Techniques for controlling conveying equipment

Abstract

System consisting of: a management module (102) configured to control the navigation of a mobile drive unit (MDU, 104, 506) within a work area (106); and an MDU (104, 506) configured for the transport of articles within the work area (106), wherein the mobile drive unit (104, 506) comprises the following: a processor (514); a sensor (212, 214, 216) mounted on the MDU (104, 506); a conveying system (510) configured to receive and deliver an item within the work area (106); and a memory (512) in which computer-readable instructions are stored which, when executed by the processor (514), configure the MDU (104, 506) so that it via the transport system (510) receives an item that is to be delivered to a delivery location within the work area (106); with the aid of the sensor (212, 214, 216) location information relating to navigation within the work area (106), wherein the location information is obtained using a first reference marker (114, 304, 404) within the work area (106); The MDU (104, 506) navigates to the delivery location within the work area (106) using the management module (102) according to the location information obtained using the first reference marker (114, 304, 404); using the sensor (212, 214, 216) obtain transport information relating to the delivery of the article, wherein the transport information is obtained using a second reference mark (116, 306, 406), the second reference mark (116, 306, 406) being different from the first reference mark (114, 304, 404), wherein the transport information obtained using the second reference mark (116, 306, 406) includes article information associated with the article to be delivered, the article information comprising at least one of the following: an identifier, a weight, a material, dimensions of the article and an article category; and perform at least one operation of the conveying system (510) to deliver the article to the delivery location, wherein the at least one operation of the conveying system (510) is performed at least partially based on the conveying information obtained using the second reference marker (116, 306, 406), and wherein the at least one operation of the conveying system (510) is performed independently of the navigation of the MDU (104, 506), wherein the conveying system (510) is operated in accordance with the article information for the article by varying a speed, inclination, duration and / or direction of movement or other operating parameters of a conveying device (202, 316, 403, 540) of the conveying system (510) based on the article to be delivered.

Description

BACKGROUND

[0001] Modern inventory management systems, such as those found in storage and / or sorting facilities (e.g., a warehouse, a sorting center), face significant challenges in managing inventory. Items can be moved from one location to another within a facility. Some systems utilize a variety of robotic devices (e.g., mobile drive units, MDUs) to move items within the facility. These devices can be equipped with any number of conveying devices (e.g., conveyor belts, tilting platforms, robotic arms, etc.). Traditionally, such conveying devices are operated as part of a management system that also controls the navigation of the MDUs. BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Various embodiments of the present disclosure are described with reference to the drawings, in which: Fig. 1 is a schematic diagram representing an exemplary environment suitable for implementing aspects of a conveying device control according to at least one embodiment; Fig. 2A and Fig. 2B presents in more detail an example of a mobile drive unit, which in certain embodiments of the in Fig. The inventory system shown in section 1 can be used. Fig. 3 presents in more detail a schematic diagram that represents an exemplary environment suitable for implementing aspects of a conveying device control according to at least one embodiment; Fig. 4 is a schematic diagram illustrating exemplary techniques for implementing aspects of a conveying device control system according to at least one embodiment; Fig. 5 is an exemplary system architecture to implement aspects of a conveying device control according to at least one embodiment; Fig. 6 describes in more detail the components of an exemplary management module according to at least one embodiment; Fig. 7 describes in more detail the components of an exemplary navigation control system according to at least one embodiment; Fig. 8 describes in more detail the components of an exemplary conveying device control system according to at least one embodiment; Fig. 9 is a flowchart illustrating an exemplary method for controlling a conveying device using a conveying device control according to at least one embodiment; and Fig. 10 is a flowchart illustrating a further exemplary method for controlling a conveying device using a conveying device control according to at least one embodiment. DETAILED DESCRIPTION

[0003] The techniques described here relate to systems and procedures for controlling one or more conveying devices mounted on a mobile drive unit (MDU) operating within a work area (e.g., a facility). Traditional conveying devices may be operated as part of a management system that also controls MDU navigation. Such techniques can lead to performance deficiencies because they calculate both the navigation / guidance instructions for the MDUs and the conveying instructions related to the procurement and / or delivery of an item. Consequently, current techniques can result in delays in task completion, which can negatively impact the performance of individual MDUs operating within the facility or the facility's overall performance. Therefore, improvements are needed to address such inefficiencies.Furthermore, the disclosed techniques enable more efficient coordination of the transport (e.g., procurement of an item, delivery of an item, etc.) with the navigation (e.g., movement) of the MDU, so that the transport of an item does not impair the movement of the MDU. The embodiments of the invention address these and other problems individually and collectively.

[0004] Although all examples may use work areas that include storage facilities (e.g., warehouses), sorting facilities (e.g., sorting depots), and / or storage machinery for illustrative purposes, it should be understood that each example here can also be applied to other suitable contexts, such as facilities where storage and / or sorting are not the primary focus. A "conveyor device controller" may be used in various examples here. A "conveyor device controller" may be a computer system, device, hardware module, or software module responsible for controlling the operation of one or more conveying devices (e.g., a conveyor belt, a tipping plane, a lifting platform, a robotic arm, etc.) that may be mounted or otherwise attached to an MDU. An "item" may include any suitable physical item (e.g.,one or more items that can be purchased from an online retailer and stored and / or sorted within a facility). It should be understood that any example contained herein relating to a single means of transport and / or item can be applied similarly in contexts involving multiple means of transport and / or items. In the examples given here, a “reference marker” may exist in either a navigational or a transportal context in any suitable form (e.g., physical markers and / or electronic data) from which navigational and / or transport information can be determined or provided.

[0005] In some examples, a MDU can be assigned a task that may correspond to various planned activities (e.g., procure an item, transport an item, deliver an item, etc.) to be performed by the MDU within the workspace. The task can be assigned by a management module that is external (or internal) to the MDU. The management module can manage the navigation / guidance instructions related to planned execution paths and / or tasks for the MDUs operating in the workspace. As a simplified example, the management module might give the MDU instructions for performing an assigned task (e.g., pick up item X from location Z and deliver item X to location Q). In some examples, the instructions might specify that the MDU should take action (e.g.,(e.g., eject an item) when it encounters a specific location and / or reference marker (e.g., navigation-related and / or transportation-related). If appropriate instructions are executed by a suitable MDU, the MDU can perform the task. In some embodiments, the MDU can be configured with a sensor (or more than one sensor) to determine its location within the workspace. For example, the MDU can be configured with a barcode reader, an infrared sensor, an image capture device, a global positioning system, or a similar system or device that can be used to determine the MDU's location within the workspace. In some embodiments, the sensor can be used to read navigation-related reference markers located throughout the workspace.As a non-restrictive example, a barcode reader can be positioned to read navigation-related reference markers affixed at various locations on the floor of the work area. A "navigation reference marker," as used here, is intended to refer to any suitable form (e.g., physical and / or electronic data) from which navigation information can be determined and / or provided (e.g., stickers, reference points, other objects in the work area, RFID, location data such as GPS coordinates, etc.) from which location information can be derived for the MDU.

[0006] A mobile distribution unit (MDU) can be assigned a task (e.g., by the management system) that includes transportation activities such as retrieving an item from one location, transporting the item from one location to another, and / or delivering the item to the location. While the navigation and / or guidance of the MDU (e.g., the movement of the MDU) can be performed using the management system and navigation markers, the transportation activities can be performed independently. For example, the MDU's sensor can be further configured to receive transportation information from transportation-related reference markers. Transportation information can include any suitable combination of item information (e.g., weight, dimensions, material, etc.) and shipping information (e.g., a delivery address, postal code, etc.).These include a delivery location within the work area, a specific location where the conveying device is to be engaged, a speed at which the conveying device is to be engaged, an angle at which the conveying device is to be tilted, or any suitable instructions for operating the conveying device (e.g., to receive, convey, or deliver the item). Conveyance-related reference markers can be statically provided physical markers (e.g., a barcode, text on a label, etc.) or, in some cases, the conveyance-related reference markers can be dynamically updated. For example, a conveyance-related reference marker could be provided via a screen. The MDU can capture an image of the screen and determine the conveyance information using image recognition techniques.In some embodiments, a transport-related reference mark may be in any suitable form (e.g., physical and / or electronic data) from which transport information can be determined and / or provided.

[0007] As a non-restrictive example, a mobile distribution unit (MDU) configured with a conveying device (e.g., a conveyor belt, tilting plane, lifting platform, robotic arm, etc.) can receive instructions from the management system to navigate to an area (e.g., using navigational reference markers, GPS, etc.) from which an item is to be retrieved. The MDU can be instructed to approach a retrieval location. As the MDU approaches the retrieval location, it may pass by (e.g., go over) a conveying reference marker. The conveying reference marker may contain any appropriate information to determine the operation of the conveying device. Once the MDU passes the retrieval location, the item may be conveyed from the retrieval location to the MDU by the conveying device.In some scenarios, the MDU can initiate the handover of the item using the transport device without stopping at the pickup location.

[0008] In some cases, the MDU may be instructed by the management system to proceed to a delivery location. As the MDU approaches the delivery location, it may pass a single transportation-related reference marker indicating that the transportation device should perform specific operations to deliver the item to the delivery location. Alternatively, the management system may provide instructions indicating that the MDU must deliver the item in a specific manner once it encounters a particular location- and / or transportation-related reference marker. For example, the transportation-related reference marker may provide transportation information that can be used by the MDU's transportation controller to operate the transportation device.For example, the transport control system can receive transport information that causes it to operate a conveyor belt on the MDU at a certain speed and in a certain direction (e.g., towards the delivery location).

[0009] In other examples, the MDU can pass multiple transportation-related reference markers, which can be used collectively to determine the operations to be performed by the transportation device. For example, the MDU can pass an initial transportation-related reference marker to obtain initial transportation information. The initial transportation information can specify an initial location and / or a specific distance between the initial transportation-related reference marker and the delivery location and / or a specific relative location (e.g., in front of the MDU, immediately to the left). The MDU can then pass a second transportation-related reference marker to obtain information about the second transmission. The second transportation information can specify a second location and / or a specific distance between the second transportation-related reference marker and the delivery location and / or a specific relative location (e.g., in front of the MDU, immediately to the left).in front of the MDU, immediately to the left). In some embodiments, a conveying controller of the MDU, configured to operate the conveying device, can determine the operations to be performed by the conveying device from the first conveying information and the second conveying information. The conveying controller can then instruct the conveying device to perform those operations that result in the delivery of the item to the delivery location. As a non-restrictive example, the conveying controller can calculate a speed of the MDU from the first and second conveying information so that the conveying device (e.g., a conveyor belt) moves in the applicable direction (e.g., projecting an item toward the delivery location) at a suitable speed (e.g.,(given the fixed speed at which the MDU is moving) works so that the item is delivered to the location without changing the MDU's travel speed.

[0010] In some embodiments, item information and / or delivery information associated with the item to be transported can be provided and / or derived from the transport information provided by a transport-related reference mark. For example, item information such as an identifier, weight, material, dimensions, or item category (e.g., hazardous, fragile, etc.) can be included in the transport information provided by the transport-related reference mark. Similarly, delivery information such as a delivery address, delivery postal code, delivery location within the work area, or similar details can be included in the transport information provided by the transport-related reference mark.In some cases, an identifier for the item can be provided by the transport-related reference mark, and the transport control can be configured to request (e.g., via a wireless protocol) item information and / or delivery information from the management system and / or any suitable system (e.g., an inventory database system containing information for any suitable number of items, including the transported item). In some embodiments, the MDU and / or the transport device can be configured with one or more sensors (e.g., an image capture device, a load cell, accelerometers, gyroscopes, etc.) to capture object information (e.g., weight, dimensions, orientation, or similar) of the object.

[0011] The conveying device control can be configured to operate the conveying device according to the specific item information. In other words, the speed, inclination, duration, and / or direction of movement, or other operating parameters of the conveying device, can vary depending on the received, conveyed, and / or delivered item. For example, a relatively large and / or heavy item and / or an item with different packaging (e.g., corrugated cardboard versus envelope) may be conveyed by the device using different operations than a relatively small and / or light item.

[0012] In another exemplary configuration, the MDU can be configured with one or more conveying devices, each with its own conveying device controller (or a common controller). Any suitable number of conveying devices on an MDU can be configured to convey one or more items. In each of the examples listed here, a conveying device can be configured to convey one or more items. Accordingly, a conveying device can be configured with sensors that can be used by the conveying device controller(s) to identify a specific item to be conveyed. For example, the MDU can carry two items in a storage bin accessible to a robot arm. As another example, the MDU can be configured with two conveyor belts, each capable of conveying one or more items.The conveying device control can, upon receiving conveying information, use all suitable sensor information (e.g., images, infrared, RFID, barcodes, pressure sensors, and similar) to identify the location of a specific item in order to select the appropriate item from a group of items.

[0013] Unlike conventional systems where a single management system controls both the navigation / guidance of the MDU and the instructions for operating any conveying device on the MDU, the operation of the conveying device can be defined locally at the MDU. This can reduce the processing load of the management system by decoupling the conveying device's operations from the MDU's navigation. Item transport can be controlled locally at the MDU, rather than by the management system. Furthermore, the operations instructed by the management system can be synchronized with the operations performed by the conveying device. In addition, the techniques described here can improve the efficiency of MDUs within the workspace, as items can be procured and delivered without changing the speed at which the MDU is moving.Accordingly, transport control can improve the overall throughput of the system (e.g., reducing waiting times for MDUs within the system). It goes without saying that the techniques discussed above are also applicable in contexts other than inventory / sorting.

[0014] Fig. Figure 1 is a schematic diagram illustrating an exemplary environment 100 suitable for implementing aspects of a conveying device control system according to at least one embodiment. The environment 100 may include a management module 102 and one or more mobile drive units (MDUs) (e.g., the MDUs 104-1, 104-2, 104-3, 104-4, 104-5, collectively referred to as “MDUs 104”) operating within a work area 106 (e.g., a storage facility where items are stored, a sorting facility where items are sorted, or the like).

[0015] The management module 102 can be configured to manage various task assignments and navigation aspects of the MDUs 104 using the workspace 106. Each MDU 104 can be configured with a navigation controller 108 and a transport device controller 110. The MDUs 104 can be individually configured with multiple transport device controllers, each specific to a transport device of the MDU. It is understood that the navigation controller 108 and the transport device controller 110 can be separate modules / devices, or that some operations of the navigation controller 108 and the transport device controller 110 can be performed by a single module / device.The navigation controller 108 can be configured to receive task assignment information and navigation / guidance instructions from the management module 102 to move the MDU within the work area 106. The conveying device controller 110 of each MDU can be configured to perform conveying operations using a conveying device (e.g., a conveyor belt, a tilting plane, a lifting platform, a robotic arm, etc.) mounted on the respective MDU 104. Additional elements within the work area 106 can include one or more of the containers 112. In some embodiments, the work area 106 can include transfer areas 107 where shipments can be retrieved from the MDUs 104 and transported to various delivery locations (e.g., containers 112). The work area 106 can contain additional elements and / or components not included in the description. Fig. 1 are shown.

[0016] Containers 112 can have various shapes. For example, containers 112 can be configured in any suitable shape to hold one or more items. Some containers 112 may contain storage locations and / or receptacles configured to hold and store one or more physical items. Containers 112 may include boxes, shelves, racks, or similar items. In some examples, containers 112 may include an opening through which items can be placed (and potentially transported or forwarded) into a storage container (e.g., a portable storage container, a stationary storage container, etc.).

[0017] As a non-restrictive example, the work area 106 may contain a raised floor on which the MDUs 104 can operate. The containers 112 may have an opening in the raised floor of the work area 106 through which items can be deposited by the MDUs 104. In some examples, the floor may or may not be raised, and the containers 112 may have an opening (e.g., facing upwards or downwards) through which items can be deposited. Storage containers (not shown) may be placed near (e.g., below, above, etc.) the containers 112 or otherwise attached to them. An item may be placed in the containers 112 and conveyed (e.g., via a chute, conveyor belt, another MDU / transport device, etc.) into a storage container (e.g., a box, crate, vehicle, etc.). The storage container may hold the item temporarily or permanently.Each of the containers 112 can be associated with an identifier that identifies a specific container from the group.

[0018] As another non-restrictive example, the containers 112 can contain a storage container on which one or more items can be placed for storage. The containers 112 can be a racking system and / or a storage container with any number of storage containers in which the MDUs 104 can accommodate different items. Each storage container within the containers 112 can be assigned an identifier that identifies the respective storage container within the containers 112.

[0019] In some embodiments, the MDUs can transport any item (e.g., a physical item, the containers 112, etc.) between locations within the work area 106. Accordingly, each of the MDUs 104 can be capable of moving items between locations within the work area 106 to facilitate the input, processing, sorting, inventory management, and / or retrieval of items within the work area 106 and the performance of other tasks related to items.

[0020] In at least one embodiment, the management module 102 can assign tasks to suitable components of the workspace 106 (e.g., the MDUs 104) and coordinate the operation of the various components in performing the tasks. Although in Fig. While shown as a single, discrete component in Figure 1, the depicted management module 102 can represent multiple components and may represent or contain parts of the MDUs 104 or other components of the environment 100 (e.g., one or more components of the navigation control 108). The management module 102 can be internal or external to the workspace 106. In some examples, the management module 102 can communicate with various components of the environment 100 (e.g., the navigation control 108 and / or the transport device control 110) via one or more networks (e.g., the internet, a wireless network, a local area network, a cellular network, or similar).

[0021] The MDUs 104 can represent any devices or components suitable for use in the work area 106, based on the features and configuration of the containers 112 and / or other components of the work area 106. In one particular embodiment of the environment 100, the MDUs 104 represent independent, self-powered devices configured to move freely within the work area 106. Examples of such inventory systems are disclosed in U.S. Patent No. 9,087,314 B2, filed on July 21, 2015, entitled "SYSTEM AND METHOD FOR POSITIONING A MOBILE DRIVE UNIT," and in U.S. Patent No. 8,280,547 B2, filed on October 2, 2012, entitled "METHOD AND SYSTEM FOR TRANSPORTING INVENTORY ITEMS," the full disclosures of which are incorporated herein by reference. The MDUs 104 can be communicatively coupled with the management module 102 via any suitable means of communication and according to any suitable communication protocol.It is understood that the examples described here can be used similarly by any suitable device configured to utilize the available space, regardless of whether it can move freely within the workspace 106 or not. Therefore, the techniques described here can also be applied to devices other than MDUs, such as robot arms.

[0022] The work area 106 of the Fig. 1 represents an area in which the MDUs 104 can move. For example, work area 106 can represent all or part of the floor of a shipping warehouse and / or sorting facility where the MDUs 104 work. Although Fig. Figure 1 shows a workspace 106 for illustration purposes, which comprises a fixed, predefined, and finite physical space. However, the workspace 106 can have variable dimensions and / or an arbitrary geometry. Fig. Figure 1 is intended to illustrate a particular embodiment in which the work area 106 is completely enclosed by a building, the work area 106 cannot be restricted by a fixed structure.

[0023] During operation, the Management Module 102 can select specific MDUs from the MDUs 104 to perform particular tasks. Once a task (or multiple tasks) is assigned, the Management Module 102 can issue instructions to the Navigation Control 108. A task and its instructions can include one or more subtasks. For example, a task to store a newly received item might involve navigating to a specific location (e.g., Transfer Area 107, a specific container from Containers 112, etc.) and driving (e.g., along a planned route) to another location (e.g., another area of ​​Workspace 106, one of Containers 112, etc.).

[0024] The MDUs 104 can be configured to receive task assignments (e.g., directly from the management module 102 or indirectly via, for example, the navigation control 108). The MDUs 104 can send instruction requests (e.g., to the management module 102) and receive instruction responses (e.g., from the management module 102). An instruction request can contain location information associated with a specific MDU, such as a location identifier indicating the MDU's current location. An instruction response can contain information that instructs the MDU to perform specific operations (e.g., to begin traveling along a specific course at a specific speed). The management module 102 can be configured to manage seat reservations for the MDUs 104 within the workspace 106. In some embodiments, the management module 102 can reserve seats within the workspace 106 (e.g.,(a volume, an area, a location, etc.) for a specific MDU to perform a suitable part of its assigned task.

[0025] In some embodiments, the work area 106 can use navigation-related reference markers 114 placed within the work area 106. The navigation-related reference markers 114 can be embedded in a concrete floor of the work area 106 or, alternatively, in a raised floor or an additional surface arranged above an existing floor surface. The navigation-related reference markers 114 can be distributed throughout the work area 106 (e.g., in a grid-like pattern, in any suitable manner) and can encode location information by any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ Code, or any suitable identification mark or code, encoded or not).

[0026] As the MDUs 104 move across the work area 106, they can be configured to receive location information (e.g., via a sensor such as a barcode reader, scanner, image capture device, etc.) from the navigation-related reference markers 114. The MDUs 104 can provide the management module 102 with their current location, status, and / or other characteristics to provide an updated awareness of their tasks and location. In some embodiments, an MDU can provide this information periodically and / or incrementally to inform the management module 102 of its location and / or the completion or delay of a portion of its assigned task.The management module 102 can use the information provided by the MDUs 104 to determine and / or modify planned navigation paths, update task assignments, or perform any suitable operation related to task assignment and navigation of the MDUs 104 within the workspace 106. In some embodiments, the MDUs 104 can determine location information without using navigation-related reference markers. For example, the MDUs 104 can additionally or alternatively use a global positioning system, image recognition techniques (e.g., identifying location by images of objects and / or reference points, etc.), or similar methods to determine location information.

[0027] In some embodiments, the management module 102, in conjunction with a corresponding navigation controller 108, can coordinate the movement of an MDU by using location information obtained via navigation-related reference markers.

[0028] In some embodiments, the work area 106 may use transportation-related reference markers 116 placed within the work area 106. The transportation-related reference markers 116 may be separate from the navigation-related reference markers, or in some cases, a reference marker may contain both location and transportation information. Transportation-related reference markers may be embedded in a concrete floor of the work area 106 or, alternatively, in a raised floor or an additional surface arranged above an existing floor surface. The transportation-related reference markers 116 may be distributed at specific locations within the work area 106, as shown. It is understood that more or fewer transportation-related reference markers may be used in any suitable configuration.For example, transport-related reference markers may be placed near some and / or all containers 112. One or more transport-related reference markers may correspond to a single container. That is, there may be one or more transport-related reference markers placed to correspond to one or more directions of approach.

[0029] In some embodiments, transport-related reference markings can encode transport information via any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code), or any suitable text and / or code can be used, encoded or not.

[0030] For example, transport information can include the following information in a suitable combination: item information relating to the item (e.g., weight, dimensions, material, etc.), shipping information (e.g., a delivery address, a postal code, etc.), a delivery location and / or a specific container within the work area, a specific location (e.g.,a specific transport-related reference mark) at which the transport device is to be engaged, a speed at which the transport device is to be engaged, a duration for which the transport-related device is to be operated, an angle of inclination / incline to be achieved by the transport device, a distance between a transport-related reference mark and a delivery point or container, an orientation of a specific container with respect to a specific transport-related reference mark, an angle at which it may be inclined towards the transport device, or any suitable instructions and / or information for the operation of the transport device to receive or deliver an article.

[0031] In some embodiments, the conveying device controller 110 can be configured to determine a set of operations to be performed by a conveying device mounted on an MDU. For example, the conveying device controller 110 can be configured to use conveying information to determine specific operations that must be performed by a conveying device to receive an item from a location and / or deliver an item to a location. The conveying device controller 110 can instruct the conveying device to perform any appropriate operation. Specific examples of conveying device operation are discussed below in conjunction with the following figures.

[0032] Fig. 2A and Fig. 2B illustrate in more detail the components of a specific embodiment of a mobile drive unit (e.g. the mobile drive unit (MDU) 104 from Fig. 1) In particular, they contain Fig. 2 and Fig. 3 A front and side view of the MDU 104. The MDU 104 may comprise a conveying system 201 (including a conveying device 202 and, in some cases, sensor(s) 214), a drive module 204, and a control module 206. The control module 206 may include the navigation control 208 (an example of the navigation control 108 of the Fig. 1) for controlling the guidance / navigation of the MDU 104 and a transport device control 210 (an example of the transport device control 110 from Fig. 1) for controlling operations performed by the conveying device 202. Additionally, the MDU 104 may include one or more sensors configured to detect or determine the location of the MDU 104 in order to obtain article and / or delivery information, conveying information, or other suitable information relating to the navigation and / or conveyance of an article within a work area. In the illustrated embodiment, the MDU 104 includes the sensor(s) 212 (e.g., a scanner), the sensor(s) 214 (e.g., a load cell), and the sensor(s) 216 (e.g., optical sensors, image capture devices, etc.).

[0033] The drive module 204 can drive the MDU 104. The drive module 204 can be any suitable collection of components suitable for driving the MDU 104. In the illustrated embodiment, the drive module 204 comprises, for example, a motorized axle 218, a pair of motorized wheels 220, and a pair of stabilizing wheels 222. Each of the motorized wheels 220 can be arranged at either end of the motorized axle 218, and a stabilizing wheel 222 can be positioned at either end of the MDU 104.

[0034] The conveying device 202 can be any suitable device, such as a conveyor belt, a tilting plane, a lifting platform, a robot arm or any suitable device for transferring an article to and / or from the MDU 104. Fig. 2A and Fig. 2B represents the conveying device 202 as a conveyor belt mounted on the MDU 104.

[0035] The drive module 204 can be configured to drive the MDU 104 in any suitable manner. In the illustrated embodiment, for example, the motorized wheels 220 are able to rotate in a first direction to drive the MDU 104 forward. The motorized wheels 220 can also rotate in a second direction to drive the MDU 104 backward. In the illustrated embodiment, the drive module 204 is also configured to rotate the MDU 104 by rotating the motorized wheels 220 in different directions relative to each other or by rotating the motorized wheels 220 at different speeds relative to each other.

[0036] The sensor(s) 212 represents one or more sensors, detectors, or other components suitable for detecting or determining the location of the MDU 104, obtaining article information (e.g., an identifier, weight, material, article dimensions, article category (e.g., hazardous, fragile, etc.) and / or delivery information (e.g., a delivery address, delivery postcode, delivery location within the work area), obtaining information about transportation (e.g., instructions / operations for transportation of an article to or from the transportation device 202), or obtaining suitable information relating to the navigation and / or transportation of an article within a work area in a suitable manner.

[0037] For example, in certain embodiments, the work area 106 can be connected to a storage and / or sorting device. The work area 106 can include a series of navigation-related reference markers that mark points on a two-dimensional grid covering the entire work area 106 or a portion thereof. The work area 106 can additionally or alternatively include a series of transport-related reference markers located at specific points within the work area 106, such as near pickup and / or delivery locations. In such embodiments, the sensor(s) 212 can include a camera and suitable image and / or video processing components, such as...The control module 206 contains a suitably programmed digital signal processor to enable the sensor(s) 212 to detect navigation-related reference markers and / or transportation-related reference markers within the camera's field of view. The control module 206 can store location information that updates the sensor(s) 212 when the sensor(s) 212 detect navigation-related reference markers. The control module 206 can additionally or alternatively store transportation-related information indicating that the sensor(s) 212 detect transportation-related reference markers. The sensor(s) 212 can use navigation-related reference markers to obtain an accurate indication of the MDU 104's location and to assist with navigation during movement within the work area 106.The sensor(s) 212 can supply transport information detected / determined from transport-related reference markers to the transport device controller 210 for processing. In at least one example, the control module 206 can cause a historical record corresponding to the location and / or transport information to be stored in the local memory of the MDU 104. The control module 206 can also be configured to transmit the historical record at any suitable time (e.g., to the management module).

[0038] The sensor(s) 214 represents one or more sensors, detectors, or other components suitable for identifying an article and / or article attributes of an article being conveyed by the conveying system 201 in any suitable manner. The sensor(s) 214 may be able to detect the orientation of the article relative to the conveying device 202 (e.g., a position on the conveying system 201, an orientation such as a box being placed on its side, etc.). In some embodiments, the sensor(s) 214 may be configured to determine article information (e.g., an identifier, weight, material, article dimensions, article category (e.g., hazardous, fragile, etc.)) of the conveyed article.The sensor(s) 214 can be, for example, a scanner configured to scan a barcode located on the item's packaging. The barcode can be used to identify item information associated with the item from locally stored data (e.g., mapping the scanned item ID to a set of item attributes) and / or the barcode can be used to request item information from a remote system (e.g., the management module 102 of [system name]). Fig. 1) In some embodiments, the sensor(s) 214 may include a load cell (e.g., for determining the weight of the article), an image capture device (e.g., for determining the article identifier, the article dimensions, a shipping address / postal code from a shipping label), or any suitable sensor that can be used to determine such article information.

[0039] The sensor(s) 216 can be one or more sensors capable of detecting objects located in one or more different directions in which the MDU 104 can move. The sensor(s) 216 can use any suitable components and techniques, including optical, radar, sonar, pressure sensor, and / or other types of detection devices suitable for detecting objects located in the direction of travel of the MDU 104. In at least one embodiment, the sensor(s) 216 or another component of the MDU 104 can transmit information to a management module (e.g., the management module 102 of the Fig. 1) transmit. In at least one example, the control module 206 can cause a historical record to be updated with sensor data collected by the sensor(s) 216. The control module 206 can further be configured to transfer / transmit the historical record, including obstacle data, to the management module at any suitable time.

[0040] The navigation control unit 208 can monitor and / or control the operation of the drive module 204. The navigation control unit 208 can also receive information from sensors such as sensor(s) 212 and sensor(s) 216 and adjust the operation of the drive module 204 based on this information. Additionally, in certain embodiments, the MDU 104 can be configured to communicate with a management module 102. Fig. 1 communicates and the navigation control 208 can receive instructions which are transmitted to the MDU 104 and, using suitable communication components of the MDU 104, report information back to the management module 102.

[0041] The navigation controller 208 may include any suitable hardware and / or software capable of providing the described functionality. In certain embodiments, the navigation controller 208 includes one or more general-purpose microprocessors programmed to provide the described functionality. Furthermore, in particular embodiments, the navigation controller 208 may include hardware and software located in components physically separate from the device housing the drive module 204, the conveying system 201, and / or the other components of the MDU 104 described above.

[0042] Fig. Figure 3 shows in more detail an exemplary environment 300 that is suitable for aspects of a conveying device control (e.g. the conveying device control 110 of Fig. 1) to be implemented in accordance with at least one embodiment. Environment 300 comprises area 302, which is part of the working area 106 of the Fig. 1 is intended to represent, although area 302 can illustrate different work areas than work area 106. In the Fig. In the embodiment shown in Figure 3, the area 302 comprises the navigation-specific reference markings 304-1 to 304-5 (collectively referred to as "navigation-specific reference markings 304", each of which is an example of the navigation-specific reference markings 114 of the Fig. 1 are). The area 302 may also include the transport-related reference markings 306-1 to 306-5 (collectively referred to as ‘transport-related reference markings 306’, each of which is an example of the transport-related reference markings 116 of the Fig. 1 are).

[0043] In some embodiments, the navigation-related reference markers 304 (e.g., in the grid-like configuration shown or any other configuration) can be distributed throughout the area 302 and can encode location information by any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code, or any suitable identification mark or code may be used, encoded or not). Similarly, the transportation-related reference markers 306 (e.g., in the manner shown) can be distributed at various locations throughout the area 302 and can encode transportation information by any suitable method (e.g., encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code, or any suitable identification text or code may be used, encoded or not).

[0044] In some embodiments, the transport-related reference markings 306 can be placed in a different configuration than the navigation-related reference markings 304, and the placement of the transport-related reference markings 306 need not be relative to or in relation to the navigation-related reference markings 304. For example, Fig. 3. An exemplary distribution pattern for the transport-related reference markers 306, which places one or more transport-related reference markers at some distance from container 112-1 (an example for the containers 112 of the Fig. 1) The number, position, and / or orientation of the transport-related reference markers 306 may vary depending on the container, based at least in part on a number of possible navigational approach approaches. For example, transport-related reference markers 306-1 and 306-2 may be applied in the manner shown to provide transport information to an MDU approaching container 112-1 from the direction indicated by arrow 308. Transport-related reference markers 306-3 and / or 306-4 may be applied in the manner shown to provide transport information to an MDU approaching container 112-1 from the direction indicated by arrow 310. Transport-related reference marker 306-4 may additionally or alternatively provide transport information to an MDU approaching container 112-1 from the direction indicated by arrow 312.It is understood that the transport information and the navigation information provided by the transport-related reference markers 306 and the navigation-related reference markers 308 may be encoded in a single reference marker, instead of as in . Fig. 3 shown, to use separate reference markers.

[0045] In some embodiments, transport-related reference marks 306 can encode transport information via any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code), or any suitable text and / or code, encoded or not, can be used. For example, transport information can include, and in suitable combinations include, item information relating to the item (e.g., weight, dimensions, material, etc.), shipping information (e.g., a delivery address, a postal code, etc.), a delivery location and / or a specific container within the work area, a specific location (e.g.,a specific transport-related reference mark) at which the conveying device is to be engaged, a speed at which the conveying device is to be engaged, a distance between a transport-related reference mark and a delivery location or container, an orientation of a specific container with respect to a specific transport-related reference mark, an angle at which the conveying device is to be tilted, or any suitable instructions and / or information for the operation of a conveying device to receive and / or deliver an article.

[0046] As the MDU 104 moves through area 302, it can be configured to receive location information from the navigational reference markers 304, using a sensor on the MDU 104, such as a barcode reader, scanner, image capture device, etc. The MDU 104 can transmit its current location, status, and / or other characteristics to a management module (e.g., the management module 102 of [system name missing]). Fig. 1) send to establish an updated awareness of the tasks and location of the MDU 104. In some embodiments, an MDU can provide this information periodically and / or incrementally to inform the management module 102 of its location and / or any completion or delay related to a part of its assigned task. The management module 102 can use the information provided by the MDU 104 to determine and / or modify planned navigation paths, update task assignments, or perform any appropriate operation related to task assignment and navigation of the MDU 104 within the workspace 106. In some embodiments, the MDU 104 can determine location information without using navigation-related reference markers. For example, the MDU 104 may additionally or alternatively use a global positioning system, image recognition techniques (e.g.,Location identification (using images of objects and / or reference points, etc.) or similar methods to determine location information. According to the techniques described here, the management module 102, in conjunction with a navigation controller of the MDU 104, can coordinate the movement of the MDU 104 using location information obtained via the navigation-specific reference markers 304.

[0047] When the MDU 104 crosses area 302 with article 314 using the conveying device 316 (e.g., a conveyor belt mounted on the MDU 104), it can move in the direction indicated by arrow 308. When the MDU passes over the conveying-related reference mark 306-1 (or reaches a conveying-related location), a sensor of the MDU (e.g., the sensor(s) 212 of Fig. 2) be used to obtain information about the transport from the transport-related reference mark 306-1. As an illustrative example, the transport information may include at least one of the following elements: an identifier for the container 112-1, a specific location and / or distance from the container 112-1 at which the transport device 316 is to be engaged, a speed at which the transport device is to be engaged, a distance between a transport-related reference mark 306-1 and the container 112-1, an orientation of the container 112-1 with respect to the transport-related reference mark 306-1 (e.g., front left), or any suitable instructions and / or information for the operation of the transport device 316 to procure or deliver an article.

[0048] To continue with the example, the MDU 104 can then display the transport-related reference mark 306-2, a sensor of the MDU (e.g. the sensor(s) 212 of Fig. 2) use to obtain transport information from the transport-related reference mark 306-2. The transport information obtained from the transport-related reference mark 306-2 may include at least one of the following elements: an identifier for the container 112-1, a specific location and / or distance from the container 112-1 at which the transport device 316 is to be engaged, a speed at which the transport device 316 is to be engaged, a distance between a transport-related reference mark 306-2 and the container 112-1, an orientation of the container 112-1 with respect to the transport-related reference mark 306-2 (e.g., front left), or any suitable instructions and / or information for the operation of the transport device 316 to procure or deliver an article.In some examples, the MDU 104 can calculate a speed and / or other parameters for the operation of the transport device 316, at least partially, based on the transport information obtained from the transport-related reference marks 306-1 and 306-2. As a non-restrictive example, the transport information obtained from the transport-related reference marks 306-1 and 306-2 can be used to calculate a travel speed for the MDU 104. The calculated travel speed can be used to determine a suitable speed and / or location for starting the transport device 316 to transport Article 314 into the container 112-1.In general, any suitable parameter for the operation of the conveying device 316 can be calculated using any suitable combination of conveying information obtained from one or more of the conveying-related reference marks 306.

[0049] In some embodiments, the conveying device control 110 can be configured to determine a set of operations to be performed by the conveying device 316 (e.g., a conveyor belt) mounted on an MDU. For example, the conveying device control 110 can be configured to use conveying information to determine specific operations that must be performed by a conveying device 316 to deliver the article 314 to container 112-1. In some embodiments, the conveying device control 110 operates independently of the navigational aspects of the MDU. That is, in some cases, the conveying device control 110 cannot affect and / or change the overall speed or heading of the MDU 104, since the operation of the conveying device 316 can be completely decoupled from the navigation of the MDU 104.In some examples, the conveying device 316 can operate independently of the navigation of the MDU 104, while the conveying device control 110 can be configured to send a speed and / or course change request to the navigation control 108 to change a speed and / or approach direction with respect to the container 112-1.

[0050] As another example, the MDU 104 can approach container 112-1 from the direction indicated by arrow 312. When the MDU 104 passes over (or enters) the transport-related reference mark 306-4, a sensor of the MDU (e.g., sensor(s) 212) can detect Fig. 2) can be used to obtain information about the transport from the transport-related reference mark 306-4. In this example, the transport information can indicate that the transport device 316 is to be switched on (e.g., either immediately, after a period of time (e.g., 3 seconds), etc.). The speed at which the transport device 316 can be instructed to operate at a predetermined standard speed and / or direction, or the speed and / or direction at which the transport device 316 is to be operated, can be specified and / or determined from the transport information. For example, the transport information can specify a location and / or orientation of the container 112-1 and / or a distance until impact on the container 112-1.Accordingly, the conveying device control 110 can be configured to determine the operating speed and / or direction of the conveying device 316 to convey the article 314 into the container 112-1. In some embodiments, the conveying information from the conveying device control 316 can be used to convey articles in such a way that the original speed and / or course of the MDU 104 is maintained. In other words, the MDU 104 does not need to slow down or stop at the container 112-1 to transfer the article 314.

[0051] In some embodiments, the conveying device 316 can be instructed by a management module (e.g., the management module 102 of the Fig. 1) To perform one or more operations when a transport-related reference marker and / or transport location is encountered. For example, a GPS coordinate may be specified in instructions as the location where the transport device is to be activated. Accordingly, when the MDU 104 encounters this location (e.g., arrives at the designated GPS coordinate), it can be used to trigger the operation of the transport device. As a non-restrictive example, when the MDU 104 (configured with a lift platform type transport device) encounters a GPS position corresponding to the transport-related reference marker 306-4 (or the transport-related reference marker 306-4 itself), the lift platform can be activated to lift the item to a specified height so that the item is against a (not shown) plane or...an object (not shown) is pressed and the item is deflected away from the MDU 104 and into the container 112-1.

[0052] In some embodiments, the conveying device 316 can operate in accordance with the conveying information obtained from the conveying-related reference marks 306 and with the article information for the article 314. In other words, the speed, inclination, height, or other operating parameters of the conveying device 316 can vary depending on the article and / or article attributes of the conveyed article. For example, if the article 314 is relatively large and heavy, the conveying device 316 could be instructed to move the article 314 at a speed X in the direction of the side facing the container 112-1, starting at point Y.If the article 314 is relatively small and light, a set of operations identified for the conveying device 316 may include instructions to move the article 314 in the direction of the side facing the container 112-1 at a velocity P, starting from position Q, where velocity X may or may not correspond to velocity P, and where position Y may or may not correspond to position Q. In the in . Fig. In the three examples shown, MDU 104 may have previously received information about Article 314 during task assignment and / or during the operations performed to obtain it. Some examples of this are given below in relation to… Fig. 4 will be discussed.

[0053] Fig. Figure 4 is a schematic representation that illustrates an example technique for implementing aspects of a conveying device control system (e.g., the conveying device control system 110 from Fig. 1), in accordance with at least one embodiment. The environment 400 comprises the area 402, which defines the area 402 of Fig. 1 is supposed to represent, although area 402 also includes other areas / work areas besides those of work area 106 of Fig. 1 can illustrate. In the Fig. In the embodiment shown in Figure 4, the area 402 can contain any suitable number of navigation-related reference markings (e.g., the navigation-related reference marking 404). The area 402 can also contain the transportation-related reference markings 406-1 and 406-2 (collectively referred to as "transportation-related reference markings 406", each of which is an example of the transportation-related reference markings 116 of the Fig. 1 are). The surroundings 400 of Fig. 4 should represent an MDU (e.g., MDU 104) that contains an article from section 402 of Fig. 1 receives. In the Fig. In the example shown, the MDU 104 is configured with the conveying device 403 (e.g., an example of a conveying device), which can be configured to deposit and / or pick up items to / from the MDU 104. The conveying device control 210 from Fig. 2 can be configured to transport the MDU's transport device 403 into Fig. 4 served.

[0054] In some embodiments, navigation-related reference markers (e.g., including navigation-related reference marker 404) can be distributed throughout the area 402 and can encode location information by any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code, or any suitable identification code, encoded or unencoded). Similarly, the transportation-related reference markers 406 (e.g., as shown) can be distributed at various locations throughout the area 402 and can encode transportation information by any suitable method (e.g., encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code, or any suitable identification text or code, encoded or unencoded).In some embodiments, the transport-related reference markers 306 may be placed together with each navigation-related reference marker 404 or in a different pattern than the navigation-related reference markers, and the placement of the transport-related reference markers 406 need not be relative to or in relation to the navigation-related reference markers. The number, location, and / or orientation of the transport-related reference markers 406 used in the area 402 may vary. For example, the transport-related reference markers 406-1 and 406-2 may be placed in the manner shown to provide transport information to an MDU approaching an item (e.g., item 408) to be obtained from the area 402. In some embodiments, the MDU 104 may approach from the direction indicated by the arrow 410.Transport-related reference markers 406-1 and / or 406-2 may be affixed in the manner shown to provide transport information to an MDU approaching Article 408 (on container 412) from the direction indicated by arrow 410. It is understood that the transport information and navigation information provided by the transport-related reference markers 406 and 404 may be encoded in a single reference marker, instead of, as shown in [reference 1]. Fig. 4 shows that separate reference markers should be used.

[0055] In some embodiments, transport-related reference marks 406 can encode transport information via any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ code), or any suitable text and / or code, encoded or not, can be used. For example, transport information can include, and in suitable combinations include, item information relating to the item (e.g., weight, dimensions, material, etc.), shipping information (e.g., a delivery address, a postal code, etc.), a delivery location and / or a specific container within the work area, a specific location (e.g.,a specific transport-related reference mark) at which the conveying device is to be engaged, a speed at which the conveying device is to be engaged, a distance between a transport-related reference mark and a delivery location or container, an orientation of a specific container with respect to a specific transport-related reference mark, an angle at which the conveying device is to be tilted, or any suitable instructions and / or information for the operation of a conveying device to receive and / or deliver an article.

[0056] As the MDU 104 moves through area 402, it can be configured to receive location information from the navigation-related reference points 404, using a sensor on the MDU 104 such as a barcode reader, scanner, image capture device, etc. The MDU 104 can transmit its current location, status, and / or other characteristics to a management module (e.g., management module 102). Fig. 1) send to establish an updated awareness of the tasks and location of the MDU 104. In some embodiments, an MDU can provide this information periodically and / or incrementally to inform the management module 102 of its location and / or any completion or delay related to a part of its assigned task. The management module 102 can use the information provided by the MDU 104 to determine and / or modify planned navigation paths, update task assignments, or perform any appropriate operation related to task assignment and navigation of the MDU 104 within the workspace 106. In some embodiments, the MDU 104 can determine location information without using navigation-related reference markers. For example, the MDU 104 may additionally or alternatively use a global positioning system, image recognition techniques (e.g.,Location identification (using images of objects and / or reference points, etc.) or similar methods to determine location information. According to the techniques described here, the Management Module 102, in conjunction with a navigation controller of the MDU 104, can coordinate the movement of the MDU 104 using location information obtained via the navigation-specific reference markers 404.

[0057] If the MDU passes over the transport-related reference mark 406-1, a sensor of the MDU (e.g., sensor(s) 212 of the Fig. 2) be used to obtain information about the transport from the transport-related reference mark 406-1. For illustration: The transport information may contain at least one of the following: article information associated with Article 408, an identifier for a container in which Article 408 is to be placed, a specific location and / or distance from the container 412 at which the transport device 403 is to be engaged, a speed at which the transport device 403 is to be engaged, instructions for the operation of the transport device 403, a distance between a transport-related reference mark 406-1 and the container 412, an orientation of the container 412 in relation to the transport-related reference mark 406-1 (e.g.front left), or any suitable instructions and / or information for the operation of the conveying device 403 for the procurement or delivery of an item.

[0058] To continue with the example, the MDU 104 can then pass over the transport-related reference mark 406-2, with a sensor of the MDU (e.g. the sensor(s) 212 of the Fig. 2) be used to obtain transport information from the transport-related reference mark 406-2. The transport information obtained from the transport-related reference mark 406-2 may include at least one of the following: article information associated with Article 408, an identifier for a container in which Article 408 is to be placed, a specific location and / or distance from the container 412 at which the transport device 403 is to be engaged, a speed at which the transport device 403 is to be engaged, instructions for the operation of the transport device 403, a distance between a transport-related reference mark 406-2 and the container 412, an orientation of the container 412 in relation to the transport-related reference mark 306-1 (e.g.(to the left of it), or any suitable instructions and / or information for the operation of the conveying device 403 for the procurement or delivery of an article. In some examples, the MDU 104 may calculate a speed and / or other parameters for the operation of the conveying device 316, at least in part, based on the conveying information obtained from the conveying-related reference marks 406-1 and 406-2. As a non-restrictive example, the conveying information obtained from the conveying-related reference marks 406-1 and 406-2 may be used to calculate a travel speed for the MDU 104. The calculated travel speed may be used to determine a suitable speed and / or location from which to put the conveying device 403 into operation to remove the article 408 from the container 412.In general, any suitable parameter for the operation of the conveying device 403 can be calculated using any suitable combination of conveying information obtained from one or more of the conveying-related reference marks 406.

[0059] In some embodiments, the conveying device control 210 can be configured to determine a set of operations to be performed by the conveying device 403 (e.g., a conveyor belt) mounted on an MDU. For example, the conveying device control 210 can be configured to use conveying information to determine specific operations that must be performed by a conveying device 403 to obtain the article 408 from container 412. In some embodiments, the conveying device control 210 operates independently of the navigational aspects of the MDU. That is, in some cases, the conveying device control 210 may not affect and / or change the overall speed or heading of the MDU 104, since the operation of the conveying device 403 may be completely decoupled from the navigation of the MDU 104.In some examples, the transport device 403 can operate independently of the navigation of the MDU 104, while the control of the transport device 210 can be configured to send a speed and / or course change request to the navigation control 108. Fig. 1 sends to change a speed and / or approach direction with respect to container 412.

[0060] As another example, the MDU 104 can approach container 412 from the direction indicated by arrow 410. Since the MDU 104 only passes over the transport-related reference mark 306-2, a sensor of the MDU (e.g., sensor(s) 212) can detect this. Fig. 2) can be used to obtain transport information from the transport-related reference mark 306-2. In this example, the transport information may indicate that the transport device 403 is to be switched on (e.g., either immediately, after a period of time (e.g., 3 seconds), etc.). The speed at which the transport device 403 can be instructed to operate at a predetermined standard speed and / or direction, or the speed and / or direction at which the transport device 403 is to operate, may be specified and / or determined from the transport information. For example, the transport information may specify a location and / or orientation of the container 412 and / or a distance until impact on the container 412.Accordingly, the conveying device control 210 can be configured to determine the operating speed and / or direction of the conveying device 403 in order to retrieve the article 408 from the container 112. In some embodiments, the conveying information from the conveying device control 210 can be used to retrieve articles in such a way that the original speed and / or course of the MDU 104 is maintained. In other words, the MDU 104 does not need to slow down or stop at the container 412 to transfer the article 408. Consequently, the overall throughput of the area 402 can be increased.

[0061] In some embodiments, the conveying device 403 can operate in accordance with the conveying information obtained from the conveying-related reference markings 406, as well as with the article information for the article 408. In other words, the speed, inclination, or other operating parameters of the conveying device 403 can vary depending on the article and / or article attributes of the conveyed article.

[0062] In some embodiments, at least part of the article information can be obtained via the transport information. In some cases, an identifier of article 408 obtained via the transport information can be used to query a database (e.g., data stores 538 and / or 554 of the Fig. 5, as discussed below) for information about the article related to Article 408. As a non-restrictive example, the transport-related reference marks 406-2 are used, and a data store (e.g., an inventory store of an online provider) and / or the management module 102 of the Fig. 1. Information is requested to determine article details (e.g., a delivery address, a designated container within the work area, article dimensions, weight, manufacturing material, etc.).

[0063] According to some embodiments, the information about the article (e.g. about sensor(s) 216 of the Fig. 2) from a shipping label or sticker, text and / or by identifying item 408 using an image and determining the characteristics of item 408 (e.g., approximate dimensions) or by obtaining item information from a remote source (e.g., the management module 102). In further examples, the MDU 104 can be equipped with sensor(s) (e.g., sensor(s) 214 from Fig. 2) be configured to be used to determine article information associated with the article. For example, if the article is obtained and transported by the MDU 104, the conveying device controller 210 can use the sensor(s) 214 to determine the weight and / or orientation and / or dimensions of article 408. Such article information can be used when the MDU 104 delivers article 408 to a container, as described above in conjunction with Fig. 3 described.

[0064] In at least one embodiment, the conveying device control 210 can be configured to operate the conveying device 403 in accordance with the conveying information obtained from the conveying-related reference marks 406 and / or the article information obtained for article 408. In other words, the operations of the conveying device 403 can vary, at least partially, based on the article and / or the article characteristics of the conveyed article.

[0065] Fig. Figure 5 is an exemplary system architecture for System 500 that implements aspects of a conveying device control system according to at least one embodiment. System 500 may include service provider computers 502. The service provider computers 502 may support an electronic marketplace (not shown) and provide an interface to the purchase and delivery services of the electronic marketplace. In this way, the service provider computers 502 can coordinate the receiving, storage, sorting, packing, and / or shipping of items in a warehouse (e.g., an example for workspace 106 of the Fig. 1) operated by or on behalf of the provider of the electronic marketplace. In some examples, the Service Provider Computers 502 may be a standalone service, operated alone or in conjunction with an electronic marketplace. In both examples, the Service Provider Computers 502 may be connected to the MDUs 104 of the Fig. 1. Communicate over one or more 504 networks (hereinafter referred to as "the 504 network"). The 504 network can include any one or a combination of many different types of networks, such as wired networks, the Internet, wireless networks, cellular networks, and other private and / or public networks.

[0066] Let us now turn to the details of the Mobile Drive Unit (MDU) 506 (an example of one of the MDUs 104 of the Fig. 1) in which the MDU 506 may include an onboard control system 508 and an onboard transportation system 510. The onboard control system 508 may include at least one memory 512 and one or more processing units (or processor(s) 514). The processor(s) 514 may be implemented in hardware, computer-executable instructions, software, firmware, or combinations thereof, as required. Computer-executable instructions or software or firmware implementations of the processor(s) 514 may include computer-executable or machine-executable instructions written in any suitable programming language to perform the various functions described.

[0067] Memory 512 can contain more than one memory location and can be distributed throughout the entire onboard control system 508. Memory 512 can store program instructions (e.g., for the navigation control 516, an example for the navigation control 108 from...). Fig. 1) that are loadable and executable on the processor(s) 514, as well as data generated during the execution of these programs. The navigation controller 516 can be configured to receive task assignments, planned paths, navigation information, and / or instructions from the management module 546 and to perform one or more navigation operations of the MDU according to the data received. Depending on the configuration and type of memory, including the transport device controller 516, the memory 512 can be volatile (such as random access memory (RAM)) and / or non-volatile (such as read-only memory (ROM), flash memory, or other memory). The memory 512 can also include additional removable and / or non-removable storage, including, but not limited to, magnetic storage, optical disks, and / or tape storage.The disk drives and the associated computer-readable media can provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computer devices. In some implementations, the memory 512 can contain several different types of memory, such as static random-access memory (SRAM), dynamic random-access memory (DRAM), or ROM. As for the contents of the memory 512 in particular, the memory 512 can contain an operating system 518 and one or more application programs, modules, or services for implementing the functions disclosed herein, including at least the navigation control 516.

[0068] In some examples, the onboard control system 508 may also include additional storage 520, which may contain removable and / or non-removable storage. The additional storage 520 may include, among other things, magnetic storage, optical disks, and / or tape storage. The disk drives and associated computer-readable media can provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computer devices.

[0069] Memory 512 and additional storage 520, both removable and non-removable, are examples of computer-readable storage media. For example, computer-readable storage media may include volatile or non-volatile, removable or non-removable media implemented by a suitable method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. As used here, modules may refer to programming modules executed by computer systems (e.g., processors) that are part of the onboard control system 508. The modules of the onboard control system 508 may contain one or more components. The onboard control system 508 may also include input / output device(s) 522 and / or connectors, e.g.,for connection to a keyboard, mouse, pen, speech input device, touch input device, screen, speakers, printer, or other I / O device. In at least some embodiments, the I / O device(s) 522 may include one or more sensors (e.g., sensor(s) 212 and / or sensor(s) 216), including any suitable combination of one or more imaging devices, one or more accelerometers, one or more gyroscopes, one or more scanning devices, or any suitable sensor configured to collect location information and / or transportation information using navigation- or transportation-related reference markers.

[0070] The onboard guidance system 508 can also include the data store 524. The data store 524 can contain one or more databases, data structures, or similar for storing and / or preserving information related to the MDU 506 (e.g., planned paths, execution step instructions, etc.) and / or location information obtained via one or more navigation-specific reference markers.

[0071] The onboard transportation system 510 can include at least one memory 526 and one or more processing units (or processor(s) 528). The processor(s) 528 can be implemented in hardware, computer-executable instructions, software, firmware, or combinations thereof, as required. Computer-executable instructions or software or firmware implementations of the processor(s) 528 can include computer-executable or machine-executable instructions written in any suitable programming language to perform the various functions described.

[0072] Memory 526 can comprise more than one memory location and be distributed throughout the entire onboard transportation system 510. Memory 526 can store program instructions (e.g., for the transportation device control 530; an example for the transportation device control 110 from...). Fig. 1) that are loadable and executable on the processor(s) 528, as well as data generated during the execution of these programs. Depending on the configuration and type of memory, including the conveying device control 530, the memory 526 can be volatile (such as RAM (Random Access Memory)) and / or non-volatile (such as read-only memory (ROM), flash memory, or other memory). The memory 526 may also include additional removable and / or non-removable storage, including, but not limited to, magnetic storage, optical disks, and / or tape storage. The disk drives and associated computer-readable media can provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computer devices. In some implementations, the memory 526 may include several different types of memory, such as:Static random access memory (SRAM), dynamic random access memory (DRAM), or ROM. As regards the contents of the memory 526 in detail, the memory 526 may contain an operating system 532 and one or more application programs, modules, or services for implementing the functions disclosed herein, including at least the conveying device control 530.

[0073] In some examples, the onboard transportation system 510 may also include additional storage 534, which may contain removable and / or non-removable storage. The additional storage 534 may include, among other things, magnetic storage, optical disks, and / or tape storage. The disk drives and associated computer-readable media may provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computer devices.

[0074] Memory 526 and additional storage 534, both removable and non-removable, are examples of computer-readable storage media. For example, computer-readable storage media may include volatile or non-volatile, removable or non-removable media implemented by a suitable method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. As used here, modules may refer to programming modules executed by computer systems (e.g., processors) that are part of the onboard transportation system 510. The modules of the onboard transportation system 510 may contain one or more components. The onboard transportation system 510 may also include input / output device(s) 536 and / or connectors, e.g.,for connection to a keyboard, mouse, pen, speech input device, touch input device, screen, speakers, printer, or other I / O device. In at least some embodiments, the I / O device(s) 536 may include one or more sensors (e.g., sensor(s) 212 and / or sensor(s) 214), including any suitable combination of one or more imaging devices, one or more accelerometers, one or more gyroscopes, one or more load cells, one or more scanning devices, or any suitable sensor configured to capture transportation information using transportation-related reference marks and / or item information associated with a transportation item.

[0075] The onboard transportation system 510 can also include the data storage device 538. The data storage device 538 can contain one or more databases, data structures, or similar for storing and / or preserving the transportation information received from the MDU 506.

[0076] In some embodiments, the onboard conveying system 510 may include the conveying device 540 (or more than one conveying device). A conveying device may comprise a conveyor belt, a tilting plane, a robotic arm, or other suitable equipment mounted on the MDU 506 and used to convey items to and from the MDU 506. The conveying device controller 530 may be configured to instruct and / or operate the conveying device 540 using conveying information obtained from one or more conveying-related reference markers. In at least one embodiment, the onboard conveying system 510 may communicate with the management module 546 (an example of the management module 102 of the Fig. 1) and / or the on-board control system 508, while in other examples the on-board transport system 510 can operate as an independent system without communicating with the management module 546 and / or the on-board control system 508.

[0077] The service provider computers 502, perhaps arranged in a server cluster or server farm, can be configured to manage the MDUs 506 as part of an inventory and / or sorting system. For example, the service provider computer 502 can be configured to manage the MDUs 104 within the workspace 106 of the Fig. 1 (e.g., a warehouse for storing and / or sorting items). The service provider computers 502 may contain at least one memory 542 and one or more processing units (or processor(s) 544). The processor(s) 544 may be implemented in hardware, computer-executable instructions, software, firmware, or combinations thereof, as required. Computer-executable instructions or software or firmware implementations of the processor(s) 544 may contain computer-executable or machine-executable instructions written in any suitable programming language to perform the various functions described.

[0078] The memory 542 can comprise more than one memory and be distributed throughout the service provider computers 502. The memory 542 can store program instructions (e.g., related to the management module 546) that are loadable and executable on the processor(s) 544, as well as data generated during the execution of these programs. Depending on the configuration and type of memory, including the management module 546, the memory 542 can be volatile (such as random access memory (RAM)) and / or non-volatile (such as read-only memory (ROM), flash memory, or other memory). The service provider computers 502 can also include additional removable and / or non-removable memory, including, but not limited to, magnetic storage, optical disks, and / or tape storage.Disk drives and their associated computer-readable media can provide non-volatile storage for computer-readable instructions, data structures, program modules, and other data for computer devices. In some implementations, the memory can include several different types of memory, such as static random-access memory (SRAM), dynamic random-access memory (DRAM), or ROM.

[0079] As regards the contents of memory 542 in detail, memory 542 may contain an operating system 548 and one or more application programs, modules, or services for implementing the functions disclosed herein, including at least the management module 546. As above in connection with the Fig. As discussed in section 1, the Management Module 546 can be configured to assign tasks to the MDU 506. In some examples, the Management Module 546 can select the MDU 506 from a set of MDUs based on the current location of the MDU 506, one or more locations associated with the task, various capabilities and / or attributes of the MDU (e.g., speed capability, maximum payload, etc.), other tasks assigned to one or more MDUs, or a suitable combination of the above. Additionally, the Management Module 546 can be configured to generate task assignments and / or navigation instructions (e.g., planned routes) and transmit them to the Navigation Controller 516.In some embodiments, the management module 546 can be configured to generate information such as task assignments, transport information, article information or other suitable information for the procurement and / or delivery of an article and transmit it to the transport device control 530.

[0080] Aspects of Management Module 546 can be discussed further below in connection with Fig. 6 will be discussed.

[0081] In some examples, the service provider computers 502 may also include additional storage 550, which may comprise removable and / or non-removable storage. The additional storage 550 may include, among other things, magnetic storage, optical disks, and / or tape storage. The disk drives and associated computer-readable media can provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computer equipment.

[0082] Memory 542 and additional storage 550, both removable and non-removable, are examples of computer-readable storage media. For example, computer-readable storage media may include volatile or non-volatile, removable or non-removable media implemented by a suitable method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. As used here, modules may refer to programming modules executed by computer systems (e.g., processors) that are part of the service provider computer 502. The modules of the service provider computer 502 may contain one or more components. The service provider computer 502 may also include input / output device(s) 552 and / or connectors, e.g.,for connecting to a keyboard, mouse, pen, voice input device, touch input device, screen, speakers, printer or other I / O device.

[0083] In some examples, the Service Provider Computers 502 may also include the Data Store 554. The Data Store 554 may contain one or more databases, data structures, or the like for storing and / or preserving all suitable information associated with the Service Provider Computers 502. In some examples, the Service Provider Computers 502 may store article information associated with various articles, task assignments, planned paths, location information received from the MDU 104, transportation information, or other suitable information related to the examples given here.

[0084] Fig. Section 6 describes in more detail the components of a specific embodiment of a management module 600 (e.g., the management module 546 of the Fig. 5) As shown, the example implementation includes a resource planning module 602, a route planning module 604, a segment reservation module 606, an inventory module 608, and a communication interface module 610. As discussed above, the management module 600 can represent a single component, multiple components located at a central location within the system 500, or multiple components distributed across the system 500.

[0085] In at least one embodiment, the resource planning module 602 can be configured to process incoming article requests and generate one or more assigned tasks that are carried out by the components of the system 500 (e.g., the MDU 506 of Fig. 5) to be completed. The resource planning module 602 can also select one or more suitable components to complete the assigned tasks and can communicate the assigned tasks to the relevant components via the communication interface module 610. In some examples, the resource planning module 602 can select one or more suitable components (e.g., MDUs) based on the location of the MDU (e.g., as determined by the sensor(s) 212 of Fig. 2A and Fig. 2B determined). In some embodiments, the resource planning module can transmit task assignments, task-related transportation information, item information for items associated with the task, or any suitable combination of the above information via the communication interface module 610 to any suitable component of the system (e.g., one or more MDUs).

[0086] In at least one embodiment, the Route Planning Module 604 can receive route requests from a Mobile Device Unit (MDU). These route requests can identify one or more destinations associated with a task being performed by the requesting MDU. In response to receiving a route request, the Route Planning Module 604 can generate a path to one or more of the destinations identified in the route request. The Route Planning Module 604 can implement any suitable algorithms, using any suitable parameters, factors, and / or considerations to determine the appropriate path. After generating an appropriate path, the Route Planning Module 604 can transmit a route response identifying the generated path to the requesting MDU using the Communication Interface Module 610.

[0087] In at least one embodiment, the Segment Reservation Module 606 can receive route requests from MDUs attempting to move along paths generated by the Route Planning Module 604. These route requests can specify a request to use a particular portion of a workspace corresponding to a part of a planned path (referred to here as a "segment"). In response to received reservation requests, the Segment Reservation Module 606 can transmit a reservation response, granting or denying the reservation request, to the requesting MDU via the Communication Interface Module 610. Upon receiving a reservation response allocating space to an MDU, the MDU can be configured to execute instructions for traversing the space.

[0088] In at least one embodiment, the inventory module 608 can store information about the location and number of inventory objects in a work area (e.g., work area 106 of the Fig. 1) Keep. Information about the number of items in specific containers (e.g., container 112 of the Fig. 1) are held, and the held information can include the location of these inventory items in relation to the containers. The Inventory Module 608 can also manage a data store of various items and item information associated with those items. Item information can be provided by the Inventory Module 608 and transferred to an MDU (e.g., the Navigation Control Unit 108) via the Communication Interface Module 610. Fig. 1 and / or the transport device control 110 of the Fig. 1).

[0089] In at least one embodiment, the communication interface module 610 can facilitate communication between the management module 600 and other components of the system 500 (e.g., MDU 104), including reservation responses, reservation requests, route requests, route responses, task assignments, item information, transportation information related to task assignments, and the like. Depending on the configuration of the management module 600, the communication interface module 610 can be responsible for wireless communication between the management module 600 and the various components of the system 500 (e.g., MDU 506). Any suitable form of wireless and / or wired communication can be used by the management module 600 to communicate with the system's MDUs. Furthermore, in certain embodiments, the management module 600 can be part of an MDU.In such embodiments, the communication interface module 610 can facilitate communication between the management module 600 and other parts of the same system component.

[0090] In general, the resource planning module 602, the route planning module 604, the segment reservation module 606, the inventory module 608, and the communication interface module 610 can each represent suitable hardware and / or software capable of providing the described functionality. Furthermore, as mentioned above, the management module 600, in particular embodiments, can represent several different discrete components, and some or all of the resource planning module 602, the route planning module 604, the segment reservation module 606, the inventory module 608, and the communication interface module 610 can represent components that are physically separate from the other elements of the management module 600.Furthermore, two or more of the resource planning module 602, the route planning module 604, the segment reservation module 606, the inventory module 608 and the communication interface module 610 can have common components.

[0091] Fig. Figure 7 shows a more detailed example of the navigation control 700 (an example of the navigation control 108 of the Fig. 1), in accordance with at least one embodiment. The navigation control 700 can be implemented on an MDU. As shown, the exemplary embodiment comprises an execution planning module 702, a seat reservation module 704, and a drive control 706. It is understood that each module of the Fig. 7 can be run on a single computer, and / or each component or group of components can be run on separate computers. The modules of Fig. 7 can communicate with the data storage 524 of the Fig. 5 are coupled so that data can be exchanged between the modules and the data storage 524. It is understood that in some embodiments any suitable part of the functionality of the management module 600 of the Fig. 6 can be executed by the navigation control 700 on an MDU.

[0092] In at least one embodiment, the execution planning module 702 can be configured to obtain and / or receive task assignment and / or planned path information. The task assignment and / or planned path information can be generated by a component and / or device outside the navigation controller 700 (e.g., by the management module 600 of the Fig. 6) In some embodiments, the execution planning module 702 can be configured to receive task assignment and / or planned path information from the management module 600 or via another component and / or device such as the data storage 524 of the Fig. 5 receives. The task assignment can correspond to various plannable activities (e.g., picking up an item, transporting an item, storing an item, etc.) that are carried out by the MDUs of a work area (e.g., work area 106 of the Fig. 1) be carried out. In some embodiments, the execution planning module 702 can be configured to receive (as part of the task assignment or separately) planned path information that defines a planned path determined by the management module 600 (e.g., travel to location A at speed X, then travel to location B at speed Y, etc.).

[0093] In some embodiments, the execution planning module 702 can be configured to determine the current location of an MDU (e.g., via navigation-related reference markers, using GPS, using image recognition techniques to identify landmarks in an image of an area surrounding the MDU, etc.). The current location and status information (e.g., low battery, malfunction, system good, etc.) can be reported to the management module 600 at any time. The management module 600 can use this information for route planning and task assignment.

[0094] In at least one embodiment, the seat reservation module 704 can be configured to send a seat reservation request to the management module 600 to reserve space within the workspace (e.g., workspace 106) that a specific MDU needs to perform an execution step. The seat reservation module 704 can be configured to receive a seat reservation response indicating whether the reservation request was approved or rejected. If the seat reservation request is rejected, the seat reservation module 704 can be configured to resubmit a seat reservation request at appropriate times, at regular intervals, or similar, until a seat reservation response is received indicating that the request was granted and the space has thus been reserved for the MDU.After receiving a seat reservation response indicating that the required seat has been reserved for an MDU, \.

[0095] In at least one embodiment, the seat reservation module 704 can be configured to receive location information to identify the location of an MDU and / or execution progress data indicating the execution status of the instructions most recently sent to the MDU. The location information and / or execution progress data can be received directly from a component of the MDU or from another source (e.g., another MDU, a workspace 106 tracking system, etc.). In some embodiments, the seat reservation module 704 can use the location information and / or execution progress data to determine that the MDU has completed or is about to complete an execution step. In some embodiments, the seat reservation module 704 can request additional instructions and / or seat reservations from the management system 600.

[0096] In some embodiments, the space reservation module 704 can be configured to indicate to the drive controller 706 that the space has been granted. Upon receipt, or at another suitable time, the drive controller 706 can identify a number of execution steps to be performed by the MDU in accordance with the task assignment and / or the planned path information. For example, the execution steps may include at least one of the following: moving in a specific direction, maintaining or changing the travel speed, performing a rotational movement (e.g., rotating 90 degrees clockwise), stopping the MDU's movement, tracking another object (e.g., another MDU), collecting sensor data using onboard sensors of the MDU, etc.

[0097] Fig. Figure 8 shows an example of the conveying device control 800 (an example of the conveying device control 530 from Fig. 5) in more detail using at least one embodiment. The conveying device control 800 can be mounted on an MDU (e.g. the MDU 506 from Fig. 5) are executed. As shown, the exemplary embodiment comprises an input management module 802, an item information management module 804, and a device operation module 806. The modules of Fig. 8 can communicate with the data storage 810 (e.g., the data storage 538 of Fig. 5 can be coupled so that data can be exchanged between the modules and the 810 data storage.

[0098] In at least one embodiment, the input management module 802 can be configured to receive transportation information from one or more sensors of the MDU (e.g., sensor(s) 212 of Fig. 2) receives and / or obtains. In some embodiments, the transport information can be obtained from a transport-related reference mark as described above.

[0099] In some embodiments, transport-related reference marks can encode transport information via any suitable method (e.g., a location identifier encoded in a barcode, QR code, MaxiCode, Data Matrix, EZ-Code), or any suitable text and / or code, encoded or not, can be used. For example, transport information can include, and in suitable combinations include: item information relating to the item (e.g., weight, dimensions, material, etc.), shipping information (e.g., a delivery address, postal code, etc.), a delivery location and / or a specific container within the work area, a specific location (e.g., a specific location, a specific container, etc.).B, a specific transport-related reference mark), at which the transport device is to be engaged, a speed at which the transport device is to be engaged, a duration for which the transport device is to be operated, a height to be reached by the transport device, a distance between a transport-related reference mark and a delivery location or container, an orientation of a specific container with respect to a specific transport-related reference mark, an angle at which the transport device is to be tilted, or any suitable instructions and / or information for the operation of a transport device to receive and / or deliver an article.In some embodiments, the input management module 802 can be configured to store the conveying information in the data store 810, a data store that the conveying device control 800 can access and that is configured to store such information.

[0100] In some embodiments, the item information management module 804 can be configured to receive and / or obtain item information associated with an item that is to be transported and / or is being transported by a conveying device corresponding to the conveying device controller 800. At least some of the item information can be obtained from the conveying information received by the input management module 802 and / or stored in the data store 810. In some cases, an item identifier obtained from the conveying information can be used by the item information management module 804 to query an item inventory (e.g., stored in data stores 538 and / or 554 of the Fig. 5, as discussed below) for information about the item that is related to the item. For example, the Item Information Management module 804 can use an item identifier to identify a data store (such as an online vendor's inventory store) and / or the Management module 102 of the Fig. 1. To query article information (e.g., a delivery address, a destination container within the work area, article dimensions, weight, manufacturing material, etc.).

[0101] According to some embodiments, the article information management module 804 can retrieve article information using one or more sensors of the MDU (e.g., sensor(s) 214 of Fig. 2) receive and / or obtain. The sensor(s) 216 can, for example, be instructed by the Item Information Management Module 804 to acquire sensor data from a shipping label, text, and / or item images. In some embodiments, the item information can be determined by the Item Information Management Module 804, which analyzes the collected sensor data. For example, if the item is obtained and / or transported by the MDU 104, the Item Information Management Module 804 can use the sensor(s) 216 to determine the weight and / or orientation and / or dimensions of an item located on / at the transport device. The sensor data can include weight measurements, accelerometer data, pressure data, and / or one or more images.As a non-restrictive example, the Sensor(s) 214 can be used to capture an image of an item just before it is handed over to the MDU. Using image recognition techniques, the item can be identified and / or its dimensions can be determined. Additionally or alternatively, a shipping address and / or postal code can be identified from the images of a shipping label on the item. Further examples of item information capture using the Sensor(s) 214 are considered, which may vary depending on the item's characteristics, the type of Sensor(s) 214, and the capabilities of the MDU.

[0102] In some embodiments, the device control module 806 can be configured to determine a series of operations to be performed by a conveying device (e.g., a conveyor belt, a robot arm, a tilting plane, etc.) mounted on an MDU. For example, the device control module 806 can be configured to use conveying information and / or item information that must be passed through the inbound management module 802 and / or the item information management module 804 to receive an item from / deliver an item to a container. In some examples, the conveying device control 800 as a whole can operate independently of the navigation of the MDU on which it operates, while in other examples, the device control module 806 can be configured to issue a speed and / or course change request to the navigation control 108. Fig. 1 sends to change the speed and / or course of the MDU.

[0103] In some embodiments, the device control module 806 can use the conveying information from conveying-related reference markers to calculate the MDU's travel speed, although other sensor data (e.g., images, GPS information, etc.) can also be used to calculate the MDU's travel speed. The calculated travel speed and / or suitable conveying information can be used to calculate an appropriate speed, location, and manner in which the conveying device must be activated to retrieve / convey the item from a container. In general, any suitable parameter for the operation of a conveying device can be calculated using any suitable combination of conveying information and / or item information.

[0104] In at least one embodiment, the device control module 806 can be configured to operate the conveying device, corresponding to the conveying device controller 800, in accordance with conveying information and / or the item information received for the item. In other words, the operations of the conveying device can vary, at least partially, based on the item and / or the item characteristics of the conveyed item.

[0105] Fig. Figure 9 is a flowchart illustrating an exemplary method 900 for conveying articles in accordance with at least one embodiment. The method 900 can be performed by one or more components of the conveying device control 800. Fig. 8. Procedure 900 can be performed in any suitable order. It should be noted that Procedure 900 may include a greater or lesser number of steps than those described in the Fig. 9 shown.

[0106] The procedure can begin at 902, where navigation information relating to the navigation of an MDU within a work area is obtained (e.g. via an onboard guidance system 508 of the Fig. 5) In some embodiments, the MDU can be configured to receive, transport, and deliver an item (e.g., using a conveying device mounted on the MDU) within a work area (e.g., a storage facility, a sorting system where items can be sorted, for example, by postal code, etc.). Navigation information can be provided by scanning or otherwise mapping a navigation-related reference marker within a work area (e.g., work area 106 of Fig. 1) can be obtained. The navigation information can be obtained using any suitable system and / or sensor of the MDU, including but not limited to scanners, barcode readers, cameras, GPS, etc.

[0107] At 904, at least one operation of a navigation system of the MDU can be executed (e.g. by the drive control 706 of Fig. 7) to relocate the MDU to a variety of locations within the work area, at least partially based on navigation information. For example, the navigation information may specify a planned route for performing a task (e.g., moving items from one container to another). The 508 onboard guidance system of Fig. 5 can be configured to determine and / or receive instructions to activate a drive module of the MDU in order to move within the workspace according to those instructions. By executing these instructions with the drive module, the MDU can follow the planned path.

[0108] At 906, the MDU can receive information about the movement of an item related to its physical procurement or delivery within the work area (e.g., via the inbound management module 802 from Fig. 8, a component of the conveying device control 800). In at least one embodiment, the conveying information differs from the navigation information. The conveying information can be obtained by scanning or otherwise mapping a conveying-related reference marker within a work area (e.g., the work area 106 of Fig. 1) can be obtained. The transport information can be obtained from any suitable system and / or sensor of the MDU, including, but not limited to, scanners, barcode readers, cameras, GPS, etc. The transport information can contain any information suitable for transporting an item to or from the MDU. For example, if an item is transferred to the MDU, the transport information can include item information (e.g., an item identifier and / or a delivery address) and / or the delivery location (e.g., a container identifier). If the item is to be transferred from the MDU, the transport information obtained from a transport-related reference mark can include an instruction to activate the MDU's transport device.

[0109] At least one operation of a transport system of the MDU can be performed at 908 (e.g. by the device control module 806 of Fig. 8, a component of the conveying device control 800), to physically relocate the article at least partially based on the conveying information. In some embodiments, the at least one operation of the conveying system is performed independently of the MDU's navigation system. The at least one operation of the conveying system could include the operation of a conveyor belt, a tilting plane, and / or a robot arm to convey an article to or from the MDU.

[0110] Fig. Figure 10 is a flowchart illustrating a further exemplary method 1000 for conveying articles in accordance with at least one embodiment. The method 1000 can be performed by one or more components of the conveying device control 800. Fig. 8. Procedure 1000 can be carried out in any suitable order. It should be taken into account that Procedure 1000 may include a greater or lesser number of steps than those described in the Fig. Figure 10. In some embodiments, a computer-readable storage medium may contain computer-readable instructions which, when executed by an MDU, configure the MDU to execute Method 1000. In some embodiments, Method 1000 may be performed by an MDU of System 500.

[0111] Procedure 1000 can begin at 1002, where navigation information relating to the navigation of the MDU within a workspace is obtained. In some examples, the MDU may be configured to receive and deliver an item within the workspace. The MDU may be equipped with a conveying device (e.g., a conveyor belt, a tilting plane, a robot arm, etc.) mounted or otherwise attached to the MDU to convey items (e.g., to transfer items to and / or from the MDU). The navigation information can be obtained by scanning or otherwise mapping a navigation-related reference marker within a workspace (e.g., workspace 106 of Fig. 1) can be obtained. The navigation information can be obtained using any suitable system and / or sensor of the MDU, including but not limited to scanners, barcode readers, cameras, GPS, etc.

[0112] At 1004, the location of the MDU can be identified, at least partially, based on a navigation-related reference marker. For example, the navigation-related reference marker can provide a marker identifier and / or location information. The MDU and / or the management system (e.g., management module 546 of the Fig. 5) The MDU can use the marker identifier to determine a specific location, or the location data can identify a specific location. The MDU can communicate the location to the management system, and / or the management system can use the location to determine task assignments and / or route planning for the MDU.

[0113] At 1006, at least one operation of a navigation system of the MDU can be performed to move the MDU within the work area, at least partially, based on the navigation information and the MDU's location. For example, the navigation information can specify a planned route for performing a task (e.g., moving items from one container to another). The onboard guidance system 508 of Fig. 5 can be configured to determine and / or receive instructions to activate a drive module of the MDU in order to move within the workspace according to those instructions. By executing these instructions with the drive module, the MDU can follow the planned path.

[0114] At 1008, information about the transportation of an item related to its physical procurement or delivery within the work area can be obtained. This transportation information can be obtained, at least in part, based on several transportation-related reference markers, distinct from navigation-related reference markers. Transportation information can be obtained using any suitable system and / or sensor on the MDU, including, but not limited to, scanners, barcode readers, cameras, GPS, etc. The transportation information can include all relevant information for the transportation of an item to or from the MDU. For example, when an item is transferred to the MDU, the transportation information can include item information (such as an item identifier and / or a delivery address) and / or the delivery location (such as a container identifier).If the item is to be transferred from the MDU, the transport information received from a transport-related reference mark may contain an instruction to activate the MDU's transport device.

[0115] At 1010, at least one operation of a transportation system can be performed by the MDU. In some examples, this at least one operation causes the MDU to procure or deliver the item, at least partially, based on the transportation information. In other examples, the at least one operation of the transportation system is performed independently of the MDU's navigation. The at least one operation of the transportation system could involve operating a conveyor belt, a tipping plane, and / or a robotic arm to transport an item to or from the MDU.

[0116] The various embodiments can further be implemented in a variety of operating environments, which in some cases may include one or more user computers, computing devices, or processing devices that can be used to run any number of applications. User or client devices may include a number of general-purpose PCs, such as desktop or laptop computers running a standard operating system, as well as mobile, radio, and handheld devices running mobile software and capable of supporting a range of networking and messaging protocols. Such a system may also include a number of workstations running various commercially available operating systems and other well-known applications for purposes such as development and database management.These devices may also include other electronic devices such as dummy terminals, thin clients, gaming systems, and other devices that can communicate over a network.

[0117] Most embodiments utilize at least one network familiar to those skilled in the art for supporting communication using a variety of commercially available protocols, such as Transmission Control Protocol / Internet Protocol (“TCP / IP”), Open Systems Interconnection (“OSI”), File Transfer Protocol (“FTP”), Universal Plug and Play (“UpnP”), Network File System (“NFS”), Common Internet File System (“CIFS”), and AppleTalk. ® The network can be, for example, a local area network, a wide area network, a virtual private network, the internet, an intranet, an extranet, a public telephone network, an infrared network, a wireless network and / or any combination thereof.

[0118] In implementations that use a web server, the web server can run a variety of server or mid-tier applications, including HTTP (Hypertext Transfer Protocol) servers, FTP servers, CGI (Common Gateway Interface) servers, data servers, Java servers, and business application servers. The server(s) can also execute programs or scripts in response to requests from user devices, for example, by running one or more web applications written as one or more scripts or programs in any programming language, such as Java. ® The server(s) can be implemented in C, C#, or C++, or a scripting language such as Perl, Python, or TCL, as well as combinations thereof. The server(s) can also include database servers, which are commercially available from Oracle, among others. ® , Microsoft ® , Sybase ® and IBM ® .

[0119] The environment can include a variety of data storage devices and other storage and storage media, as explained above. These can be located in various places, for example, on a storage medium that is on (and / or resident to) one or more computers, or remote from one or all computers on the network. In a particular set of embodiments, the information can reside in a Storage Area Network (SAN), which is known to those skilled in the art. Similarly, all the files required to perform the functions assigned to the computers, servers, or other network devices can be stored locally and / or remotely, as needed.If a system includes computerized devices, each of these devices may contain hardware elements that can be electrically coupled via a bus, the elements including, for example, at least one central processing unit (“CPU”), at least one input device (e.g., mouse, keyboard, controller, touchscreen, or keypad), and at least one output device (e.g., display, printer, or speaker). Such a system may also include one or more storage devices such as disk drives, optical storage devices, and solid-state storage devices such as random-access memory (“RAM”) or read-only memory (“ROM”), as well as removable media, memory cards, flash cards, etc.

[0120] Such devices may also include a computer-readable storage medium reader, a communication device (e.g., a modem, a network card (wireless or wired), an infrared communication device, etc.), and working memory as described above. The computer-readable storage medium reader may be connected to or configured to receive computer-readable storage media, which can be remote, local, fixed, and / or removable, as well as storage media for temporary and / or more permanent storage, storage, transmission, and retrieval of computer-readable information. The system and various devices typically also include a number of software applications, modules, services, or other items residing in at least one working memory device, including an operating system and application programs, such as a client application or a web browser.It is understood that alternative embodiments can exhibit numerous variations from those described above. For example, customized hardware may be used and / or certain elements may be implemented in hardware, software (including portable software such as applets), or both. Furthermore, a connection to other computing devices, such as network input / output devices, may be used.

[0121] Storage media and computer-readable media for containing code or parts of code may include any suitable media known or used in the field, including storage media and communication media, such as...volatile and non-volatile, removable and non-removable media, without limitation, implemented in any method or technology for storing and / or transmitting information such as computer-readable instructions, data structures, program modules or other data, including RAM, ROM, electrically erasable programmable read-only memory (“EEPROM”), flash memory or other storage technology, compact disc read-only memory (“CD-ROM”), digital versatile disc (DVD) or other optical storage, magnetic cartridges, magnetic tapes, magnetic disk storage devices or other magnetic storage devices or other media capable of storing the desired information and accessible by the system device.Based at least in part on the disclosure and teaching provided herein, a person skilled in the art will recognize other ways and / or methods for implementing the various embodiments.

[0122] The description and drawings are therefore to be understood as illustrative rather than restrictive. However, it is evident that various modifications and changes can be made to them without deviating from the broader spirit and scope of the revelation as set forth in the claims.

[0123] Further variations are within the spirit of the present disclosure. While the disclosed techniques are susceptible to various modifications and alternative designs, certain illustrated embodiments thereof are shown in the drawings and have been described in detail above. It is understood, however, that the invention is not intended to be limited to the specific form or forms disclosed, but rather that, on the contrary, it is intended to cover all modifications, alternative designs, and equivalents that fall within the spirit and scope of the invention, as defined in the accompanying claims.

[0124] The use of the terms "a," "an," and "the," and similar references in connection with the description of the disclosed embodiments (particularly in connection with the following claims) shall be interpreted as covering both the singular and the plural, unless otherwise specified herein or the context clearly indicates otherwise. The terms "comprise," "have," "exhibit," and "contain" shall be understood as non-restrictive terms (i.e., meaning "including but not limited to"), unless otherwise specified. The term "connected" shall be understood as something being partially or completely contained in, attached to, or joined to something else, even if something is in between.The indication of value ranges herein is intended only as a shorthand to allow individual reference to each value falling within the range, unless otherwise specified herein, and each individual value will be included in the description as if it were individually stated here. All procedures described herein may be carried out in any suitable order, unless otherwise specified herein or the context clearly contradicts this. The use of any examples or exemplary expressions provided herein (e.g., "as") is intended only to better illustrate embodiments of the invention and does not constitute a limitation of the scope of the invention, unless otherwise claimed. No language in the description should be construed as indicating an unclaimed element that is essential to the exercise of the invention.

[0125] A disjunctive language such as the expression "at least one of X, Y, or Z" should, unless explicitly stated otherwise, be understood in the context generally used to indicate that an article, term, etc., can be either X, Y, or Z, or any combination thereof (e.g., X, Y, and / or Z). Thus, such disjunctive language is not intended to generally mean that in certain embodiments, at least one of X, at least one of Y, or at least one of Z must be present.

[0126] Preferred embodiments of the present disclosure are described herein, including the best way of carrying out the invention known to the inventors. Variations of these preferred embodiments may become apparent to the person skilled in the art upon reading the foregoing description. The inventors expect those skilled in the art to apply such variations as needed, and the inventors intend for the invention to be practiced differently than specifically described herein. Accordingly, this invention encompasses all modifications and equivalents of the article specified in the appended claims, to the extent permitted by applicable law. Furthermore, any combination of the elements described above, in all possible variations thereof, is encompassed by the invention unless otherwise stated herein or clearly contradicted by the context.

[0127] All references cited herein, including publications, patent applications and patents, are hereby incorporated by reference to the same extent as if each reference were individually and specifically identified as incorporated by reference and listed here in its entirety.

[0128] Examples of embodiments of the present disclosure can be described with reference to the following sections: Section 1. A system comprising a management module configured to control the navigation of a mobile drive unit (MDU) within a work area, and an MDU configured to transport items within the work area. In some embodiments, the mobile drive unit (MDU) comprises a processor, a sensor attached to the MDU, a transport system configured to receive and deliver an item within the work area, and a memory containing computer-readable instructions which, when executed by the processor, configure the MDU to perform operations. These operations may further include receiving an item via the transport system for delivery to a delivery location within the work area.The operations may further include obtaining location information using the sensor, relating to navigation within the work area, where the location information is obtained using a first reference marker within the work area. The operations may further include navigating the MDU to the delivery location within the work area using the management module, according to the location information obtained using the first reference marker. The operations may further include obtaining transportation information using the sensor, relating to the delivery of the item, where the transportation information is obtained using a second reference marker, the second reference marker being different from the first.The operations may further include performing at least one operation of the transportation system to deliver the item to the delivery location, wherein the at least one operation of the transportation system is performed at least partially based on the transportation information obtained using the second reference mark, and wherein the at least one operation of the transportation system is performed independently of the navigation of the MDU. Section 2. The system according to Section 1, wherein the conveying system comprises at least a conveyor belt, a robot arm or a tipping tray. Section 3. The system according to Section 1 or 2, wherein the transport system operates independently of the management module. Section 4. The system according to any of Sections 1 to 3, wherein the execution of the computer-readable commands further configures the MDU to calculate an approach speed and a relative distance and orientation with respect to the delivery location, wherein the at least one operation of the executed transport system is furthermore based at least partially on the approach speed and the relative distance or orientation with respect to the delivery location. Section 5. A computer-implemented method comprising the acquisition of navigation information by a mobile propulsion unit (MDU) in connection with the navigation of the MDU within a work area, wherein the MDU is configured to receive, transport, and deliver an item within the work area. The method may further comprise the execution of at least one operation of a navigation system of the MDU by the MDU in order to move the MDU, at least partially, to a plurality of locations within the work area based on the navigation information.The procedure may further include the procurement of transportation information by the MDU in connection with the physical procurement or delivery of an item within the work area, wherein the transportation information is distinct from the navigation information, and the procedure may further include the execution of at least one operation of a transportation system of the MDU to physically move the item at least partially based on the transportation information, wherein the at least one operation of the transportation system is executed independently of the navigation system of the MDU. Section 6. The computer-implemented method according to Section 5, wherein performing the at least one operation of the transport system includes receiving the article at a first location within the work area, and wherein performing the at least one operation of the transport system includes delivering the article to a second location within the work area. Section 7. The computer-implemented method according to Section 5 or 6, wherein the execution of the at least one operation of the transport system is synchronized with the execution of the at least one operation of a navigation system, at least partially based on the transport information. Section 8. The computer-implemented method according to any of Sections 5 to 7, wherein the navigation information is obtained using a navigation-related reference marker of the work area. Section 9. The computer-implemented method according to any of Sections 5 to 8, wherein the transport information is obtained using at least one transport-related reference marker of the work area, wherein the at least one transport-related reference marker is different from the navigation-related reference marker. Section 10. The computer-implemented method according to any of Sections 5 to 9, wherein the method further comprises obtaining initial transport information from a first transport-related reference mark. The method may further comprise determining an initial distance from a delivery location of the article, at least partially, based on the initial transport information. The method may further comprise obtaining second transport information from a second transport-related reference mark. The method may further comprise determining a second distance from the delivery location, at least partially, based on the second transport information.The procedure may further include calculating a speed of the MDU based at least partially on the first distance and the second distance, wherein the execution of the at least one operation of the transport system is based at least partially on the calculated speed. Section 11. The computer-implemented method according to any of Sections 5 to 10, wherein the method further comprises identifying a weight and / or orientation of the article on a tilting plane of the conveying system, wherein the execution of the at least one operation of the conveying system is furthermore based at least partially on the weight or orientation of the article. Section 12. The computer-implemented procedure according to any of Sections 5 to 11, wherein the transport information includes attributes of the article, including at least one of the following: packaging dimensions of the article, weight of the article, material of the article or price of the article. Section 13. A computer-readable storage medium containing computer-readable instructions that, when executed by a mobile drive unit (MDU), configure the MDU to perform operations. These operations may include obtaining navigation information related to the navigation of the MDU within a work area, with the MDU configured to receive and deliver an item within the work area. The operations may include identifying the location of the MDU, at least partially, based on a navigation-related reference marker. The operations may include executing at least one operation of a navigation system of the MDU to move the MDU within the work area, at least partially, based on the navigation information and the location of the MDU.The operations may include obtaining transportation information related to the physical receipt or delivery of an item within the workspace, wherein the transportation information is obtained at least partially based on a variety of transportation-related reference markers that differ from navigation-related reference markers. The operations may also include executing at least one operation of a transportation system of the MDU to receive or deliver the item at least partially based on the transportation information, wherein the at least one operation of the transportation system is executed independently of the MDU's navigation. Section 14. The computer-readable storage medium according to Section 13, wherein the transport information identifies delivery instructions for the delivery of the article, the delivery instructions including at least one delivery location for the article and instructions for the operation of the transport system for the delivery of the article. Section 15. The computer-readable storage medium according to Section 13 or 14, wherein the multiple transport-related reference marks are dynamically generated by a management system assigned to the work area. Section 16. The computer-readable storage medium according to any of Sections 13 to 15, wherein the transport information identifies uptake instructions associated with loading the item onto the MDU or downtake instructions associated with transferring the item from the MDU. Section 17. The computer-readable storage medium according to any of Sections 13 to 16, wherein the transport information identifies attributes of the article and wherein the execution of the at least one operation of the transport system is furthermore based at least partially on at least one attribute of the article. Section 18. The computer-readable storage medium according to any of Sections 13 to 17, wherein the transport system is mounted on the MDU and operates independently of the movement of the MDU. Section 19. The computer-readable storage medium according to any of Sections 13 to 18, wherein the transport information identifies a relative orientation of a delivery location in relation to the MDU. Section 20. The computer-readable storage medium according to any of Sections 13 to 19, wherein the navigation information identifies a path along which the MDU can traverse the workspace.

Claims

[1] System consisting of: a management module (102) configured to control the navigation of a mobile drive unit (MDU, 104, 506) within a work area (106); and an MDU (104, 506) configured for the transport of articles within the work area (106), wherein the mobile drive unit (104, 506) comprises the following: a processor (514); a sensor (212, 214, 216) mounted on the MDU (104, 506); a conveying system (510) configured to receive and deliver an item within the work area (106); and a memory (512) in which computer-readable instructions are stored which, when executed by the processor (514), configure the MDU (104, 506) so that it via the transport system (510) receives an item that is to be delivered to a delivery location within the work area (106); with the aid of the sensor (212, 214, 216) location information relating to navigation within the work area (106), wherein the location information is obtained using a first reference marker (114, 304, 404) within the work area (106); The MDU (104, 506) navigates to the delivery location within the work area (106) using the management module (102) according to the location information obtained using the first reference marker (114, 304, 404); using the sensor (212, 214, 216) obtain transport information relating to the delivery of the article, wherein the transport information is obtained using a second reference mark (116, 306, 406), the second reference mark (116, 306, 406) being different from the first reference mark (114, 304, 404), wherein the transport information obtained using the second reference mark (116, 306, 406) includes article information associated with the article to be delivered, the article information comprising at least one of the following: an identifier, a weight, a material, dimensions of the article and an article category; and perform at least one operation of the conveying system (510) to deliver the article to the delivery location, wherein the at least one operation of the conveying system (510) is performed at least partially based on the conveying information obtained using the second reference marker (116, 306, 406), and wherein the at least one operation of the conveying system (510) is performed independently of the navigation of the MDU (104, 506), wherein the conveying system (510) is operated in accordance with the article information for the article by varying a speed, inclination, duration and / or direction of movement or other operating parameters of a conveying device (202, 316, 403, 540) of the conveying system (510) based on the article to be delivered. [2] System according to claim 1, wherein the conveying system (510) comprises at least one conveyor belt, a robot arm or a tipping tray. [3] System according to claim 1 or 2, wherein the transport system (510) operates independently of the management module (102). [4] System according to one of claims 1 to 3, wherein the execution of the computer-readable commands further configures the MDU (104, 506) to calculate an approach speed and a relative distance and orientation with respect to the delivery location, wherein the at least one operation of the executed transport system (510) is furthermore based at least partially on the approach speed and the relative distance or orientation with respect to the delivery location. [5] Computer-implemented method, comprising: Obtaining navigation information by a mobile propulsion unit (506) from a navigation-related reference marker of the work area (106) (MDU, 104, 506) in connection with the navigation of the MDU (104, 506) within a work area (106), wherein the MDU (104, 506) is configured to receive, transport and deliver an article within the work area (106); Performing at least one operation of a navigation system of the MDU (104, 506) by the MDU (104, 506) in order to move the MDU (104, 506) at least partially on the basis of the navigation information to a variety of locations within the work area (106); Obtaining transport information by the MDU (104, 506) in connection with the physical procurement or delivery of an article within the work area using at least one transport-related reference mark (106), wherein the transport information is distinct from the navigation information, wherein the transport-related reference mark is distinct from the navigation-related reference mark, wherein the transport information includes article information associated with the article to be received or delivered, wherein the article information includes at least one of the following: an identifier, a weight, a material, dimensions of the article and an article category; and Performing at least one operation of a conveying system (510) of the MDU (104, 506) to physically relocate the article at least partially based on the conveying information, wherein the at least one operation of the conveying system (510) is performed independently of the navigation system of the MDU (104, 506), and wherein the conveying system (510) is operated according to the article information for the article by varying a speed, inclination, duration and / or direction of movement or other operating parameters of the conveying device (202, 316, 403, 540) of the conveying system (510) based on the article to be received or delivered. [6] Computer-implemented method according to claim 5, wherein performing the at least one operation of the conveying system (510) comprises receiving the article at a first location within the work area (106), and wherein performing the at least one operation of the conveying system (510) comprises delivering the article to a second location within the work area (106). [7] Computer-implemented method according to claim 5 or 6, wherein the execution of the at least one operation of the transport system (510) is synchronized with the execution of the at least one operation of a navigation system, at least partially based on the transport information. [8] Computer-implemented method according to any one of claims 5 to 7, further comprising: Receive initial transportation information from an initial transportation-related reference marker; Determining an initial distance from a delivery location of the item, at least partially, based on the initial transport information; obtaining secondary transport information from a secondary transport-related reference marker; Determining a second distance from the delivery location, at least partially, based on the second transportation information; and Calculating a speed of the MDU (104, 506) based at least partially on the first distance and the second distance, wherein the execution of the at least one operation of the transport system (510) is based at least partially on the calculated speed. [9] Computer-implemented method according to any one of claims 5 to 8, further comprising: Identifying a weight and / or orientation of the article on a tilting plane of the conveying system (510), wherein the execution of the at least one operation of the conveying system (510) is furthermore based at least partially on the weight or orientation of the article. [10] Computer-implemented method according to any one of claims 5 to 9, wherein the transport information further includes attributes of the article, including at least one of the following: packaging dimensions of the article or a price of the article. [11] Computer-readable storage medium containing computer-readable instructions which, when executed by a mobile drive unit (MDU, 104, 506), configure the MDU (104, 506) to perform operations including: Receiving navigation information related to the navigation of the MDU (104, 506) within a workspace (106), wherein the MDU (104, 506) is configured to receive and deliver an item within the workspace (106); Identifying the location of the MDU (104, 506) at least partially based on a navigational reference marker; Performing at least one operation of a navigation system of the MDU (104, 506) to move the MDU (104, 506) within the work area (106) at least partially based on the navigation information and location of the MDU (104, 506); receiving transportation information relating to the physical receipt or physical delivery of an item within the work area (106), wherein the transportation information is received at least partially based on a variety of transportation-related reference marks that are different from the navigation-related reference marks, wherein the transportation information includes item information associated with the item to be received, wherein the item information includes at least one of: an identifier, a weight, a material, dimensions of the item, and an item category; and Performing at least one operation of a conveying system (510) of the MDU (104, 506) to obtain or deliver the article at least partially based on the conveying information, wherein the at least one operation of the conveying system (510) is performed independently of the navigation of the MDU (104, 506), wherein the conveying system (510) is operated according to the article information for the article by varying a speed, inclination, duration and / or direction of movement or other operating parameters of a conveying device (202, 316, 403, 540) of the conveying system (510) based on the article to be obtained, conveyed or delivered. [12] Computer-readable storage medium according to claim 11, wherein the transport information identifies delivery instructions for the delivery of the article, the delivery instructions comprising at least one delivery location for the article and instructions for the operation of the transport system (510) for the delivery of the article. [13] Computer-readable storage medium according to claim 11 or 12, wherein the multiple transport-related reference marks are dynamically generated by a management system assigned to the work area (106), and wherein the transport information identifies pick-up instructions associated with loading the article onto the MDU (104, 506) or drop-down instructions associated with transferring the article from the MDU (104, 506). [14] Computer-readable storage medium according to any one of claims 11 to 13, wherein the transport information identifies a relative orientation of a delivery location with respect to the MDU (104, 506).

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