Patent Publication Number: US-11396428-B2

Title: Flexible automated sorting and transport arrangement

Description:
BACKGROUND 
     In large retail settings, the delivery, unloading, and sorting of items can be a significant aspect of operational efficiency. Convoluted, wasteful, and labor-intensive operations can degrade efficiency and negatively impact profitability. In some conventional approaches, this delivery, unloading, and sorting process has been a largely manual process, involving employees unloading items from a delivery vehicle, placing the items on carts, and then pushing or pulling the carts around the retail floor space to the proper shelf location. 
     Such a labor-intensive process introduces the potential of delays and wasted efforts when, for example, an employee is mistaken about the correct shelf location (which can occur when the employee is new or the shelf location has recently changed), or the cart is loaded with multiple items that are each destined for disparate shelf locations. Additionally, the manner in which a cart is loaded can affect the efficiency of unloading the items when the cart is at a destination location for one of the items on the cart. 
     Some retail facilities may use a mechanized routing arrangement, involving a conveyor track, either powered or gravity-driven, to move items from a delivery vehicle to an in-store cart. However, space available for the routing arrangement may be limited, as many retail store designs seek to maximize the amount of retail floor space for a given facility size. Thus, the operational and physical flexibility, as well as the footprint, of a mechanized routing arrangement may affect usability and further impact a retail entity&#39;s operational efficiency. 
     SUMMARY 
     In some examples, a system for transporting items to destination locations comprises: a conveyor assembly comprising a plurality of docking locations; an item identifier operable to read identification data of a first item and identification data of a second item; an orchestrator operable to, based at least on the identification data of the first item, pair the first item with a first transporter and, based at least on the identification data of the second item, pair the second item with a second transporter different than the first transporter; and a sorting controller operable to, based at least on the identification data and the pairings, route the first item to a first docking location of the plurality of docking locations and route the second item to a second docking location of the plurality of docking locations. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosed examples are described in detail below with reference to the accompanying drawing figures listed below: 
         FIG. 1  illustrates an exemplary flexible automated sorting and transport arrangement; 
         FIG. 2A  shows an exemplary transporter unit and height measurements relevant to the arrangement of  FIG. 1 ; 
         FIG. 2B  shows an exemplary transporter unit in greater detail; 
         FIGS. 3A and 3B  together comprise a flow chart of operations associated with the flexible automated sorting and transport arrangement of  FIG. 1 ; and 
         FIG. 4  is a block diagram of an example computing node for implementing aspects disclosed herein. 
     
    
    
     Corresponding reference characters indicate corresponding parts throughout the drawings. Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and/or relative positioning of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment may not be depicted, in order to facilitate a less obstructed view. 
     DETAILED DESCRIPTION 
     A more detailed understanding may be obtained from the following description, presented by way of example, in conjunction with the accompanying drawings. The entities, connections, arrangements, and the like that are depicted in, and in connection with the various figures, are presented by way of example and not by way of limitation. As such, any and all statements or other indications as to what a particular figure depicts, what a particular element or entity in a particular figure is or has, and any and all similar statements, that may in isolation and out of context be read as absolute and therefore limiting, may only properly be read as being constructively preceded by a clause such as “In at least some embodiments, . . . ” For brevity and clarity of presentation, this implied leading clause is not repeated ad nauseum. 
     Currently, many receiving processes in retail environments (e.g., unloading and sorting) are manual and labor intensive. Prior to the arrival of a delivery vehicle, employees may arrange a sorting area by positioning carts and pallets at specific destination locations. For example, some pallets may be intended to hold products that are destined for aisle displays and/or promotions. When a delivery vehicle arrives at the retail facility, items may be unloaded onto a relatively fixed and stationary conveyor extending linearly and may be manually pushed downstream along the conveyor surface. In some of these processes, employees may read item identification labels to identify the items as specific inventory products and then make a decision as to the appropriate destination location. Such a manual process is subject to error when the employees are not sufficiently trained or attentive, and is labor-intensive. 
     A disclosed system for transporting items to destination locations, for example when receiving inventory at large retail locations, includes a conveyor assembly comprising a plurality of docking locations; an item identifier operable to read identification data; an orchestrator operable to, based at least on the identification data, pair items with transporter solutions; and a sorting controller operable to, based at least on the identification data and the pairings, route items to specific docking locations where transporter solutions are docked. Transporter solutions may include autonomous ground vehicles (AGVs) that bid on delivery tasks and can adjust shelf height in order to facilitate loading and unloading. The AGVs can thus provide an effectively seamless conveyor solution—either rollers on the conveyor surface move items or rollers on the underside of the AGV move the AGV with the items—with at least some degree of autonomy. 
     An automated sorting and transport arrangement described herein leverages on-board intelligence to make decisions and uses a plurality of data sources, including inventory and transportation information. A centralized orchestrator may direct a fleet of autonomous assets, using artificial intelligence (AI) to track assets and make optimal decisions for tasking the fleet of autonomous assets to perform item delivery operations with efficient resource usage. For example, the delivery time of may be minimized, or the most efficient energy usage may be realized, within some given constraints. 
     An AGV topped by a conveyor or roller system becomes an otherwise indistinguishable addition to a belt or roller system link while it is attached. When one or more items are loaded, the AGV can detach from the primary conveyor assembly and drive itself to the start of another, for example, a conveyance into a kiosk or direct to a shelf. The AGV effectively closes the physical gap between the two, and the item can roll onto the AGV and then off the AGV as if there was a single, uninterrupted conveyance line. This mirrors, in principle, how a ferry is the end of a roadway on one side of a river and becomes the beginning of a roadway once the ferry reaches the other. Thus, in some examples, no special system is required to load or unload the AGV because the AGV top or hold is effectively a part of the conveyance system with which it is used. 
     AGVs may wait at a distance from the primary conveyor assembly and when an item is paired with the AGV, the AGV will be instructed to dock and receive the item. Upon reception of the item, the AGV may wait in place to receive another item, deliver the item, or detach from the primary conveyor assembly and wait in a holding area until it is instructed to either return to the primary conveyor assembly to receive another item or deliver the item at a delayed time. Specific shelves may be used, based on item height, weight (for example heavier, shorter items on lower shelves), or the nearest corresponding shelf height at the delivery destination location. Shelves may be repositionable, such as aligning the shelf of an AGV with the height of the rollers of the docking location, when receiving an item, and the height of the destination shelf or kiosk intake when delivering an item. 
       FIG. 1  illustrates an exemplary flexible automated sorting and transport arrangement  100 . The illustrated example of arrangement  100  includes an orchestrator  102 , a sorting controller  120 , and a conveyor assembly  130  comprising a plurality of docking locations  131 ,  132 ,  133 , and  134 . Conveyor assembly  130  also includes a first conveyor track  136   a , a second conveyor track  136   b , and sorting portions  134   a  and  134   b . In some examples, conveyor tracks  136   a  and  136   b  are gravity conveyors with unpowered rollers in which items roll along due to a gentle downward slope, or pushed along by a human. In some examples, conveyor tracks  136   a  and  136   b  include powered rollers and/or a powered belt. In some examples, sorting portions  134   a  and  134   b  use sorting arms or directional rollers, in order to route items in a particular direction. Although two sections of conveyor track, two sorting portions, and four docking locations are illustrated, it should be understood that a different number of these elements may be used in alternative examples. In some examples, arrangement  100  may be constructed of aluminum, using PVC rollers, in order to reduce weight, and may have modular construction in order to facilitate rapid assembly and disassembly, and compact storage. 
     Rollers on first conveyor track  136   a  and second conveyor track  136   b  may collectively define the conveying surface of conveyor assembly  130 . In this form, items  141 - 144  (and others) may be unloaded from a delivery vehicle  140  at a delivery location (such as at the loading dock of a shopping facility) and may be deposited on first conveyor track  136   a , which serves as a staging area for items passing through an item identifier  146  and a measurement module  148 . Item identifier  146  is operable to read identification data of first item  141 , identification data of second item  142 , identification data of third item  143 , and identification data of any other items being offloaded from delivery vehicle  140 , such as fourth item  144 . As configured in the example, item identifier  146  is operable to read identification data when an item is disposed on conveyor assembly  130  (specifically, on first conveyor track  136   a ) and passes beneath or through item identifier  146 . In some examples, item identifier  146  includes a barcode scanner to read a barcode on items  141 ,  142 ,  143 ,  144 , and any other items unloaded from delivery vehicle  140 . 
     The illustrated example further includes a measurement module  148  operable to measure a parameter of items  141 ,  142 ,  143 ,  144 , and any other items unloaded from delivery vehicle  140 . Some examples of measurement module  148  include a weight measurement module, an optical dimensional measurement module, or both. Thus, the measured parameters include weight, dimension, shape, and/or color, in various examples. This permits determination of damage to any of items  141 ,  142 ,  143 ,  144 , when one or more of measured weight, dimensions, shape, color, or some other parameter does not match expected values. In some examples, sorting portions  134   a  and  134   b  are bi-directional and include a first set of rollers configured to propel an item in the forward direction and a second set of rollers to divert an item in a second direction (sideways). In some examples, the second set of rollers elevate when an item is to be diverted. If the item is to proceed in the forward direction, the second set of rollers is not elevated. In this manner, sorting portions  134   a  and  134   b  can sort items in multiple directions (e.g., left or right). 
     Four transporters  200   a - 200   d  are shown. In some examples, transporters  200   a - 200   d  are AGVs, described in further detail with respect to  FIGS. 2A and 2B . As illustrated, first transporter  200   a  is docked at first docking location  131 ; second transporter  200   b  is docked at second docking location  132 ; third transporter  200   c  is maneuvering between docking location  133  and some destination location; and fourth transporter  200   d  is shown as being in the process of docking at fourth docking location  134 . 
     A sorting controller  120  is in communication with sorting portions  134   a  and  134   b , item identifier  146 , and measurement module  148 . Sorting controller  120  is operable to, based at least on item identification data  118   a  (read from item  141  by item identifier  146  and stored within item data  104 ) and pairing data  108  (provided by orchestrator  102 ), route first item  141  to first docking location  131 , and route second item  142  to second docking location  132 . To accomplish this, in some examples, sorting controller  120  accesses multiple data sets  150 - 156 . For example, sorting controller  120  accesses cargo manifest  150  which is optionally provided as an electronic data set stored in an electrical device accompanying delivery vehicle  140  or stored elsewhere and associated with delivery vehicle  140 . 
     Additionally, sorting controller  120  accesses item location information  152 , product information  154 , and inventory data  156 . In an exemplary operation, when delivery vehicle  140  arrives, orchestrator  102  and sorting controller  120  receive cargo manifest  150 , to identify the items on delivery vehicle  140  that require sorting and distribution to locations within a facility, for example first and second destination locations  161  and  162 . As items  141 - 144  are unloaded from delivery vehicle  140 , item identification data  118   a  is read from items  141 - 144  (and other items) by item identifier  146  and stored within item data  104  within or accessible to sorting controller  120 . Sorting controller  120  uses product information  154  to locate item specification data  118   c . Item specification data  118   c  includes stored parameter values of the various items  141 - 144 , such as weight, dimensions, shape, and color. Item parameter measurements  118   b , measured by measurement module  148  as items  141 - 144  pass though (or nearby, within range of sensors) are sent to sorting controller  120 . Measured and stored parameter values are compared, in some examples, to ascertain whether any items are damaged. If so, then based at least on a comparison between a parameter measurement and a stored parameter value, an item is routed to a disposal location rather than a docking location where a transporter is waiting to deliver the item to a display shelf location (or other customer pick-up location, such a kiosk or automated storage and retrieval system (ASRS)). 
     However, in the absence of detected damage, when routed to first docking location  131 , first item  141  will be loaded onto transporter  200   a  for delivery to a first destination location  161 . When routed to second docking location  132 , second item  142  will be loaded onto transporter  200   b  for delivery to a second destination location  162 . In this manner, items  141  and  142  may be delivered to destination locations  161  and  162 , respectively. In the event that damage had been detected for first item  141 , sorting controller  120  is operable to, based at least on a comparison between the parameter measurement and a stored parameter value, route the first item to a third location (e.g., docking location  133 ) instead of docking location  131 . 
     An orchestrator  102  is in communication with sorting controller  120 , and also accesses some or all of data sets  150 - 156 . In some configurations, orchestrator  102  is one or more processing units or computing nodes, such as computing node  400  of  FIG. 4 , local to arrangement  100 . In some configurations, orchestrator  102  is provided as a cloud-based service. Orchestrator  102  is operable to, based at least on item identification data  118   a  of first item  141 , pair first item  141  with first transporter  200   a  and, based at least on item identification data  118   a  of second item  142 , pair second item  142  with second transporter  200   b  (which is a different transporter than first transporter  200   a ). To accomplish this, and other tasks, orchestrator  102  includes a copy of item data  104 , a tasking module  110 , a pairing module  106 , pairing data  108 , a transport control  114 , and a communication module  116   a  that communicates with transporters  200   a - 200   d  wirelessly via wireless interface  116   b . Wireless interface  116   b  may include any combination of near field communication (NFC), Bluetooth®, WiFi, or another wireless protocol. 
     In operation, when orchestrator  102  is alerted to the presence of first item  141  on conveyor assembly  130 , for example by receiving item identification data  118   a  for item  141 , orchestrator  102  will attempt to pair item  141  with one or transporters  200   a - 200   d  using pairing module  106 . Orchestrator  102  can use item location information  152  to ascertain where item  141  should be delivered, and transporter status  160  to ascertain which transporter assets are available for use. If orchestrator  102  determines that one of transporters  200   a - 200   d  is suitable for delivering item  141 , such as, for example, transporter  200   a  is already tasked with delivering other items to the same or nearby destination location, orchestrator  102  will pair item  141  with transporter  200   a  and generate pairing data  108  pairing item  141  with transporter  200   a . Orchestrator  102  retains the current status of the transporters with which it has been paired (registered), including the location of each transporter. Therefore, at least one of orchestrator  102  and sorting controller  120  is able to ascertain that transporter  200   a  is docked at docking location  131 . Thus, sorting controller  120  will, based at least on item identification data  118   a  for item  141  and the pairing data  108  of item  141  with transporter  200   a , route item  141  to docking location  131  where it will be loaded onto transporter  200   a.    
     Similarly, when orchestrator  102  is alerted to the presence of second item  142  on conveyor assembly  130 , for example by receiving item identification data  118   a  for item  142 , orchestrator  102  will attempt to pair item  142  with one of transporters  200   a - 200   d . Orchestrator  102  can use item location information  152  to ascertain where item  142  should be delivered. If orchestrator  102  determines that one of transporters  200   a - 200   d  is suitable for delivering item  142 , such as, for example, transporter  200   b  is already tasked with delivering other items to the same or nearby destination location, orchestrator  102  will pair item  142  with transporter  200   b . At least one of orchestrator  102  and sorting controller  120  is able to ascertain that transporter  200   b  is docked at docking location  132 . Thus, sorting controller  120  will, based at least on item identification data  118   a  for item  142  and the pairing data  108  of item  142  with transporter  200   b , route item  142  to docking location  132  where it will be loaded onto transporter  200   b . In addition to pairing an item with a transported, some examples of orchestrator  102  select a shelf of a transporter to receive an item. This can be based, for example, on the shelf height at the destination location (item destination information). Orchestrator  102  then instructs the transporter (e.g., one of transporters  200   a - 200   d ) to align the selected shelf with the roller surface at the docking location. In some examples, orchestrator  102  may inform a transporter of the item size, weight, and destination shelf height, and permit the transporter to decide which shelf to use, based on the transporter&#39;s existing or expected loading. 
     However, if orchestrator  102  determines that none of the transporters currently docked at conveyor assembly  130  is a good choice for delivering an item, orchestrator  102  will transmit (using communication module  116   a ) a delivery task for the item to the plurality of transporters to which orchestrator  102  has been paired (registered) and which are available for performing delivery tasks (e.g., transporters  200   a - 200   d ). Transporters  200   a - 200   d  will each then respond with bids for the delivery task, which are received by orchestrator  102 . In some examples, the bids include the delivery time and estimated marginal power used (e.g., battery power) in accomplishing the task. Orchestrator stores the received bids  112  received in communications from the plurality of transporters, such as transporters  200   a - 200   d , and associates each bid with a transporter ID that had been determined when the particular transporter was paired with orchestrator  102 . Based at least on the communications from a plurality of transporters, orchestrator  102  performs a cost minimization operation to pair the item with a transporter. The cost minimization will be a system-wide minimization, including the plurality of transporters  200   a - 200   d.    
     For example, item  143  may be going to a destination nearby item  141 . If transporter  200   a  has sufficient capacity to also carry item  143 , then the marginal power that transporter  200   a  estimates that it will use to deliver item  143  will be fairly low. Additionally, since transporter  200   a  is already docked, the delivery time will be relatively quick. In contrast, in this example, transporter  200   b  has been tasked to deliver item  142  at a destination location a considerable distance away, and so the marginal power that transporter  200   b  estimates that it will use to deliver item  143  will be fairly high. Additionally, neither of transporters  200   c  and  200   d  is in position yet, so they will each require a longer time than transporter  200   a . Therefore, orchestrator  102  pairs item  143  with transporter  200   a , and sorting controller  120  will route item  143  to docking location  131  for loading onto transporter  200   a.    
     As an additional example, item  144  may be going to a destination nearby item  142 , but transporter  200   b  does not have sufficient capacity to also carry item  144 . Orchestrator  102  transmits the delivery tasks and pairs item  144  with transporter  200   d . Orchestrator  102  instructs transporter  200   d  to dock at docking location  134  and further to align the height of a shelf of transporter  200   d  with the height of docking location  134  to receive item  144 . This process follows what had occurred earlier when orchestrator  102  had instructed first transporter  200   a  to dock at first docking location  131  and instructed second transporter  200   b  to dock at second docking location  132 . Orchestrator  102  had also instructed first transporter  20   a  to align a first shelf of first transporter  200   a  with first docking location  131  to receive first item  141 . Upon transporter  200   a  and transporter  200   b  reporting full (or some other condition) orchestrator  102  instructs first transporter  200   a  to deliver first item  141  to first destination location  161  and instructs second transporter  200   b  to deliver second item  142  to second destination location  162 . 
       FIG. 2A  shows an exemplary transporter  200   a  and height measurements relevant to the arrangement of  FIG. 1 , and  FIG. 2B  shows transporter  200   a  in greater detail.  FIGS. 2A and 2B  should be viewed together. Transporter  200   a  is an exemplary transporter unit; transporters  200   b - 200   d  may be similar or effectively identical. In some examples, transporter  200   a  is an AGV with at least one shelf  201 , a shelf elevator  211  operable to raise and lower shelf  201 , and a drive unit  232  operable to move AGV  200   a  (transporter  200   a ) between docking location  131  and first destination location  161 . Transporter  200   a  also a navigation module  238 , a wireless communication module  234 , a monitoring module  264  operable to monitor a parameter status of AGV  200   a , and a controller  230  in communication with shelf elevator  211 , drive unit  232 , navigation module  238 , and communication module  234 . As illustrated, AGV  200   a  additionally includes a second shelf  202  and a second shelf elevator  212 , in communication with controller  230 , and operable to raise and lower shelf  202 . Some examples of shelf elevators  211  and  212  permit adjusting shelves for tilting the shelves front/back and left/right, to provide for a level surface if the conditions of the floor or conveyor assembly  130  warrant an adjustment. 
     When AGV  200   a  reaches docking location  131 , docking sensor  260  on AGV  200   a  and docking sensor  261  at docking location  131  perform a handshaking operation and report to controller  230  and also orchestrator  102  and/or sorting controller  120  (both of  FIG. 1 ) that AGV  200   a  is docked at docking location  131 . Orchestrator  102  has determined that item  141  will be going to destination location  161 , and another item, such as item  143  will be carried on AGV  200   a  to go to destination location  163 . Since destination location  161  is a higher shelf than destination location  163 , orchestrator has paired item  141  with shelf  201  of AGV  200   a  and item  143  with shelf  202 . Since item  141  will arrive first, orchestrator  102  or sorting controller  120  instructs AGV  200   a  to position shelf  201 , at height  221 , to a first height that corresponds to aligning shelf  201  with a height  220  of docking location  131 . 
     Controller  230  uses shelf elevator  211  to properly position shelf  201 . As illustrated, shelf  201  comprises a conveyor portion that is implemented as a series of parallel rollers. At a later time, when AGV  200   a  is delivering item  141  to destination location  161 , controller  230  will use shelf elevator  211  to position shelf  201  to a second height that corresponds to aligning shelf  201  with a height  251  of destination location  161 . In some examples, height  251  is different from height  220 . Returning to the loading process, when item  143  arrives, orchestrator  102  or sorting controller  120  instructs AGV  200   a  to position shelf  202 , at height  222 , to the height that corresponds to aligning shelf  202  with a height  220  of docking location  131 . Similarly then, when AGV  200   a  is delivering item  143  to destination location  163 , controller  230  will use shelf elevator  212  to position shelf  203  to a height that corresponds to aligning shelf  202  with a height  253  of destination location  163 . When AGV  200   a  is docked and a shelf is properly positioned (e.g., at height  220 ), AGV  200   a  signals that it is ready to accept items, using docking sensor  260  and/or communication module  234 . 
     Controller  230  communicates with orchestrator  102  and/or sorting controller  120  wirelessly using communication module  234 , and may further communicate with orchestrator  102  and/or sorting controller  120  using docking sensors  260  and  261 . In some examples, docking sensors  260  and  261  may additionally assist with final navigation in order to precisely align AGV  200   a  with docking location  131 . Docking sensors  260  and  261  may include any combination of proximity sensors, navigation sensors, lidar, and contact sensors. Controller  230  communicates with orchestrator  102  and/or sorting controller  120  to transmit AGV parameter status information to orchestrator  102 , which is monitored by monitoring module a monitoring module  264 . In some examples, the parameter status information monitored by monitoring module  264  and transmitted to orchestrator  102  include load status, remaining load capacity, weight, remaining operational capacity, and position. An example of remaining operational capacity information is the charge remaining in battery  262  that powers drive unit  232  to maneuver AGV  200   a  between a docking location (such as docking location  131 ) and destination locations (such as destination locations  161  and  163 ). This information informs orchestrator  102  whether AGV has sufficient remaining power to complete its currently-assigned tasks, and take on additional tasks. Controller  230  communicates with orchestrator  102  to receive a delivery tasks, wirelessly transmit bids, and receive delivery instructions from orchestrator  102 . Controller  230  includes logic for generating bids in response to receiving new tasks from orchestrator  102 . 
     A collision avoidance module  236  is operable to sense pending collisions and instruct an avoidance maneuver. In some examples, collision avoidance module  236  includes an optical sensor; in some examples, collision avoidance module  236  includes an infrared or ultrasonic proximity sensor. In some examples, an optical sensor in collision avoidance module  236  can be monitored by a human or an AI process, in order to prevent collisions. Remote human monitoring may utilize communication module  234  for transmitting video and other status information regarding AGV  200   a . In some examples, AI is implemented in controller  230 , whereas in some examples, AI is implemented in a remote node that instructs controller  230 . In some examples, machine learning (ML) may be used in navigation, collision avoidance, and pairing in order to minimize delivery times and maximize energy efficiency. AGV  200   a  may have a standard path of travel, according to a localization grid with floor navigation components  274 , which may include magnetic strips, readable optical pathways, or other means to rapidly, reliably, and precisely determine location. 
     A conveyor gate  270  is kept raised until AGV  200   a  is in place and ready to accept items, so that items do not roll off docking location  131 . Conveyor gate  270  acts as a barrier until it is lowered, in order to permit items to roll from docking location  131  onto AGV  200   a . Similarly, roller brakes  271  and  272  on shelves  201  and  202 , respectively, can prevent items on AGV  200   a  from rolling off shelves  201  and  202  while AGV  200   a  is in motion. Roller brakes  271  and  272  prevent the rollers on shelves  201  and  202  from turning. It should be understood that any combination of conveyor gates and roller brakes may be used on docking location  131  and AGV  200   a . Sensors  241  and  242  monitor the positions and loads on shelves  201  and  202 , respectively. For example, sensors may include mechanically-actuated contacts for position-sensing, optical sensors for shelf position and load sensing, and weight sensors. 
     In some examples, AGV  200   a  may recharge battery  262  at docking location  231 . In some examples, transporter  200   a  may be an unmanned aerial vehicle (UAV), such as an autonomous UAV, rather than a ground vehicle or AGV. In some examples, a plurality of transporters may be used in tandem, such as an AGV ferrying items to a UAV. In some examples, transporter  200   a  may include human navigation and control options, such as push bars. 
       FIGS. 3A and 3B  together comprise a flow chart of operations ( 300   a  and  300   b ) associated with the flexible automated sorting and transport arrangement of  FIG. 1 . Flow charts  300   a  and  300   b  should be viewed as a single chart. In operation  302 , a transporter, such as transporter  200   a  (of  FIGS. 1-2B ), is paired (registered) with orchestrator  102  (of  FIG. 1 ). This permits orchestrator  102  to use transporter  200   a  as a delivery asset and determine an ID number for transporter  200   a . At  304 , a delivery vehicle arrives and a cargo manifest is received by orchestrator  102  and sorting controller  120  (also of  FIG. 1 ), for example, cargo manifest  150 . Items are unloaded at  308  and operation  310  includes reading item identification, for example reading identification data of a first item and identification data of a second item. The item information, including stored parameter values is retrieved, and is received at  312 . Item destination information is received at  314 , so that orchestrator  102  possesses the destination location information. 
     Orchestrator  102  monitors transporter locations in operation  316 , which includes receiving communications from a plurality of transporters. Orchestrator  102  also monitors transporter status in operation  318 , which also includes receiving communications from a plurality of transporters. Received information includes, in some examples, indicators of remaining operational service life, such as errors, failures, and remaining battery life. This information is stored in transporter status  160  (of  FIG. 1 ) to assist orchestrator  102  in ascertaining which transporters are available for tasking. Operation  320  includes measuring a parameter of the item, for example, measuring a weight parameter or a dimension parameter of the item. The stored parameter value(s) retrieved in operation  312  and the measured parameter(s) is compared in operation  322 , to determine whether the item is damaged. If damage is detected in decision operation  324 , based at least on a comparison between the parameter measurement and a stored parameter value, operation  326  diverts the item to the location for damaged goods. This is accomplished, for example, by routing the item to a location different than a docking location where it would have been picked up for delivery to a display location. The process then returns to operation  308  for the next item. 
     If, however, no damage is detected, then orchestrator  102  determines whether the current item may be added to an existing delivery task. This can be the case when a transporter has remaining capacity (to accommodate both the dimensions and the weight of the item), and is already tasked to go to a nearby destination location. In some examples, AI may be used for the item/transport pairings. If, in decision operation  328 , orchestrator  102  determines that the item may be added to an existing task, orchestrator  102  pairs the item with the selected transporter. For example, if two items are traveling along conveyor assembly  130  (of  FIG. 1 ), and orchestrator  102  determines that each one may be paired with a different transporter that is already docked, the operation  330  includes, based at least on the identification data of the first item, pairing the first item with a first transporter, and based at least on the identification data of the second item, pairing the second item with a second transporter different than the first transporter. The process then moves to operation  350 , which will be described below. 
     If, however, in decision operation  328 , controller determines that a new delivery task is needed for the item, then at  332 , orchestrator  102  generates a new delivery task. Operation  334  includes transmitting the delivery task for the item to the plurality of transporters. The transporters generate bids and transmit them to orchestrator  102 , and orchestrator  102  receives the bids in operation  336 . That is, orchestrator  102  receives communications from the plurality of transporters, including a first transporter and a second transporter, and receiving communications from the plurality of transporters comprises receiving bids from the plurality of transporters for the delivery task. In operation  338 , orchestrator  102  selects a bid and pairs the item with a transporter. For example, operation  338  includes, based at least on the communications received from the plurality of transporters, pairing a first item with a first transporter and, at a later time, operation  338  includes pairing a second item with a second transporter. In some examples, pairing an item with a transporter comprises performing a cost minimization operation. Various parameters may be optimized, such as delivery time, energy usage, or a weighted combination. 
     At  340 , orchestrator  102  then selects a docking location to receive the selected transporter. If the docking location is currently full, orchestrator  102  may select the currently-docked transporter to temporarily depart and wait in a holding area. (See operation  364 , below.) When the docking location becomes available, orchestrator  102  instructs the transporter to dock at the docking location at  342 . If orchestrator  102  is instructing two transporters, then operation  342  includes instructing the first transporter to dock at the first docking location and instructing the second transporter to dock at the second docking location. Transporter arrival is tracked at  344 , and docking precision navigational guidance is provided in operation  346 . Docking is sensed at  348 , for example by docking sensors  260  and  261  (of  FIGS. 2A and 2B , respectively) performing a handshaking operation. 
     Some examples include selecting a transporter shelf according to the destination shelf height, such as items destined for lower display shelves will be loaded onto lower transporter shelves and items destined for higher display shelves will be loaded onto upper transporter shelves. Shelf selection is accomplished in operation  350 , which includes, based at least on item destination information for the item, selecting a shelf of the transporter to receive the first item. Operation  352  includes instructing the transporter to align the selected shelf with the docking location. In some examples, however, if there is only a single shelf, or the destination information is not used, operation  350  is skipped and operation  352  includes instructing the transporter to align a shelf of the transporter with the docking location to receive the item. Items are routed to the proper docking location, at  354 . For example, if orchestrator  102  processes delivery operations multiple items, operation  354  includes, based at least on the identification data and the pairing, routing the first item to a first docking location of a plurality of docking locations. At a later time, operation  354  includes, based at least on the identification data and the pairing, routing the second item to a second docking location of the plurality of docking locations. 
     Conveyor gates and roller brakes are operated at  356 , in order to permit the item to roll onto the transporter. The item rolls onto the transporter at  358 , thereby loading the transporter. Conveyor gates and roller brakes are operated again at  360 , in order to prevent unwanted movement of any items. After the item is loaded, the transporter may be instructed to depart and wait in a holding area. For example, in decision operation  362 , orchestrator  102  determines whether the docking location is needed. (See operation  340  above.) If the docking location is needed, the transporter is instructed to depart and wait in operation  364 , for a delayed continuation in loading. The transporter may wait nearby, so it can rapidly dock again to receive more items. In decision operation  366 , orchestrator  102  determines that transporter should deliver loaded items. If not, then the transporter awaits continued loading at  368 , and returns to operation  308 . 
     A transporter may be instructed to deliver items if it is at or near capacity (e.g. at maximum weight, or so shelf space remains), or in some cases, even if it is only partially filled. In operation  370 , orchestrator  102  instructs the transporter to deliver the items. For example, if two transporters are ready to depart for delivery, operation  370  includes instructing the first transporter to deliver the first item to a first destination location and then (possibly at a later iteration) instructing the second transporter to deliver the second item to a second destination location. When a transporter arrives at a destination location, it adjusts the shelf height for unloading at  372 , such as matching the height of the transporter&#39;s shelf with the display shelf. The transporter then confirms delivery at  374  and awaits the next task from orchestrator  102 . 
     Exemplary Operating Environment 
       FIG. 4  is a block diagram of an example computing node  400  for implementing aspects disclosed herein and is designated generally as computing node  400 . Computing node  400  is one example of a suitable computing environment and is not intended to suggest any limitation as to the scope of use or functionality of the invention. Neither should the computing node  400  be interpreted as having any dependency or requirement relating to any one or combination of components/modules illustrated. The examples and embodiments disclosed herein may be described in the general context of computer code or machine-useable instructions, including computer-executable instructions such as program components, being executed by a computer or other machine, such as a personal data assistant or other handheld device. Generally, program components including routines, programs, objects, components, data structures, and the like, refer to code that performs particular tasks, or implement particular abstract data types. The disclosed examples may be practiced in a variety of system configurations, including personal computers, laptops, smart phones, mobile tablets, hand-held devices, consumer electronics, specialty computing nodes, etc. The disclosed examples may also be practiced in distributed computing environments, where tasks are performed by remote-processing devices that are linked through a communications network. 
     Computing node  400  includes a bus  410  that directly or indirectly couples the following devices: memory  412 , one or more processors  414 , one or more presentation components  416 , input/output (I/O) ports  418 , I/O components  420 , a power supply  422 , and a network component  424 . Computing node  400  should not be interpreted as having any dependency or requirement related to any single component or combination of components illustrated therein. While computing node  400  is depicted as a seemingly single device, multiple computing nodes  400  may work together and share the depicted device resources. That is, one or more computer storage devices having computer-executable instructions stored thereon may perform operations disclosed herein. For example, memory  412  may be distributed across multiple devices, processor(s)  414  may provide housed on different devices, and so on. 
     Bus  410  represents what may be one or more busses (such as an address bus, data bus, or a combination thereof). Although the various blocks of  FIG. 4  are shown with lines for the sake of clarity, in reality, delineating various components is not so clear, and metaphorically, the lines would more accurately be grey and fuzzy. For example, one may consider a presentation component such as a display device to be an I/O component. Also, processors have memory. Such is the nature of the art, and the diagram of  FIG. 4  is merely illustrative of an exemplary computing node that can be used in connection with one or more embodiments. Distinction is not made between such categories as “workstation,” “server,” “laptop,” “hand-held device,” etc., as all are contemplated within the scope of  FIG. 4  and the references herein to a “computing node” or a “computing device.” Memory  412  may include any of the computer-readable media discussed herein. Memory  412  may be used to store and access instructions configured to carry out the various operations disclosed herein. In some examples, memory  412  includes computer storage media in the form of volatile and/or nonvolatile memory, removable or non-removable memory, data disks in virtual environments, or a combination thereof. 
     Processor(s)  414  may include any quantity of processing units that read data from various entities, such as memory  412  or I/O components  420 . Specifically, processor(s)  414  are programmed to execute computer-executable instructions for implementing aspects of the disclosure. The instructions may be performed by the processor, by multiple processors within the computing node  400 , or by a processor external to the client computing node  400 . In some examples, the processor(s)  414  are programmed to execute instructions such as those illustrated in the flowcharts discussed below and depicted in the accompanying drawings. Moreover, in some examples, the processor(s)  414  represent an implementation of analog techniques to perform the operations described herein. For example, the operations may be performed by an analog client computing node  400  and/or a digital client computing node  400 . 
     Presentation component(s)  416  present data indications to a user or other device. Exemplary presentation components include a display device, speaker, printing component, vibrating component, etc. One skilled in the art will understand and appreciate that computer data may be presented in a number of ways, such as visually in a graphical user interface (GUI), audibly through speakers, wirelessly among multiple computing nodes  400 , across a wired connection, or in other ways. Ports  418  allow computing node  400  to be logically coupled to other devices including I/O components  420 , some of which may be built in. Example I/O components  420  include, for example but without limitation, a microphone, keyboard, mouse, joystick, game pad, satellite dish, scanner, printer, wireless device, etc. 
     In some examples, the network component  424  includes a network interface card and/or computer-executable instructions (e.g., a driver) for operating the network interface card. Communication between the computing node  400  and other devices may occur using any protocol or mechanism over any wired or wireless connection. In some examples, the network component  424  is operable to communicate data over public, private, or hybrid (public and private) using a transfer protocol, between devices wirelessly using short range communication technologies (e.g., near-field communication (NFC), Bluetooth® branded communications, or the like), or a combination thereof. Network component  424  communicates over communication link  426  to a cloud resource  428 . Various different examples of communication link  426  include a wired connection, wireless connection, and/or a dedicated link, and in some examples, at least a portion is routed through the internet. Various different examples of cloud resource  428  include data storage for the data sets  150 - 156  of  FIG. 1 , and computational services for some or all of the functionality of orchestrator  102  of  FIG. 1 . 
     Although described in connection with an example computing node  400 , examples of the disclosure are capable of implementation with numerous other general-purpose or special-purpose computing system environments, configurations, or devices. Examples of well-known computing systems, environments, and/or configurations that may be suitable for use with aspects of the disclosure include, but are not limited to, smart phones, mobile tablets, mobile computing nodes, personal computers, server computers, hand-held or laptop devices, multiprocessor systems, gaming consoles, microprocessor-based systems, set top boxes, programmable consumer electronics, mobile telephones, mobile computing and/or communication devices in wearable or accessory form factors (e.g., watches, glasses, headsets, or earphones), network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, virtual reality (VR) devices, holographic device, and the like. Such systems or devices may accept input from the user in any way, including from input devices such as a keyboard or pointing device, via gesture input, proximity input (such as by hovering), and/or via voice input. 
     Examples of the disclosure may be described in the general context of computer-executable instructions, such as program modules, executed by one or more computers or other devices in software, firmware, hardware, or a combination thereof. The computer-executable instructions may be organized into one or more computer-executable components or modules. Generally, program modules include, but are not limited to, routines, programs, objects, components, and data structures that perform particular tasks or implement particular abstract data types. Aspects of the disclosure may be implemented with any number and organization of such components or modules. For example, aspects of the disclosure are not limited to the specific computer-executable instructions or the specific components or modules illustrated in the figures and described herein. Other examples of the disclosure may include different computer-executable instructions or components having more or less functionality than illustrated and described herein. In examples involving a general-purpose computer, aspects of the disclosure transform the general-purpose computer into a special-purpose computing device or computing node when configured to execute the instructions described herein. 
     By way of example and not limitation, computer readable media comprise computer storage media and communication media. Computer storage media include volatile and nonvolatile, removable and non-removable memory implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or the like. Computer storage media are tangible and mutually exclusive to communication media. Computer storage media are implemented in hardware and exclude carrier waves and propagated signals. Computer storage media for purposes of this disclosure are not signals per se. Exemplary computer storage media include hard disks, flash drives, solid-state memory, phase change random-access memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing device. In contrast, communication media typically embody computer readable instructions, data structures, program modules, or the like in a modulated data signal such as a carrier wave or other transport mechanism and include any information delivery media. 
     Exemplary Operating Methods and Systems 
     An exemplary system for transporting items to destination locations comprises: a conveyor assembly comprising a plurality of docking locations; an item identifier operable to read identification data of a first item and identification data of a second item; an orchestrator operable to, based at least on the identification data of the first item, pair the first item with a first transporter and, based at least on the identification data of the second item, pair the second item with a second transporter different than the first transporter; and a sorting controller operable to, based at least on the identification data and the pairings, route the first item to a first docking location of the plurality of docking locations and route the second item to a second docking location of the plurality of docking locations. 
     An exemplary method of transporting items to destination locations comprises: reading identification data of a first item and identification data of a second item; based at least on the identification data of the first item, pairing the first item with a first transporter; based at least on the identification data of the second item, pairing the second item with a second transporter different than the first transporter; and based at least on the identification data and the pairings, routing the first item to a first docking location of a plurality of docking locations and routing the second item to a second docking location of the plurality of docking locations. 
     One or more computer storage devices having computer-executable instructions stored thereon for orchestrating transport of items to destination locations, which, on execution by a computer, cause the computer to perform operations comprising: reading identification data of a first item and identification data of a second item; transmitting a delivery task for the first item to a plurality of AGVs; receiving communications from the plurality of AGVs, including a first AGV and a second AGV, wherein the receiving communications from the plurality of AGVs comprises receiving bids from the plurality of AGVs for the delivery task; based at least on the communications received from the plurality of AGVs, pairing the first item with the first AGV and pairing the second item with the second AGV, wherein pairing the first item with the first AGV comprises performing a cost minimization operation; instructing the first AGV to dock at a first docking location of a plurality of docking locations; instructing the second AGV to dock at a second docking location of the plurality of docking locations; based at least on item destination information for the first item, selecting a shelf of the first transporter to receive the first item; instructing the first transporter to align the selected shelf with the first docking location; based at least on the identification data and the pairings, routing the first item to the first docking location and routing the second item to the second docking location; and instructing the first AGV to deliver the first item to a first destination location and instructing the second AGV to deliver the second item to a second destination location. 
     Alternatively, or in addition to the other examples described herein, examples include any combination of the following:
         the item identifier is operable to read identification data when an item is disposed on the conveyor assembly;   the first transporter the second transporter each comprises an AGV;   a measurement module operable to measure a parameter of the first item;   the measurement module comprises a weight measurement module or an optical dimensional measurement module;   measuring a weight parameter or a dimension parameter of the first item;   the sorting controller is further operable to, based at least on a comparison between the parameter measurement and a stored parameter value, route the first item to a third location different than the first docking location;   based at least on a comparison between the parameter measurement and a stored parameter value, routing the first item to a third location different than the first docking location;   the orchestrator is further operable to instruct the first transporter to align a first shelf of the first transporter with the first docking location to receive the first item;   instructing the first transporter to align a first shelf of the first transporter with the first docking location to receive the first item;   the orchestrator is further operable to, based at least on item destination information for the first item, select a shelf of the first transporter to receive the first item, and instruct the first transporter to align the selected shelf with the first docking location;   based at least on item destination information for the first item, selecting a shelf of the first transporter to receive the first item;   instructing the first transporter to align the selected shelf with the first docking location;   the orchestrator is further operable to instruct the first transporter to dock at the first docking location and instruct the second transporter to dock at the second docking location.   instructing the first transporter to dock at the first docking location;   instructing the second transporter to dock at the second docking location;   the orchestrator is further operable to receive communications from a plurality of transporters, including the first transporter and the second transporter, based at least on the communications from a plurality of transporters, pair the first item with the first transporter and pair the second item with the second transporter, and instruct the first transporter to deliver the first item to a first destination location and instruct the second transporter to deliver the second item to a second destination location;   receiving communications from a plurality of transporters, including the first transporter and the second transporter;   based at least on the communications received from the plurality of transporters, pairing the first item with the first transporter and pairing the second item with the second transporter;   instructing the first transporter to deliver the first item to a first destination location and instructing the second transporter to deliver the second item to a second destination location;   the orchestrator is further operable to transmit a delivery task for the first item to the plurality of transporters, wherein the receiving communications from the plurality of transporters comprises receiving bids from the plurality of transporters for the delivery task, and wherein pairing the first item with the first transporter comprises performing a cost minimization operation;   transmitting a delivery task for the first item to the plurality of transporters;   receiving communications from the plurality of transporters comprises receiving bids from the plurality of transporters for the delivery task; and   pairing the first item with the first transporter comprises performing a cost minimization operation.       

     The order of execution or performance of the operations in examples of the disclosure illustrated and described herein may not be essential, and thus may be performed in different sequential manners in various examples. For example, it is contemplated that executing or performing a particular operation before, contemporaneously with, or after another operation is within the scope of aspects of the disclosure. When introducing elements of aspects of the disclosure or the examples thereof, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. The term “exemplary” is intended to mean “an example of” The phrase “one or more of the following: A, B, and C” means “at least one of A and/or at least one of B and/or at least one of C.” 
     Having described aspects of the disclosure in detail, it will be apparent that modifications and variations are possible without departing from the scope of aspects of the disclosure as defined in the appended claims. As various changes could be made in the above constructions, products, and methods without departing from the scope of aspects of the disclosure, it is intended that all matter contained in the above description and shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense. While the disclosure is susceptible to various modifications and alternative constructions, certain illustrated examples thereof are shown in the drawings and have been described above in detail. It should be understood, however, that there is no intention to limit the disclosure to the specific forms disclosed, but on the contrary, the intention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the disclosure.