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 for use in a warehouse including storage units with a plurality of vertical columns of source totes. There is a tote array to hold order totes, a tote elevator having a platform, and a tote manipulator to remove the source tote from the storage unit and place it on the platform. There is a controller to align, with the lift mechanism, the platform with the first order tote and pick, using a pick arm, the first item from the first storage tote and place it in the first order tote. The controller sequentially aligns, with the lift mechanism, the platform with each other order tote in the tote array associated with the first item; and sequentially picks, using the pick arm, the first item from the first storage tote and each other of the order totes and place the first item in each other order totes.

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: An autonomous mobile robot including a base body, a plurality of wheels, and a camera. There is a tote holder to hold one or more order totes having a plurality of compartments and a base platform to hold an order tote. There is a tote manipulator mechanism configured to remove the source tote from the storage unit and place it on the platform. There is a controller to navigate the robot to a destination and to read, using the camera, the first identifier or the second identifier on the source tote, depending on which is visible to the camera. The controller causes the tote manipulator mechanism to remove the source tote and place it on the platform. Further, the controller determines the position of the plurality of compartments in the source tote relative to the robotic pick arm based on whether the first identifier or the second identifier is read.

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.