicants: Dematic Corp.
- Inventors: Eric A. Gatchalian
- Web page: https://patentgrep.com/patent/US20240174445A1

## CPC

- G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)}
- B65G 1/0492: {with cars adapted to travel in storage aisles}
- B65G 1/137: with arrangements or automatic control means for selecting which articles are to be removed
- B65G 1/1373: {for fulfilling orders in warehouses}
- G05D 1/6983: {by distributed or sequential control}
- G05D 1/6987: {by centralised control off-board any of the vehicles}
- G06F 9/5038: {considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration (scheduling strategies G06F9/4881 and subgroups)}
- G06Q 10/06316: {Sequencing of tasks or work}
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G05D 2105/20: for transportation
- G05D 2105/28: of freight
- G05D 2107/70: Industrial sites, e.g. warehouses or factories
- G05D 2109/10: Land vehicles
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- 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
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- 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 and system are provided for task allocation for a material handling system with autonomous mobile robots (AMR) operating within a material handling facility. The AMRs are configured to self-select tasks to perform utilizing a computer based warehouse execution system (WES) utilizing a pending workflow list of tasks to be performed within the material handling facility. The AMRs include onboard computers for communicating with the WES and to self-select tasks from the pending workflow list. The AMR may be directed to a prioritized task or task queue, and the WES may lock an AMR to a task or task queue until the task or tasks are performed, or until the AMR determines that the AMR should be reassigned or otherwise relieved of the task or task queue. The AMRs are thus adapted to independently self-select tasks, where the AMR and/or WES may enable the AMR to self-select tasks.

## Claims

### Claim 1

An automated material handling system having a plurality of autonomous mobile robots (AMR) for retrieving, transporting, and delivering items to and from locations within a material handling facility, said material handling system comprising:
a warehouse execution system (WES) comprising a computer that is programed with computer code that is adapted to maintain a pending workflow list comprising a plurality of tasks to be performed within the material handling facility; and
an AMR subsystem comprising at least a subset of said plurality of AMRs of said automated material handling system, an onboard computer provided with each of at least some of said plurality of AMRs of the AMR subsystem, wherein said onboard computer of each of said AMR is in communication with the WES, each of said onboard computers programmed with computer code that is adapted to select a task for the corresponding AMR to perform from the pending workflow list of the WES;
wherein a particular AMR is capable of performing the task selected from the pending workflow list by its onboard computer.

### Claim 2 (depends on 1)

The automated material handling system of claim 1, wherein said selecting a task for the corresponding AMR to perform comprises selecting a task queue comprising a plurality of individual tasks from the pending workflow list of the WES.

### Claim 3 (depends on 2)

The automated material handling system of claim 2, wherein upon completion of a task selected by an onboard computer of a particular AMR, the computer code of the onboard computer of that AMR is further adapted to select another task from the task queue.

### Claim 4 (depends on 1)

The automated material handling system of claim 1, further comprising a robot controls system (RCS) having a computer that is programmed with RCS computer code and comprises a fleet manager, wherein said fleet manager and RCS computer code are adapted to receive at least some of the plurality of tasks from the pending workflow list of the WES and to control at least some of the plurality of AMRs within the material handling facility with the fleet manager as a function of the plurality of tasks received by the fleet manager.

### Claim 5 (depends on 4)

The automated material handling system of claim 4, wherein said at least some of the plurality of AMRs within the material handling facility comprises at least some of the AMRs of said AMR subsystem and a plurality of AMRs that are not affiliated with the AMR subsystem.

### Claim 6 (depends on 4)

The automated material handling system of claim 4, wherein the WES is adapted to lock an AMR to a particular task or task queue.

### Claim 7 (depends on 6)

The automated material handling system of claim 6, wherein the WES is adapted to unlock the AMR from the particular task or task queue when either (i) the AMR has completed the task or task queue, or (ii) the WES determines that the AMR should be removed or redirected from that particular task or task queue.

### Claim 8 (depends on 1)

The automated material handling system of claim 1, wherein each of the plurality of AMRs within the material handling facility are affiliated with said AMR subsystem, and each of the plurality of AMRs within the material handling facility are controllable by the fleet manager.

### Claim 9

A method of task allocation for a material handling system having a plurality of autonomous mobile robots (AMR) for retrieving, transporting, and delivering items to and from locations within a material handling facility, said method comprising:
maintaining a pending workflow list comprising a plurality of tasks to be performed within the material handling facility using a computer based warehouse execution system (WES) that is programed with WES computer code;
selecting a task queue comprising at least one task from the pending workflow list of the WES and assigning the selected task queue to an AMR when that AMR is in need of a task to perform; and
performing the tasks on the selected task queue with the AMR.

### Claim 10 (depends on 9)

The method of claim 9, further comprising the AMR selecting, with an onboard computer programmed with computer code, a task to perform from the task queue.

### Claim 11 (depends on 10)

The method of claim 10, further comprising upon completion of the selected task with the AMR, the AMR onboard computer selecting another task from the task queue.

### Claim 12 (depends on 9)

The method of claim 9, wherein said selecting another task from the task queue is performed as a function of at least one chosen from (i) the location of the AMR within the material handling facility and (ii) the material handling capability of the AMR.

### Claim 13 (depends on 9)

The method of claim 9, further comprising using a computer based robot controls system (RCS) that is programmed with computer code and comprises a fleet manager, receiving at least some of the plurality of tasks from the pending workflow list from the WES and controlling at least some of the plurality of AMRs with the fleet manager as a function of the plurality of tasks received by the fleet manager.

### Claim 14 (depends on 13)

The method of claim 13, further comprising determining, with a traffic controller in communication with the AMR, a route for the AMR to follow to perform the task selected by the AMR from the task queue.

### Claim 15 (depends on 13)

The method of claim 13, wherein said controlling at least some of the plurality of AMRs comprises at least one chosen from (i) assigning tasks from the plurality of tasks received by the fleet manager to at least some of the plurality of AMRs, (ii) tracking statuses of tasks assigned to AMRs that were assigned tasks by the fleet manager, and (iii) assigning additional or new tasks from the plurality of tasks received by the fleet manager to at least some of the plurality of AMRs upon completion of a previous task.

### Claim 16 (depends on 10)

The method of claim 10, wherein the task queue comprises one task, and further comprising upon completion of the selected task and task queue with the AMR, the AMR onboard computer selecting another task comprising one task from the pending workflow list of the WES.

### Claim 17 (depends on 16)

The method of claim 16, further comprising using a computer based robot controls system (RCS) that is programmed with computer code and comprises a fleet manager, receiving at least some of the plurality of tasks from the pending workflow list from the WES and controlling at least some of the plurality of AMRs with the fleet manager as a function of the plurality of tasks received by the fleet manager.

### Claim 18 (depends on 17)

The method of claim 17, further comprising the RCS tracking a status of a task selected by an onboard computer of an AMR, and upon completion of the selected task by that AMR, the fleet manager assigning an additional or new task from the plurality of tasks received by the fleet manager to that AMR.

### Claim 19 (depends on 10)

The method of claim 10, wherein after the onboard computer of an AMR selects a task from the task queue, said method further comprising determining whether that AMR has capacity to perform at least one additional of the remaining tasks of the pending workflow list.

### Claim 20 (depends on 19)

The method of claim 19, wherein if the AMR has capacity to perform at least one additional of the remaining tasks of the task queue, said method further comprising:
determining whether the AMR has containers to drop off;
wherein if the AMR does not have containers to drop off, the onboard computer of the AMR selecting an additional task for the AMR to perform from the task queue;
wherein if the AMR has containers to drop off, prioritizing (i) dropping of the containers as compared to (ii) selecting an additional task for the AMR to perform from the task queue while the containers to drop off remain on the AMR.

### Claim 21 (depends on 20)

The method of claim 20, wherein said prioritizing comprises the onboard computer of the AMR selecting an additional task for the AMR to perform from the task queue while the containers to drop off remain on the AMR, and the onboard computer controlling the AMR to perform that additional task simultaneously and/or in sequence with the drop of the containers.

### Claim 22 (depends on 20)

The method of claim 20, wherein said determining whether the AMR has capacity and said determining whether the AMR has containers to drop off are performed by the WES.

### Claim 23

A method of task allocation for a material handling system having a plurality of autonomous mobile robots (AMR) for retrieving, transporting, and delivering items to and from locations within a material handling facility, said method comprising:
maintaining a pending workflow list comprising a plurality of tasks to be performed within the material handling facility using a computer based warehouse execution system (WES) that is programed with WES computer code;
selecting a task queue comprising at least one task from the pending workflow list of the WES and assigning the selected task queue to an AMR when that AMR is in need of a task to perform;
performing the tasks on the selected task queue with the AMR; and
further comprising the AMR selecting, with an onboard computer programmed with computer code, a task to perform from the task queue, and upon completion of the selected task with the AMR, the AMR onboard computer selecting another task from the task queue, wherein said selecting another task from the task queue comprises;
determining whether the AMR has capacity to pick the material required for at least one of the remaining tasks of the task queue;
wherein if the AMR lacks capacity, returning to determining whether the AMR has capacity to pick the material required for a different one of the remaining tasks on the task queue;
wherein if the AMR has capacity, the onboard computer selecting one of the tasks from the pending workflow list for which it has capacity;
wherein after the onboard computer selecting a task, determining whether the AMR is in sufficiently close proximity to the selected task;
wherein if the AMR is not within sufficiently close proximity of the selected task, returning to determining whether the AMR has capacity to pick the material required for a different one of the tasks on the task queue; and
wherein if the AMR is within sufficiently close proximity of the selected task, the onboard computer controlling the AMR to perform the selected task; and
wherein upon completion of the selected task, the onboard computer of the AMR selecting another one of the remaining tasks on the task queue, and determining whether the AMR has capacity to pick the material required for at that task.

### Claim 24 (depends on 23)

The method of claim 23, wherein if the AMR lacks capacity, said method further comprising:
determining whether the AMR has containers to drop off;
wherein if the AMR does not have containers to drop off, returning to determining whether the AMR has capacity to pick the material required for a different one of the tasks on the task queue;
wherein if the AMR has containers to drop off, the onboard computer controlling the AMR to drop off the containers; and
wherein upon completion of dropping off the containers determining whether the AMR has capacity to pick the material required for at least one of the tasks remaining on the task queue.

### Claim 25 (depends on 23)

The method of claim 23, wherein said selecting another task from the task queue further comprises determining whether the AMR has containers to drop off, and if so, determining whether the AMR has capacity to make an additional pick while the containers to drop off remain on the AMR.

### Claim 26 (depends on 25)

The method of claim 25, wherein if the AMR has capacity to perform a particular additional pick task while the containers to drop off remain on the AMR, the onboard computer controlling the AMR to select that particular pick task and perform that pick task simultaneously and/or in sequence with the drop of the containers.