Logistics facility for collaborative automation

Abstract

A collaborative facility management system for a logistics facility includes multiple robotic autonomous guided vehicles (AGVs) and a system controller. The vehicles transport goods or pallets between truck loading and unloading points and storage areas, and are configured for autonomous movement. In autonomous mode, they incorporate input from a collaborating operator for navigation and guidance. The system controller instructs each vehicle to transfer goods or pallets between truck loading and unloading points and storage areas, identifies a predetermined loading point for the corresponding truck to be loaded or unloaded, and generates a collaborative zone.The controller generates a queue of robotic autonomous guided vehicles on one side of the collaborative zone and orders the vehicles that are going to load or unload the corresponding truck to move autonomously towards the queue.

Description

Logistics facility for collaborative automation PRIOR ART 1. Technical Sector

[0001] Exemplary realizations generally refer to automated logistics facilities and, more particularly, to collaborative transport of logistics goods in automated facilities. 2. Brief description of related developments

[0002] In general, there are many conventional automated transport and storage systems that use autonomous guided vehicles to maintain storage facilities and transport goods between two or more locations within the facility. Typically, the large quantities of goods shipped to and received from these warehouse facilities require that a significant portion of the facility be dedicated not only to storage but also to the transport operation, necessitating numerous truck loading docks and the associated floor space for loading and unloading goods onto transport vehicles.

[0003] Conventional warehouse facilities typically employ autonomous guided vehicles (AGVs) to deliver palletized goods from production to storage and also to retrieve palletized goods from inventory and deliver them to picking stations. Goods are picked by picking operators before a forklift operator loads the picked pallets onto transport vehicles (e.g., trucks), while the AGVs return to the warehouse to retrieve additional palletized goods.

[0004] It would be advantageous to have a collaborative facility and procedure that reduces the need for and dedicated floor space for additional hand-held pickers and forklifts, collaboratively loading trucks onto loading docks directly onto autonomous guided vehicles that collect the goods.

[0005] Document EP 1251083 describes an automated system for handling palletized goods. This system allows for the complete automation of palletized goods handling operations in factories and distribution centers.This system uses a fleet of automatically guided vehicles, a plurality of devices for delivering palletized goods to and from automatically guided vehicles, and a plurality of loading / unloading docks with the help of processing means belonging to a Central Control Unit and Management and Control Units of said devices that generate and exchange digital messages so that the fleet of automatically guided vehicles and the loading docks carry out the goods handling operations indicated by commands for the execution of operations as a result of signals generated by detection means that indicate the ability of said devices to execute said operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The above aspects and other features of the disclosed embodiment are explained in the following description, taken in relation to the accompanying drawings, where: Figure 1 is a schematic top plan view of a logistics facility according to aspects of the disclosed implementation; Figure 2A is a perspective view of an exemplary autonomous guided robotic vehicle according to aspects of the disclosed embodiment; Figure 2B is a perspective view of an exemplary autonomous guided robotic vehicle according to aspects of the disclosed embodiment; Figure 2C is a perspective view of an exemplary autonomous guided robotic vehicle according to aspects of the disclosed embodiment; Figure 2C is a perspective view of an exemplary autonomous guided robotic vehicle according to aspects of the disclosed embodiment; Figure 2D is a perspective view of an exemplary autonomous guided robotic vehicle according to aspects of the disclosed embodiment; Figure 3 is a top plan view of a portion of the logistics facility in Figure 1 according to aspects of the disclosed implementation; Figure 4 is a schematic perspective view of a part of the logistics facility of Figure 1 according to aspects of the disclosed realization; Figure 5 is a top plan view of a portion of the logistics facility in Figure 1 according to aspects of the disclosed implementation; Figure 6 is a procedure for loading and shipping goods from the logistics facility of Figure 1 in accordance with aspects of the disclosed embodiment; and Figure 7 is a procedure for unloading and storing goods at the logistics facility of Figure 1 in accordance with aspects of the disclosed embodiment. DETAILED DESCRIPTION

[0007] The invention is defined by the appended claims. Figure 1 is a schematic illustration of a logistics facility 100 according to aspects of the disclosed embodiment. Although aspects of the disclosed embodiment will be described by reference to the drawings, it should be understood that these aspects can be implemented in many ways. Furthermore, any suitable size, shape, or type of elements or materials may be used.

[0008] Referring to Figures 1, 2A, 2B, and 2C, as described in more detail below, the disclosed embodiment provides that the logistics facility 100 is configured for the shipment and / or receipt of logistics units 900, where each of the logistics units 900 includes one or more logistics goods 901 (e.g., carton, container, etc.). The logistics facility includes autonomous guided robotic vehicles (hereafter referred to as robots 200) that handle the logistics units 900 in a collaborative manner with human operators 299 (Figure 3).In general, logistics facility 100 can be a warehouse, store, storage facility, production facility, or any other facility suitable for storing and shipping logistics units 900, and which has robotic automation, such as robots 200, to handle logistics units 900 collaboratively with human operators 299 in logistics facility 100.

[0009] In one respect, also referring to Figure 4, the logistics facility 100 may be a production or manufacturing facility that produces the logistics goods 901, which are packaged or unpackaged, and prepares the logistics goods 901 for shipment, in logistics units 900. The logistics units 900 may be arranged in any manner suitable for shipment, such as being placed or otherwise stacked on pallets 995 (or in other respects in transport / cargo containers) so as to form outbound pallet loads 998.These outbound pallet loads 998 include one or more pallets 995 on which the logistics units 900 are located, where the outbound pallet loads 998 are formed by the robots 200 within the logistics facility 100, transported to an outbound truck dock 500, loaded onto an outbound truck 501 (e.g., box truck or trailer) in a collaborative manner, and dispatched as will be further described below.

[0010] In another respect, logistics facility 100 may be a storage facility where inbound pallet loads 999 are received from an inbound truck 511 at an inbound truck dock 510 (the terms port, gateway, and dock are used interchangeably herein). It should be noted that the truck docks 500, 510 are arranged in predetermined locations along the walls (such as the outermost walls 101) of logistics facility 100. Inbound pallet loads 999 may be substantially similar to outbound pallet loads 998 and include one or more logistics units 900 located on and transported by one or more pallets 995.Incoming pallet loads are unloaded from incoming truck 511 in a collaborative manner and stored in facility warehouses 170 (as incoming pallet loads 999 or non-palletized logistics units (packaged or unpackaged) 900 or logistics goods 901).

[0011] In other respects, the logistics facility 100 may be a facility where items are shipped and received. As such, the logistics facility incorporates both the inbound truck dock(s) 510 and the outbound truck dock(s) 500. Here, inbound pallet loads 999, logistics units 900, or logistics goods 901 arranged in the warehouses of the facility 170 (for example, such as in storage spaces 150 defined on a floor of the logistics facility 100 or provided in multi-level racks) may subsequently be retrieved as outbound pallet loads 998 and transported by robots 200 to a corresponding outbound dock 500 for placement on outbound trucks 501 and shipment.It should be noted that although the 500 and 510 truck docks are hereby described as 500 outbound and 510 inbound truck docks, each 500 and 510 dock can accommodate both 501 inbound and 511 outbound trucks and operate in a substantially similar, but opposite, manner (i.e., loading / unloading) for both 511 outbound and 501 inbound trucks. This is because each 510 and 511 truck dock includes features that are substantially similar to a conventional truck loading dock for interconnecting with 501 and 511 trucks while incorporating aspects of the disclosed embodiment. The 510 inbound and 510 outbound docks may each be referred to as a "truck dock."

[0012] As noted above, the loading of outbound pallet loads 998 onto outbound trucks 501 and the unloading of inbound pallet loads 999 from inbound trucks 511 are performed collaboratively between robots 200 and human operators 299 via a facility management system 499 that commands the movement of the robots and places robots 200 into queues 550, 551 for the collaborative loading of outbound pallet loads 998 onto outbound trucks 501 and the unloading of inbound pallet loads 999 from inbound trucks 511. The facility management system 499 places robots 200 into one or more loading / outbound robot queues 550 and one or more unloading / inbound robot queues 551 depending on which robot 200 is being commanded. that loads an outgoing pallet load 998 onto outgoing truck 501 or unloads an incoming pallet load 999 from incoming truck 911.The one or more loading robot queues 550 and the one or more unloading robot queues 551 are located next to, or near, the corresponding truck loading and unloading portals 505 of the truck docks 500, 510, where the one or more loading robot queues 550 and the one or more unloading robot queues 551 provide access from the facility warehouses 170 of the logistics facility 100 to the truck docks 500, 510 for loading and unloading as described below.

[0013] Referring again to Figure 1, the logistics facility 100 generally includes storage locations 150, robots 200, a movement space 250 (i.e., transport aisles 250T and movement lanes 250L for the movement of the robots 200), truck portals 505, and the corresponding truck dock(s) 500, 510 for a respective truck portal 505. Queues 550, 551 are arranged, offset from other movement lanes 250L along the truck portals 505, close to the walls 101 of the logistics facility 100 that form the truck portals 505.

[0014] The storage locations 150 are distributed or arranged as desired within the logistics facility 100 and configured so that robots 200 pick and / or place the logistics goods 901 (as logistics units 900 that are palletized loads or non-palletized loads). For example, the storage locations 150 can be distributed in a two-dimensional, single-level layout (such as in rows or a grid as illustrated in Figure 1), in a three-dimensional, multi-level layout (such as in rows or columns 270 and arranged in multi-level racks 28).- see Figure 2D), and / or in an array that includes both single-level and multi-level layouts (such as when some logistics goods 901 are stored in a single-level storage on one floor of the logistics facility 100, while other logistics goods 901 are stored in a multi-level storage on the multi-level racks 280).

[0015] In one aspect, one or more of the storage locations is configured at least for pallet loading 998, 999 storage and / or handling. For example, one or more of the storage locations 150 may be a palletizing / depalletizing station that includes a palletizing apparatus (for example, a palletizer and / or depalletizer) that palletizes or depalletizes logistics goods 901 to / from pallets 995, wherein the logistics goods 901 that are palletized are retrieved in any suitable manner from any suitable storage 192 and the logistics goods 901 that are not palletized are conveyed in any suitable manner to any suitable storage 192.

[0016] The travel space 250 may consist of transport aisles 250T that are arranged adjacent to storage locations 150 so as to form a grid (e.g., grid-like) with the storage locations 150 (see Figure 1). In one aspect, the transport aisles 250T include more than one travel lane 250L to provide bidirectional travel for two or more robots 200, crossing each other, in a common transport aisle 250T. In other respects, the 250T transport aisles can have a single 250L travel lane in a 250T transport aisle for the unidirectional movement of the 200 robots. The 250 travel space communicatively links the 150 storage locations of the 100 logistics facility with the 505 truck portals and, therefore, the 500, 510 truck docks.The travel space 250 can be arranged to provide passage for robots 200 through the logistics facility 100 from each truck portal 505 to each storage location 150.

[0017] Referring now to Figures 1 and 2A-2D, in one aspect, the 200 robots are configured to be fully autonomous and independently guided so that they move freely through the displacement space 250. A suitable example of the 200 robot is the MAX N10 (produced and distributed by AutoGuide LLC). In one aspect, the 200 robot may have a modular platform that includes an automated guided vehicle module 201 to which various logistical components can be attached to configure the 200 robots in various ways as described in U.S. Provisional Patent Application Serial No. 62 / 738,697, filed September 28, 2018, and described in Attorney File No. 1244P015700-US (PAR) entitled "Configurable Robotic Autonomous Guided Vehicle."For example, the modular robot 200 can be configured into a tug 200A (Figure 2A that tows or pushes logistics goods 901 onto a mobile platform or truck 231), a pallet stacking forklift 200B (Figure 2B having a pallet lift with a height for stacking at least two pallet loads 998, 999 together), an extended pallet fork 200C (Figure 2C having an extended fork system for carrying two or more pallet loads), or a high-rise dock lift 200D (Figure 2D having a pallet lift with a height for placing logistics goods 900 or pallet loads 998, 999 into storage locations 150 situated in multi-level racks 280, i.e., located at heights above ground level).In another aspect, the robot 200 can be any other suitable automated guided vehicle configured to transport logistics goods 901 from origin locations to destination locations.

[0018] Each of the robots 200 includes one or more suitable sensors 271 and a robot controller 210 carried by the robot 200 (i.e., a local controller).The sensors 271 may include one or more of the LIDAR sensors 271A, infrared sensors 271B, GPS sensors 271C, telemetry search sensors 271D, encoders 271E, CCD (charge-coupled device) sensors 271F, CMOS (complementary metal-oxide semiconductor) sensors 271G, or any other suitable sensor(s) coupled to the robot controller 210 that enables or otherwise configures the robots 200 for one or more of object / obstacle detection, telemetry, autonomous navigation, and determination of the robot's position (e.g., with respect to a robot spatial reference frame, such as for positioning the forks or the robot's carried load, and / or logistics facility 100) and for effecting autonomous navigation and movement of the robots 200 from one location to another location within the logistics facility 100.The robot controller 210 of each robot 200 is configured (e.g., programmed with) any suitable navigation software to determine, using sensor signals obtained from sensors 271, a position / posture of the robot 200 and issues commands to one or more drive systems 213 of the robot 200 to perform one or more picking / placing logistic goods 901 and autonomous navigation of the robot 200 from one location in the travel space 250 of the logistic facility 100 to another location in the travel space 250 of the logistic facility 100.

[0019] In the aspects of the disclosed embodiment, referring to Figure 2A by way of example, the robots 200 described herein are intrinsically configured for fully autonomous navigation. The robots also include a manual operation installation 241 for adding an operator input / output (I / O) 242 configured to switch the robot 200 from an autonomous operating mode to a manual operating mode. The operator input / output 242 may be a module that is detachably coupled to the robot 200 in any suitable manner (such as with detachable clamping elements and electrical couplings), while in other aspects the operator input / output 242 is permanently coupled to the robot 200. The operator input / output 242 includes any suitable operator control 242C that provides, in manual operating mode, operator control of any suitable operational functionality of the robot 200.For example, in manual operating mode, the operator controls 242C provide direct operator control for one or more of the robot 200's steering / navigation (e.g., through at least a portion of the travel space 250 and within at least a portion of the transport vehicle located at a truck dock 500, 510) and picking and placing logistics goods 901 (e.g., at least within the portion of the transport vehicle located at the truck dock 500, 510). Each robot 200 includes an operator control area 243 configured to provide an occupancy location for an operator 299 on board the robot 200, where the operator controls 242C are located on the robot 200 so as to be accessed from the operator control area 243.

[0020] Referring again to Figures 1 and 2A, the logistics facility 100 also includes the warehouse management system or system controller 499. The system controller 499 is communicatively coupled (via any suitable NC communication network) to at least the robots 200. The system controller 499 is configured to command the autonomous robot's movement in the movement space 250 so that the robots 200 move from the origin locations to the destination locations.For example, commands to transport logistics goods 901 can be entered into the system controller 499 manually and / or from any suitable programmed system (e.g., an automated ordering / inventory system) to have a robot 200 move to a specified / default storage location 150 containing a specified / default logistics good 901, and transport the specified logistics good 901 to a specified / default outbound truck dock 500.

[0021] The system controller 499 is also programmed (e.g., configured via suitable non-transient computer program code) to configure travel space 250. For example, the system controller 499 is configured to control / maintain travel space 250 and establish / maintain open travel lanes for the passage of robots 200. As illustrated in Figure 1, the system controller 499 can configure one or more transport aisles 250T such that each respective transport aisle 250T has one or more travel lanes 250L.The 499 system controller can configure the 250T transport aisles to have one or more unidirectional 250L travel lanes (i.e., a 250T transport aisle can have a single lane along which the 200 robots travel unidirectionally (Figure 3); or configure the 250T transport aisles to have more than one 250L travel lane providing travel in the same direction (Figure 1)) or, in other respects, the more than one 250L travel lane can be bidirectional (i.e., an aisle can have more than one 250L travel lane, providing the 200 robots traveling in the respective 250T transport aisle with travel in opposite directions (Figure 1)). As described herein, the 250L travel lanes connect the storage locations 150 to the truck portals 505 and the robot queue(s) 550, 551.

[0022] Referring now to Figures 1 and 3-5, each truck portal 505 defines an interface between a truck 501, 511 at a truck dock 500, 510 and the travel space 250. The system controller 499 is configured to generate a default collaborative zone 580 in at least part of the travel space 250 adjacent to the truck portals 505. Each default collaborative zone 580 is an autonomous robot interdiction zone 590. For example, robot movements 200 and load loading / unloading within the interdiction zone 590 are generally controlled directly by an operator 299; however, in other respects, some or all of the robot's movement and loading actions 200 may be fully or partially automated (i.e., with or without operator supervision).The default collaborative zone 580 connects the respective queue 550, 551 to the truck loading space 520A, 520B via the respective truck portal 505, so that a robot 200 enters the truck loading space 520A, 520B from the queue 550, 551 via the default collaborative zone 580 in a collaborative operating mode.

[0023] The queue 550, 551 defines a collaborative interface where an operator 299 can interact with the robot 200 (e.g., mount or dismount the robot or attach suitable controls of the robot 200, such as remote controls, and work together with the robot 200) and from the robot 200, the transition is made from the travel space 250 (under autonomous control) through the queue 550, 551 to lanes of the default collaborative zone 580 (under manual control or quasi-manual control effected through manual manipulation of the robot operator controls). In one respect, the default collaborative zone 580 is sized and shaped to conform to a truck loading configuration; while in other respects, the default collaborative zone 580 may be of a suitable size and shape.System controller 499 is programmed / configured to identify another side (e.g., the exit side) of the default collaborative zone 580 from which the multiple robots 200, in collaborative mode, exit the truck 501, 511, and the default collaborative zone 580. In response to the exit of the robots 200 by operator 299, system controller 499 is programmed / configured to command the robots 200 to move autonomously within the travel space 250 to a destination within the logistics facility 100.

[0024] The default collaborative zone 580 is communicatively coupled to one of the outbound robot queues 550 or an inbound robot queue 551 and an outbound lane 552, so that robots 200 can enter the default collaborative zone 580 from a respective queue 550 or 551 and exit the default collaborative zone 580 to a respective outbound lane 552. It should be noted that each collaborative zone 580 can be dynamically defined by the system controller 499 based on a designation of an inbound logistics goods flow 901 or an outbound logistics goods flow 901 in the truck portal 505.For example, although truck dock 500 and robot queue 550 are referred to herein respectively as an outbound truck dock and an outbound robot queue, the system controller 499 can change truck dock 500 and robot queue 550 respectively to an inbound truck dock and an inbound robot queue, such as when a truck 511 from which the logistics goods 901 are to be unloaded docks at truck dock 500. Each collaborative zone 580 is arranged in predetermined locations, generally along the outermost walls 101 of the logistics facility 100 (i.e., on the outermost part of the logistics facility 100, in close proximity to the truck portals 505 and the trucks 501, 511 (to be loaded / unloaded) located outside the logistics facility 100 at truck docks 500, 510).

[0025] The outbound robot queue 550 and the inbound robot queue 551, which form respective lanes, are configured so that robots 200 enter a respective queue 550, 551 to queue and interact with the truck portal 505. Robots 200 move from the robot queue 550, 551 through the truck portal 505 to enter trucks 501, 511, coupling directly with trucks 501, 511 to pick up / place a respective pallet load 998, 999 (e.g., logistics goods 901 being loaded for outbound or unloaded for inbound to logistics facility 100) to / from trucks 501, 511.In one respect, the exit robot queue 550 and / or the entry robot queue 551 includes a lane 550L, 551L (Figure 3); whereas in other respects, the exit robot queue 550 and / or the entry robot queue 551 includes two or more lanes 550L1, 551L1, 550L2, 551L2 (Figure 5), which may be arranged in parallel. In one respect, the outgoing pallet loads 998 and / or the robots 200 in the outgoing robot queue 550 (or the robots 200 in the incoming robot queue 551) are placed and arranged (i.e., queued) substantially linearly (individually or stacked on top of each other such as on different transport levels) along the respective lane or lanes 550L, 551L, 550L1, 551L1, 550L2, 551L2 of a respective outgoing robot queue 550 (or incoming robot queue 551) in an ordered sequence or an unordered sequence (at least in part).In other respects, the outgoing pallet loads 998 and / or robots 200 in the outgoing robot queue 550 (or robots 200 in the incoming robot queue 551) are located and arranged (i.e., queued) in a substantially linear manner (individually or stacked on top of each other, such as on different transport levels) along the respective lane or lanes 550L, 551L, 550L1, 551L1, 550L2, 551L2 of the respective outgoing robot queue 550 (or incoming robot queue 551) in an order that corresponds to the placement positions of the pallet loads 998 (or pallet loads 999) within the truck 501, 511.For example, system controller 499 is programmed / configured to identify an order of logistic goods 901 or pallet loads 998, 999 in a truck load (from the incoming or outgoing truck), and to order robots 200 in robot queue 550, 551 based on the order of logistic goods 901 or pallet loads 998, 999 in the truck load.

[0026] As stated above, each queue 550, 551 can have a single lane 550L, 551L and be ordered in sequence (e.g., according to the truck loading / unloading sequence 501, 511); or in other respects each tail 550, 551 may have more than one lane 550L1, 551L1, 550L2, 551L2, where each of the more than one lane 550L1, 551L1, 550L2, 551L2 corresponds to the interior cargo space of truck 520A, 520B within trucks 501, 511. Each lane 550L, 551L, 550L1, 551L1, 550L2, 551L2 is positioned so that lanes 550L, 551L, 550L1, 551L1, 550L2, 551L2 provides an optimal turning radius r1, r2 respectively to each interior cargo space of truck 520A, 520B within the trucks 501, 511.In one respect, the system controller 499 is programmed to sort robots 200 in queue 550, 551 according to a truck load filling sequence or, in another respect, to sort robots 200 in queue 550, 551 in any suitable manner.

[0027] Even with reference to Figures 1 and 3-5, and as described herein, the queue of robots 200 in the respective inbound / outbound robot queue lanes 550L, 551L, 550L1, 551L1, 550L2, 551L2 defines a collaborative interface between each robot 200 and the operator 299. The operator 299 can interact with the robots 200 as described herein and directly control the movements of the robots 200 and the pallet load coupling (picking / placing) within the trucks 501, 511 in a collaborative operating mode.For example, operator 299 can interact with robot 200 to control robot 200 from onboard robot 200 and / or work alongside robot 200 as it moves from travel space 250 (i.e., where robot 200 is under autonomous control) to the entry / exit robot queue lanes 550L, 551, 550L1, 551L1, 550L2, 551L2 and into trucks 501, 511 (under manual or quasi-manual control of robot 200).

[0028] The location of the predetermined collaborative zones 580 in the truck portals 505 is programmed into the robot controller 210 of the robots 200; whereas in other respects, the system controller 499 communicates the location of the predetermined collaborative zones 580 to the robot controller 210 in any suitable manner, such as through the CCCN communication network, and defines, as described herein, an interdiction zone 590 that can be sized corresponding to the entry / exit robot queue lanes 550L, 551L, 550L1, 551L1, 550L2, 551L2 and the interior truck loading space 520A, 520B) where fully automated movement (i.e., without operator supervision or direct handling) of the robot 200 is prohibited or disabled.The dimensions of the interdiction zone 590 are programmed into the system controller 499 of the logistics facility 100 and / or the robot controller 210 of robot 200, for each corresponding truck portal 505. Alternatively, the system controller 499 can communicate the dimensions of the interdiction zone 590 to the robot controller 210 in any suitable manner, such as via the CN communication network. The interdiction zone 590 provides unrestricted access (i.e., free entry / exit) by robots 200, under the collaborative control of operator 299, to the interior cargo space of trucks 520A and 520B within trucks 501 and 511 located at the corresponding truck bay 500 and 510.In general, each interdiction zone 590 has an entrance queue 598 (either loading or unloading) arranged along one side, such that the queue 598 is adjacent to the truck portal 505 and the wall 101 of the logistics facility 100. The entrance queue may correspond with (to form an extension of) or include at least a part of queue or queues 550, 551.

[0029] In one respect, the sensors 271 on board the robots 200 can be configured to detect features that delimit or represent the interdiction zone 590 and the tail positions of the robots 200. For example, the robot navigation sensors 271 that perform robot navigation throughout the logistics facility 100 based on the inherent structure of the facility without special navigation markers (such as beacons, special markings, lasers, lights, etc.) are programmed to detect and record the truck portal 505 and its structure within the robot controller 210. The system controller 499 records the dimensions, on a floor of the travel space 250, of the corresponding collaborative zone 580 and communicates those dimensions to the robot controller 210.In other respects, the floor of the logistics facility 100 may include any suitable sensor or sensors, such as optical sensors, acoustic sensors, capacitive sensors, radio frequency sensors, etc., to indicate to the robots 200 the location of the interdiction zone 590 and where to stop to form queues and carry out collaborative control. In other respects, an imaging sensor such as a camera 600 (Figure 5) may be located near the interdiction zone 590 and the entrance queue 598 to detect the location of the robots 200 relative to ao within the interdiction zone 590.

[0030] Referring again to Figures 1 and 3-5, each interdiction zone 590 of each corresponding truck portal 505 further includes an exit zone 599 that is part of or communicatively coupled to the exit lane 552. The exit zone 599 is on one side of the interdiction zone 590 opposite the inbound queue 598. Alternatively, the exit zone 599 may be on one side of the interdiction zone 590 perpendicular to the inbound queue 598 (Figure 4) or have any other suitable spatial arrangement with respect to the inbound queue 598. The exit zone 599 defines another collaborative interface, where the operator 299 dismounts the robot 200 or otherwise relinquishes manual control of the robot and where the robot 200 returns to full autonomous control, proceeding to the next destination.As described herein, in response to the operator's exit from the robots 200 (as determined by any suitable sensor on the robot 200, for example, such as pressure sensors on the floor or in the area of ​​the seat of the robot 200 and occupied by the operator 299, the operator's input that the exit has been completed, and / or suitable sensors from the logistics facility 100 (such as the camera 700)), the system controller 499 commands the robots 200 to move autonomously in the travel space 250 to the destination. It is observed that in some respects, robot 200 can enter a travel lane in travel space 250 before receiving a command / destination from system controller 499 so as to release exit lane 552 so that operator 299 can get off the next robot 200 in the queue (i.e., after coupling or uncoupling the pallet load on truck 501, 511).Next, operator 299, who has stepped off the robot, can move on to the next robot 200 in the queue or to another robot. Operator 299 can be alerted to which robot 200 is next in the queue by any suitable indicator, such as an indicator light, audible tone, etc. To load / unload truck 501, 511, or the next robot 200 in the queue, the operator can simply move forward.

[0031] In one respect, the sensors on board the robots 200 can be programmed to detect the robot's exit from the truck 501, 511 and / or the robot's exit from the interdiction zone 590. For example, the robot's navigation sensors 271 detect the robot's exit through the portal 505 and its entry onto the floor of the collaborative zone 580. In other respects, the floor of the logistics facility 100 can include any suitable sensor, such as optical sensors, acoustic sensors, capacitive sensors, radio frequency sensors, etc. to indicate to the robots 200 where the interdiction zone 590 ends and / or when the robot 200 is in the exit zone 599. In other respects, an image formation sensor such as a camera 700 (Figure 3) may be located near the interdiction zone 590 and the exit zone 599 to detect the location of the robots 200.

[0032] Referring now to Figures 1, 5, and 6, a procedure for loading a truck 501 will be described in accordance with aspects of the disclosed embodiment. Multiple robots 200 (Figure 6, block 601) are provided at the logistics facility 100. When a specified order is received at the logistics facility 100 for shipment, the system controller 499 generally instructs the robots 200 to couple with the logistics goods 901 or pallet loads 998 (in which the logistics goods 901 that form the logistics unit 900 are transported) (Figure 6, block 605). For example, the system controller 499 instructs multiple robots 200 that the logistics goods 901 or pallet loads 998 should be retrieved for loading onto a designated truck 501.The robots 200 move autonomously to a predetermined location provided by the system controller 499 (i.e., the location of the respective logistics goods 901 stored in the respective storage location 150 and to be loaded onto the truck 501). The robots 200 transfer the logistics goods 901 or pallet loads 998 (Figure 6, block 610) between the truck portals 505 and the storage locations 150. The system controller 499 identifies a predetermined truck portal 505 (Figure 6, block 615) of a corresponding truck 501 to be loaded with logistics goods 901 or pallet loads 998 from the storage locations 150 (Figure 6, block 615). System controller 499 generates a default collaborative zone 580 (Figure 6, block 620) in at least part of the displacement space 250 adjacent to the identified truck portal 505.

[0033] System controller 499 generates a robot queue 200 on one side of the default collaborative zone 580 (Figure 6, block 625) and orders robots arranged to load the corresponding truck 501 to move autonomously to the queue. With the retrieved goods 901 (either packaged or loaded onto an outbound pallet load 998) on board the robots 200, the robots 200 move to the queue in the outbound robot queue 550 located adjacent to the truck portal 505 at the truck dock 500, corresponding to the outbound truck 501. Upon generating the queue at the truck portal 505 of the truck dock 500, the system controller 499 commands the robots 200 to sort in a predetermined order (such as based on the truck loading order) while in transit to the truck dock 500, such as before queuing in the outbound robot queue 550.The robots 200 in the exit robot queue 500 remain away from (i.e., outside) the interdiction zone 590 and await the operator interface (e.g., such as the boarding of an operator 299 into robot 200 or an operator who otherwise takes control of at least some of the movements of robot 200).After loading the logistics goods 900 onto the truck 501 using robots 200 in manual operation mode, under the direct control of an operator 299, each robot 200 (or another suitable sensor in the logistics facility 100) detects that the operator 299 has exited (e.g., disconnection of the operator controls and / or physical exit) and / or detects the position in exit lane 552 (Figure 6, block 630). Upon detecting that the operator has exited, the robots 200 return (e.g., under the command of the robot controller 210 and / or the system controller 499) to fully autonomous operation and exit lane 552, beginning autonomous movement to a specified destination. Blocks 601-630 in Figure 6 can be repeated until the truck 501 and / or the specified order is full.

[0034] Referring now to Figures 1, 3-4 and 7, a procedure for unloading a truck 511 will be described in accordance with aspects of the disclosed embodiment. Multiple robots 200 (Figure 7, block 701) are provided in the logistics facility 100. When a truck 511 is unloaded at the inbound truck dock 510, the system controller 499 commands the robots 200 to couple with the logistics goods 901 or pallet loads 999 (in which the logistics goods 901 forming the logistics unit or units 900 are transported) (Figure 7, Block 705_). System controller 499 identifies a redetermined truck portal 505 (Figure 7, block 710_ of a corresponding truck 511 to be unloaded so as to transfer logistics goods 901 or pallet loads 999 to storage locations 150.System controller 499 generates a default collaborative zone 580 (Figure 7, block 715) in at least part of the travel space 250 adjacent to the identified truck portal 505 and generates a queue 551 of robots 200 on one side of the default collaborative zone (Figure 7, block 720). System controller 499 instructs the robots 200 positioned to unload the corresponding truck 511 to travel in autonomous operating mode to the queue 551. For example, the system controller instructs multiple robots 200 which incoming robot queue 551 to move to in order to position themselves in the queue adjacent to the truck portal 505 at the truck dock 510, corresponding to a designated incoming truck 511.

[0035] Upon generating the queue at truck portal 505 of truck dock 510, system controller 499 commands robots 200 to queue up, remaining clear of the interdiction zone 590, and await operator input (e.g., such as an operator 299 boarding robot 200 or an operator otherwise taking control of at least some of robot 200's movements). Logistics goods 900 are unloaded from truck 511 with robots 200 in manual operation mode, under the direct control of an operator 299.With the logistic goods 901 or pallet loads 999 on board the robots 200 and after removing the logistic goods 901 or pallet loads 999 from the truck 511, each robot 200 (or other suitable sensor of the logistic installation 100) detects that the operator 299 has stepped off (e.g., disconnection of the operator controls and / or physical exit) and / or detection of the position in the exit lane 552 (Figure 7, block 725), where after detecting that the operator has stepped off, the robots 200 return to fully autonomous operation (e.g., under the command of the robot controller 210 and / or the system controller 499) and exit the exit lane 552, beginning autonomous movement to a specified destination.System controller 499 instructs the robots, in fully autonomous operating mode, to transfer logistics goods 901 or pallet loads 999 (Figure 7, block 730) between truck portals 505 and storage locations 150. For example, system controller 499 provides robots 200 with a storage location 150, where each respective logistics good 901 or pallet load 999 is to be stored, and each robot 200 begins an autonomous movement to the identified storage location 150. It should be noted that the destination of the unloaded logistics goods 901 and / or pallet loads 999 can be predetermined and provided to robot 200 before queuing, so that once operator 299 dismounts, robot 200 begins moving to the destination almost instantly. Blocks 701-730 in Figure 7 can be repeated until truck 511 is empty. It should be understood that the foregoing description is merely illustrative of aspects of the disclosed embodiment. Those skilled in the art may devise various alternatives and modifications. Accordingly, the aspects of the disclosed embodiment are intended to encompass all such alternatives, modifications, and variations that fall within the scope of any of the appended claims. Furthermore, the mere fact that different features are mentioned in mutually different dependent or independent claims does not indicate that a combination of these features cannot be used advantageously, and such a combination remains within the scope of aspects of the invention.

Claims

1. A collaborative logistics facility management system for a logistics facility comprising storage locations (150) for logistics goods or pallets (901, 995), truck loading / unloading portals (505, 510, 511), and a movement space (250) distributed throughout the logistics facility and communicatively connecting the storage locations (150) and the truck loading / unloading portals for the transfer of logistics goods or pallets (901, 995) between them, the collaborative logistics facility management system comprising: multiple autonomous guided robotic vehicles (200) arranged to dock and transport the logistics goods or pallets (901, 995) between the truck portals (505, 510, 511) and the storage locations (150), the multiple autonomous guided robotic vehicles being configured for guided autonomous movement, in mode self-employed,throughout the travel space from each truck portal to each storage location, and including a collaborating operator input (242) for the navigation and guidance of collaborative autonomous guided vehicles through part of the travel space in a collaborative mode in which the logistics goods or pallets (901, 995) are handled collaboratively with the collaborating operator (299); and a system controller (499) communicatively coupled to each of the multiple autonomous guided robotic vehicles and programmed to command each of the multiple autonomous guided robotic vehicles to dock with the logistics goods or pallets and transfer the logistics goods or pallets between the truck portals (505, 510, 511) and the storage locations (150), the system controller being further programmed to: identify a predetermined truck portal of a truck (501,511) corresponding to be loaded with logistic goods or pallets from storage locations (150) or to be unloaded to transfer logistic goods or pallets to storage locations (150) and generate a default collaborative zone (580) in the portion of the travel space (250) adjacent to the identified truck portal (505, 510, 511), wherein the default collaborative zone (580) is an interdiction zone (590) for autonomous guided robotic vehicles in autonomous mode in which the robot movements and the loading / unloading of the load are directly controlled by an operator (299), and generate a queue (550, 551) of autonomous guided robotic vehicles on one side of the default collaborative zone (580) and order the multiple autonomous guided robotic vehicles disposed to load or unload the corresponding truck to travel in autonomous mode within the queue (550,551).

2. A collaborative logistics facility management system according to claim 1, wherein the predetermined collaborative zone connects the queue to the truck loading space via the truck portal so that an autonomous guided robotic vehicle enters the truck loading space from the queue via the predetermined collaborative zone in collaborative mode.

3. A collaborative logistics facility management system according to claim 1, wherein the predetermined collaborative zone has a size and shape conforming to a truck loading configuration.

4. A collaborative logistics facility management system according to claim 1, wherein the collaborative logistics facility management system is programmed to identify an order of the logistics goods or pallets in the truck load and to classify the multiple autonomous guided robotic vehicles in the queue (550,551) based on the order of the logistics goods or pallets in the truck load.

5. Collaborative logistics facility management system according to claim 1, wherein the collaborative logistics facility management system is programmed to identify another side of the predetermined collaborative zone (580) from which the multiple autonomous guided robotic vehicles, in collaborative mode, exit the truck and the predetermined collaborative zone (580), and in response to the exit of the operator of the multiple autonomous guided robotic vehicles, order the autonomous movement of the autonomous guided robotic vehicles in the movement space to a destination.

6. Collaborative logistics facility management system according to claim 1, wherein the queue (550, 551) is arranged, offset from other movement lanes along the truck portals (505, 510,511) and near the walls of the logistics facility that form the truck portals.

7. A truck unloading procedure using a collaborative logistics facility management system for a logistics facility comprising storage locations (150) for logistics goods or pallets (901, 995), truck loading or unloading portals (505, 510, 511), and a travel space distributed throughout the logistics facility and communicatively connecting the storage locations (150) and truck loading or unloading portals for the transfer of logistics goods or pallets (901, 995) between them, the procedure comprising: providing multiple autonomous guided robotic vehicles arranged to dock and transport the logistics goods or pallets between the truck portals (505, 510, 511) and the storage locations (150),The multiple autonomous guided robotic vehicles are configured for guided autonomous movement, in autonomous mode, along the travel space from each truck portal to each storage location, and include a collaborative operator input for the navigation and guidance of collaborative autonomous guided vehicles through part of the travel space in a collaborative mode in which the logistics goods or pallets (901, 995) are handled collaboratively with the collaborating operator (299); instructing, with a system controller, the multiple autonomous guided robotic vehicles to dock with the logistics goods or pallets (901, 995) and transfer the logistics goods or pallets (901, 995) between the truck portals (505, 510, 511) and the storage locations (150); identifying, with the system controller,a predetermined truck portal of a corresponding truck to be unloaded for transfer of logistics goods or pallets to storage locations (150); and generating, with the system controller, a predetermined collaborative zone (580) in the portion of the travel space adjacent to the identified truck portal, wherein the predetermined collaborative zone (580) is an interdiction zone (590) for autonomous guided robotic vehicles, in autonomous mode, within which the robot movements and the loading / unloading of the load are directly controlled by an operator (299); and generating, with the system controller, a queue (550, 551) of autonomous guided robotic vehicles on one side of the predetermined collaborative zone (580) and ordering, with the system controller,that the multiple autonomous guided robotic vehicles arranged to unload the corresponding truck move autonomously to the queue (550, 551).

8. Truck loading procedure with a collaborative logistics facility management system for a logistics facility that includes storage locations (150) for logistics goods or pallets (901, 995), portals for loading or unloading trucks (505, 510, 511), and a travel space distributed throughout the logistics facility and communicatively connecting the storage locations (150) and portals for loading or unloading trucks (505, 510, 511) for the transfer of logistics goods or pallets (901, 995) between them, the procedure comprising: providing multiple autonomous guided robotic vehicles arranged so as to dock and transport the logistics goods or pallets (901,995) between truck portals and storage locations, the multiple autonomous guided robotic vehicles being configured for autonomous guided travel, in autonomous mode, along the travel space from each truck portal to each storage location, and including a collaborating operator input for navigation and guidance of autonomous guided vehicles in collaborative mode through part of the travel space in a collaborative mode in which the logistics goods or pallets (901, 995) are handled collaboratively with the collaborating operator (299); instructing, with a system controller, the multiple autonomous guided robotic vehicles to connect with the logistics goods or pallets (901, 995) and transfer the logistics goods or pallets between the truck portals (505, 510, 511) and the storage locations (150); identifying, with the system controller,a predetermined truck portal of a corresponding truck to be loaded with logistics goods or pallets from storage locations (150); generating, with the system controller, a predetermined collaborative zone (580) in the portion of the travel space adjacent to the identified truck portal, wherein the predetermined collaborative zone (580) is an interdiction zone (590) for autonomous guided robotic vehicles, in autonomous mode, within which the robot's movements and the loading / unloading of the load are directly controlled by an operator (299); and generating, with the system controller, a queue (550, 551) of autonomous guided robotic vehicles on one side of the predetermined collaborative zone (580) and ordering, with the system controller, the multiple autonomous guided robotic vehicles disposed to load the corresponding truck to move in autonomous mode to the queue (550,551).

9. A method according to claim 7, or a method according to claim 8, wherein the predetermined collaborative zone connects the queue (550, 551) to the truck's loading space via the truck portal, such that an autonomous guided robotic vehicle enters the truck's loading space from the queue (550, 551) via the predetermined collaborative zone in collaborative mode.

10. A method according to claim 7, or a method according to claim 8, wherein the predetermined collaborative zone has a size and shape conforming to a truck loading configuration.

11. A method according to claim 7, or a method according to claim 8, further comprising: identifying, with the system controller, an order of logistics goods or pallets in the truck's loading; and classifying the multiple autonomous guided robotic vehicles in the queue (550,551) depending on the order of the logistics goods or pallets in the truck load.

12. A method according to claim 7, or a method according to claim 8, further comprising: identifying, with the system controller, another side of the predetermined collaborative zone from which the multiple autonomous guided robotic vehicles (AGVs) depart in collaborative mode from the truck and the predetermined collaborative zone; and in response to the departure of the operator from the multiple AGMs, ordering the autonomous movement of the AGMs within the travel space to a destination.

13. A method according to claim 7, or a method according to claim 8, wherein the queue (550, 551) is arranged offset from other travel lanes through the truck portals (505, 510, 511) and close to the walls of the logistics facility formed by the truck portals.

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