Abstract: An autonomous mobile robot for use in a warehouse, having a base with a top surface, a controller, and a plurality of wheels, and a tote structure on the top surface. The tote structure includes a tote magazine with vertical positions each configured to hold an order tote, a tote elevator with a platform that has two surface portions, and a lift mechanism configured to raise and lower the elevator.

Abstract: An autonomous mobile robot with a base body, a plurality of wheels and a tote structure. There is a tote array with order totes and a tote elevator having a platform to hold a source tote and an order tote. There is a tote transfer mechanism to retrieve order totes and place the order totes on the platform. There is a lift mechanism to raise and lower the tote elevator. There is a tote transfer mechanism to retrieve an order tote from the tote array and place the order tote on the platform while the mobile robot base is en-route from the initial location to the destination location. The e lift mechanism is controlled to position the platform of the tote elevator at a height of the source tote on the storage unit while the mobile robot base is en-route to the destination location.

Abstract: A tote manipulator mechanism for an autonomous mobile robot configured to operate in a warehouse. The tote manipulator mechanism has a tote manipulator device disposed on a platform of the autonomous mobile robot connected to a translation device that is configured to move the tote manipulator device across the platform between a first side of the platform and a second side of the platform, and a controller configured to cause the translation device to extend the tote manipulator device from a retracted position to an extended position, and vice versa. The tote manipulator device includes an engagement head configured to engage with a source tote.

Abstract: A mecanum wheel includes a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference. There is a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference. There are a plurality of roller units, each having a roller surface and a hollow center cavity. There is an axle disposed in the hollow center cavity of each roller, and a first end of the axle is connected a first mounting mechanisms and the second end of each axle is connected to the second mounting mechanism. The second end of each axle includes a notched portion.