Automated validation systems and methods for robotic storage and retrieval systems

Abstract

In some embodiments, apparatuses and methods are provided herein useful for automatically validating robotic storage and retrieval systems. In some embodiments, a system includes a structure having sections configured to allow a mobile robot to traverse the structure carrying a product in a tote, the sections having a validation zone. Sensors positioned in the validation zone capture data relating to a current state of the mobile robot, tote, and / or product as the mobile robot traverses the validation zone. Prior to the mobile robot traversing the validation zone, a validation control circuit receives, from a central control circuit, an expected state of the mobile robot, tote, and / or product. The validation control circuit then receives and analyzes data from the sensor(s), compares the current state with the expected state, detects a deviation result, and transmits an indication of the deviation result to the central control circuit.

Description

AUTOMATED VALIDATION SYSTEMS AND METHODS FOR ROBOTIC STORAGE AND RETRIEVAL SYSTEMS Cross-Reference to Related Application

[0001] This application claims the benefit of U.S. Provisional Application No.63 / 626,177 filed January 29, 2024, which is hereby incorporated by reference in its entirety. Technical Field

[0002] This invention relates generally to robotic storage and retrieval systems and, in particular, to validating the status of mobile robots, totes carried by the mobile robots, and / or products contained in the totes. Background

[0003] Automated storage and retrieval systems are often used by large retail entities to manage inventory. Typical automated storage and retrieval systems are generally configured to store and retrieve products from storage locations in a multilevel storage structure at a fulfillment center. For example, products received at a fulfillment center may be transported from decanting stations to particular locations in the storage structure by mobile robots. And to fulfill an order, mobile robots may retrieve products from their particular locations in the storage structure and transport them to fulfillment stations. Totes or containers may be used to store the products in the storage structure. Brief Description of the Drawings

[0004] Disclosed herein are embodiments of systems, apparatuses and methods pertaining to automated validation of robotic storage and retrieval systems in accordance with several embodiments. This description includes drawings, wherein:

[0005] FIGS. 1A and FIG. 1B are illustrations of an order fulfillment facility having a robotic storage and retrieval system therein in accordance with several embodiments.

[0006] FIG.2 is a block diagram of an automated validation system for robotic storage and retrieval systems in accordance with several embodiments.

[0007] FIG. 3A is an illustration of a mobile robot in accordance with several embodiments.

[0008] FIG.3B is an illustration of a product tote in accordance with several embodiments. 1 8842-158682-WO_8495WO01

[0009] FIG. 4 is an illustration of a validation zone in a storage structure in accordance with several embodiments.

[0010] FIG. 5 is a flow diagram of an exemplary method of automated validation for robotic storage and retrieval systems in accordance with several embodiments.

[0011] FIG. 6 is a flow diagram of an exemplary method of automated validation for robotic storage and retrieval systems in accordance with several embodiments.

[0012] FIG. 7 is a flow diagram of an exemplary method of automated validation for robotic storage and retrieval systems in accordance with several embodiments.

[0013] FIG. 8 illustrates an exemplary system for use in implementing methods, techniques, devices, apparatuses, systems, servers, and sources for automated validation for robotic storage and retrieval systems in accordance with several embodiments. Detailed Description

[0014] The following description is not to be taken in a limiting sense but is made merely for the purpose of describing the general principles of exemplary embodiments. Reference throughout this specification to “one form,” “one embodiment,” “an embodiment,” “some embodiments”, “an implementation”, “some implementations”, “some applications”, or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” “in some embodiments”, “in some implementations”, and similar language throughout this specification do not all refer to the same embodiment.

[0015] Generally speaking, pursuant to various embodiments, systems, apparatuses, and methods are provided herein for automatically validating mobile robots, totes carried by the mobile robots, and products contained in the totes as the mobile robot traverses a validation zone of a robotic storage and retrieval system. In conventional robotic order fulfillment systems, a damaged product may often be discovered at a workstation (e.g., a picking station) when the product is removed from a product tote and placed in an order tote. In such cases, intervention and / or corrective action may be needed to diagnose and remedy the problem, thereby disrupting the order flow and reducing efficiency. The embodiments, systems, apparatuses and methods provided herein, in which mobile robots, totes carried by the mobile robots, and / or products contained in the totes are automatically validated as the mobile robot traverses a validation zone of a robotic 2 8842-158682-WO_8495WO01storage and retrieval system prior to arriving at the assigned station, enables detection and correction of problems much earlier in the process flow, which allows workstations to continue to operate at high efficiencies, thereby increasing order fulfillment efficiency, improving customer satisfaction, and reducing costs.

[0016] In some aspects, the automated validation system includes a structure having a plurality of sections configured to allow a mobile robot to traverse the structure. One of the plurality of sections may comprise a validation zone. The mobile robot is generally configured to traverse the structure to transport a tote containing a product to an assigned section of the structure. In some approaches, the assigned section may be a workstation, such as, for example, a picking station, loading station, decanting station, or the like. In other approaches, the assigned section may be a storage section of the structure. The sensor(s) are positioned in the validation zone of the structure and are configured to capture data relating to a current state of at least one of the mobile robot, the tote, and the product as the mobile robot traverses the validation zone.

[0017] In some approaches, the sensor(s) may include an optical sensor, an imaging sensor, a radio frequency identification (RFID) sensor, a temperature sensor, an infrared sensor, a humidity sensor, a sound sensor, a weight sensor, and / or a proximity sensor. In some approaches, the current state of the mobile robot may be an operational state of the mobile robot. For example, the sensor(s) may detect indicators of a malfunction or an impending malfunction of the mobile robot or a part of the mobile robot. In some approaches, the sensor(s) may detect indicators of liquid or foreign debris in the bottom of the tote, which may taint the product(s) in the tote. In some approaches, the sensor(s) may detect indicators associated with the product in the tote, such as, for example quantity, quality, temperature, color, ripeness, spillage, and / or damage.

[0018] The system further includes a central control circuit communicatively coupled to the mobile robot, the sensor(s), and a validation control circuit. The central control circuit may be configured to transmit to the validation control circuit an expected state of at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone. The validation control circuit may be configured to receive the expected state of at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone, and also receive from the sensor(s) data relating to the current state of at least one of the mobile robot, the tote, and the product. The validation control circuit analyzes the data received from the sensor(s) to determine the current state of the mobile robot, the tote, and / or the product and 3 8842-158682-WO_8495WO01compares the current state with the expected state. The validation control circuit may detect a deviation result and may transmit an indication of the deviation result to the central control circuit.

[0019] The central control circuit may then send an instruction to the mobile robot, another robot, and / or to a workstation (e.g., a picking, loading station, decanting station, etc.) based on the deviation result. For example, if no deviation is detected (or if the deviation result is below a particular threshold), the central control circuit may communicate an instruction to the mobile robot to proceed to the assigned section of the structure. If a deviation is detected (or if the deviation result is above a particular threshold), the central control circuit may communicate an instruction to the mobile robot to proceed to a location other than the assigned section of the structure (e.g., an inspection station) or to otherwise abort. In some approaches, for example, when the assigned section is a workstation associated with a particular order to be filled, and a deviation is detected (or the deviation result is above a particular threshold), the central control circuit may electronically replace or reshuffle the particular order to be filled with another order to be filled at the assigned workstation and dispatch another mobile robot to obtain a second tote containing a same or different product and to proceed to the assigned workstation.

[0020] It is understood that the present embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the invention to those skilled in the art. Indeed, the embodiments are intended to cover alternatives, modifications, and equivalents of these embodiments, which are included within the scope and spirit of the invention as defined by the appended claims. Furthermore, in the following detailed description, specific details are set forth in order to provide an understanding of the present embodiments.

[0021] FIGS.1A and 1B show partial views of embodiments of an order fulfillment facility 100 showing a storage structure 102, including a number of bays 104 of storage locations 106. In particular, each bay 104 includes a y-z array of storage locations 106 in horizontal rows and level changing towers, or vertical towers, along the rows. Mobile robots 150 may travel between storage levels in the z-direction within the level changing towers. Pairs of bays 104 may be arranged to face each other, separated by pathways 108. In one form, it is contemplated that the pathways may be aisles 108. An aisle 108 may have a width such that a mobile robot 150 traveling within an aisle 108 may transfer totes to the bays 104 on either side of the aisle 108. 4 8842-158682-WO_8495WO01

[0022] The order fulfillment facility 100 may further include decks 112 (or transit planes or areas) spaced apart at different horizontal levels of the storage structure 102. The decks 112 may extend between the aisles 108 so that robots 150 can maneuver in the x-y plane of each deck 112 to travel between different aisles 108. The spacing between decks 112 may be different in various embodiments. Each pair of decks 112 allows transfers by mobile robots 150 to / from a workstation 110. In some forms, mobile robots 150 may come to a workstation 110 from a first deck 112-1, and mobile robots 150 may exit a workstation 110 from a second deck 112-2. Alternatively, in some forms, mobile robots 150 may come to a workstation 110 from deck 112-2 and exit from first deck 112-1.

[0023] FIG. 1B shows examples of workstations 110. In some embodiments, each workstation 110 is equipped to receive a pair of mobile robots 150. A first mobile robot 150 at a workstation 110 may carry product containers (or totes) with items for fulfilling product requests or orders. A second mobile robot 150 at the workstation 110 may carry order containers (or totes) within which items from the product totes are placed to fulfill product requests or orders. Workers at a workstation 110 may transfer items from a product tote to an order tote under guidance of an inventory control system at the workstation 110.

[0024] The mobile robots 150 for both the product and order totes arrive from one of the decks, for example deck 112-1. Once items are transferred from the product totes to the order totes, the mobile robots 150 may depart the workstation 110, for example via deck 112-2. Mobile robots 150 carrying products and order totes continuously cycle through the workstations 110. In FIG. 1A, each workstation 110 is serviced by a single deck 112, which serves as the entry to, and exit from, the workstation 110, although other configurations are also contemplated.

[0025] In other embodiments, a worker at workstation 110 may transfer (or decant) items from a product case into product totes under guidance of the inventory control system at the workstation 110. The mobile robots 150 arrive from one of the decks and the products are transferred from the product cases to the product totes. The mobile robots 150 then depart the workstation 110 and transport the product totes to storage locations 106 in bays 104.

[0026] Further details relating to the structure and operation of embodiments of the workstations are disclosed in U.S. Patent No.10,040,632 and U.S. Patent No.11,142,398, which patents are incorporated by reference herein in their entirety. In some forms, as described further 5 8842-158682-WO_8495WO01below, it may be desirable to attach or position a mobile robot station on or adjacent to an aisle 108 or deck 112 that can receive a mobile robot 150 needing servicing.

[0027] As noted above, the order fulfillment facility 100 may further include a number of mobile robots 150 for transferring totes or other product containers to and from workstations 110 and storage locations 106 in the bays 104. In certain embodiments, mobile robots 150 may be self- guided so as to move horizontally within aisles 108 to transfer totes or other product containers between the mobile robots 150 and storage locations 106. For example, a track system including horizontal rails may be affixed to bays 104 within an aisle 108 at different vertical levels. The horizontal rails provide access to storage shelves on either side of an aisle 108 in the x-direction on a given level. As noted above, the bays 104 may include level changing towers within which the mobile robots 150 may travel vertically in the z-direction between levels of storage locations 106.

[0028] In another form, the track system may be in the form of guidelines, such as magnetic guidelines, which may include navigational aids, such as RFID tags. The track system may therefore include horizontal rails, guidelines, and / or some combination thereof. In one example, horizontal rails may be used in the aisles 108, while guidelines may be embedded in panels forming at least some of the decks 112. The decks 112 allow inter-aisle travel of mobile robots 150 at different levels of the storage structure 102. Further details of storage structures, track systems, and mobile robots 150 that may be used in conjunction with the present technology are described for example in the following U.S. patents: U.S. Patent No.9,139,363; U.S. Patent No.10,435,241; and previously mentioned U.S. Patent No. 11,142,398, which patents are each incorporated by reference herein in their entirety.

[0029] Accordingly, in some forms, there is disclosed a facility 100 with pathways / aisles 108 and decks 112, and with mobile robots 150 configured to move along the pathways / aisles 108 and decks 112 at the facility 100. The facility 100 may be in the form of an order fulfillment facility that includes storage locations 106 for storing containers containing goods / items, with each storage location 106 being accessible by a pathway 108. Further, mobile robots 150 are configured to access the storage locations 106 to deposit or retrieve containers (i.e., totes) at the storage locations 106 and transport the containers between the storage locations 106 and the workstations 110 or other assigned stations. 6 8842-158682-WO_8495WO01

[0030] As noted above, the order fulfillment facility 100 includes validation zones. The validation zones include sensors configured to capture data about the mobile robots 150, product totes carried by the mobile robots 150, and / or products contained in the mobile robots 150 as the mobile robots traverse the validation zones. The validation zones may be positioned in the order fulfillment facility 100 / storage structure 102 in a manner to allow the mobile robots 150 to traverse the validation zones as the mobile robots 150 travel between the storage locations 106 and the workstations 110 (or other assigned stations). For example, validation zones may be located in storage structure 102, bays 104 (including level changing towers), storage locations 106, aisles 108, decks 112, workstations 110, loading stations, etc. The sensors in the validation zone may be affixed to the structure 102 in any suitable manner to allow the sensors to capture data about the mobile robots 150, product totes carried by the mobile robots 150, and products contained in the mobile robots 150 as the mobile robots traverse the validation zones. For example, one or more sensors may be affixed to, above, or below the horizontal rails, guidelines, or associated supports and / or the track system of the structure 102. In some approaches, one or more sensors may be positioned in, or, or adjacent to the workstations 110, loading / decanting stations, or any other assigned station. FIG.4, described in more detail below, illustrates an example of a location of a validation zone and associated sensors in a storage structure of an order fulfillment facility. In some approaches, the validation zone may include one or more sensors positioned to capture data associated with the identification of the mobile robot 150 and / or the tote carried by the mobile robot 150. In some approaches, one or more sensors identifying the mobile robot may be positioned in advance of other sensors in the validation zone.

[0031] Referring now to FIG. 2, a block diagram is shown of a system 200 for automatically validating mobile robots, totes carried by the mobile robots, and / or products contained in the totes as the mobile robot traverses a validation zone of a robotic storage and retrieval system. The system 200 includes one or more mobile robots 210. The mobile robot 210 is a motorized unit configured to travel on a structure. In some embodiments, the mobile robot 210 may be configured to travel on a storage structure to retrieve and / or store items and / or totes. In some embodiments, the mobile robot 210 may be the mobile robot 150, and the structure may be the storage structure 102, described with reference to FIGS.1A and 1B and. An exemplary mobile robot is illustrated in FIG.3A. An exemplary product tote is illustrated in FIG.3B. 7 8842-158682-WO_8495WO01

[0032] As shown in FIG 3A, mobile robot 310 includes an item / tote carrying portion 315, front drive wheels 330, vertical climbing gear 335, power storage 320, rear trailer wheels 348, and charging contacts 340. In some embodiments, one or more sensors may be coupled to any portion of the mobile robot 310. For example, optical sensors may be coupled to the front, sides, and / or back of the mobile robot 310. In some embodiments, the sensors may be configured to sense features via measuring vibration, acceleration, speed, etc. via one or more of the drive wheels 330, the trailer wheels 348, and the vertical climbing gear 335. In some embodiments, the sensors may be configured to detect the presence of charging rails or pads via the contacts 340.

[0033] In some approaches, the mobile robot 310 may have a machine-readable code affixed thereto, which encodes information about the mobile robot 310, such as its identification. The machine-readable code may be any code capable of being read by one of the sensors described herein. For example, the machine-readable code may be a barcode, QR code, a symbol, or the like. In another example, the machine-readable code be may associated with an RFID tag. The machine- readable code may be affixed to any suitable location of the mobile robot 310 where it may be read by the sensor(s) as the mobile robot 310 traverses the validation zone.

[0034] The mobile robot 310 is configured to carry and transport product totes 350 that contain eaches of a product and / or order totes that contain products picked to fulfill a purchase order. FIG. 3B illustrates an elevated perspective view of an exemplary tote 350, in accordance with some embodiments. The tote 350 in some embodiments may be a generally rectangular container having a generally rectangular compartment 356 or interior and an open top to access the compartment 356. For instance, the tote 350 may have a rectangular base or bottom 355 and four side walls 351, 352, 353, 354 extending upwardly therefrom. The side walls can include a first end-side 353, a second end-side 354, a first lateral side 351, and a second lateral side 352, and, together with the bottom 355, define the rectangular compartment 356. The sides 351, 352, 353, and 354 may be generally perpendicular to the bottom 355 or may, in certain approaches, be slightly angled or tapered radially outwardly from bottom to top so that the compartment 356 has a gradually increasing cross-sectional area from bottom to top. The latter configuration, in some approaches, permits the tote 350 to be nestable or with other identical totes 350 (e.g., in storage). The totes 350, however, may be implemented in other relevant shapes, such as but not limited to cubic, octagonal, and / or other such shapes. In some embodiments, the interior compartment 356 8 8842-158682-WO_8495WO01of the tote 350 may be separated into multiple compartments or sections for receiving and positioning sub-totes.

[0035] In some approaches, the product totes 350 may have a machine-readable code affixed thereto, which encodes information about the product tote 350, such as its identification. The machine-readable code may be any code capable of being read by one of the sensors described herein. For example, the machine-readable code may be a barcode, QR code, a symbol, or the like. In another example, the machine-readable code be may associated with an RFID tag. The machine- readable code may be affixed to any suitable location of the product tote 350 where it may be read by the sensor(s) as the mobile robot 310 traverses the validation zone.

[0036] The system 200 further includes a central computer system 220. The central computer system 220 may include a control circuit 221, a memory 223, and a network interface device 227. The central computer system 220 may include one or more of a server, a computing system, a cloud-based compute engine, a desktop computer system, a personal computer, a portable device, and the like. The control circuit 221 may include a processor, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), and the like and may be configured to execute computer-readable instructions stored on a computer-readable storage memory 223. The computer-readable storage memory 223 may include volatile and / or non-volatile memory and have stored upon it, a set of computer- readable instructions which, when executed by the control circuit 221, causes the central computer system 220 to perform one or more functions described herein, such as steps described with reference to FIGS.5 to 7.

[0037] The network interface device 227 may include a data port, a wired or wireless network adapter, and the like. In some embodiments, the central computer system 220 may communicate with the mobile robots 210 and the validation computer system 230 over one or more networks 204 such as a local network, a private network, a cloud computing network, or the Internet. The network 204 can include wired and / or wireless links and all other relays, switches, transceivers, and / or networking components. In some embodiments, the central computer system 220 may further communicate with other systems and devices such as an order database, an order management system, an inventory database, workstations (e.g., picking stations, loading stations, decanting stations, etc.) associate user interface devices, etc. 9 8842-158682-WO_8495WO01

[0038] In some embodiments, the computer-executable instructions may cause the control circuit 221 of the central computer system 220 to dispatch one or more mobile robots 210 to retrieve product totes from target bays of a storage structure and to transport the totes to a workstation by traversing one or more of the validation zones. The central computer system 220 may dispatch the mobile robots 210 in response to receiving a purchase order (e.g., from an order management system) containing a list of products. In another example, the central computer system 220 may dispatch the mobile robots 210 to a loading station (e.g., a decanting station) in response to the central computer system 220 receiving an indication that products are ready to be decanted at the station. The central computer system 220 may be configured to track locations of the mobile robots 210, as well as the status of purchase orders as the orders are being filled at the workstation. In some approaches, the locations of the mobile robots 210, purchase orders, a design map of the storage structure, and other relevant information may be stored in memory 223 and / or one or more databases 228 of the central computer system 220.

[0039] In some approaches, the central computer system 220 is configured to transmit to a validation computer system 230 a message identifying a particular mobile robot 210 that will traverse the validation zone, thus providing the validation computer system 230 with advance notice of the arrival of the particular mobile robot. The central computer system 220 is also configured to transmit to the validation computer system 230 an expected state of the particular mobile robot, the tote, and / or the product prior to the mobile robot traversing the validation zone. For instance, the expected state of a product may include the quantity of the product in the tote, the quality of the product, the temperature of the product, the color of the product, ripeness, spillage, and / or the absence of damage to a product. In one non-limiting example, the central computer system 220 may send a message to the validation computer system 230 that the tote being transported by the particular mobile robot 210 contains three eaches of a product. The message may also include other information, such as the brand and size of the product, for example. In another example, the central computer system 220 may send a message to the validation computer system 230 regarding the expected operational state and / or functionality of the mobile robot (e.g., good working order). In another example, the central computer system 220 may send a message to the validation computer system 230 regarding the expected state of the tote (e.g., clean inner surfaces). 10 8842-158682-WO_8495WO01

[0040] As explained in more detail below, the validation computer system 230 receives data captured by the sensors 240 as the particular mobile robot 210 traverses the validation zone, analyzes the sensor data to determine a current state of the mobile robot, tote, and / or product, compares the current state with the expected state, detects a deviation result, and transmits an indication of the deviation result to the central computer system 220. The central computer system 220 is configured to receive the indication of the deviation result and make a decision as to how to proceed. For example, if no deviation is detected, the central computer system 220 may communicate an instruction to the particular mobile robot 210 to proceed to the assigned workstation. The central computer system 220 may also send an instruction or indication to the assigned workstation that is the mobile robot’s destination. For example, the central computer system 220 may send an instruction to the assigned workstation to remove a particular number of products (i.e., eaches) from the tote carried by the mobile robot 210 to be placed in a particular order tote to fill a particular purchase order. In another example, if a deviation is detected, the central computer system 220 may communicate an instruction to the mobile robot 210 to proceed to a location other than the assigned section of the structure or to otherwise abort.

[0041] In some approaches, when a deviation is detected, the central computer system 220 may determine that the deviation result exceeds or does not exceed a deviation threshold. Acceptable deviations and / or deviation thresholds may be previously defined and considered by the central computer system 220. If the deviation does not exceed the deviation threshold, the central computer system 220 may communicate an instruction to the particular mobile robot 210 to proceed to the assigned workstation. If the deviation does exceed the deviation threshold, the central computer system may communicate an instruction to the mobile robot 210 to proceed to a location other than the assigned section of the structure or to otherwise abort.

[0042] In some approaches, for example, when the assigned section is a workstation associated with a particular order to be filled, and a deviation is detected (or the deviation result is exceeds the deviation threshold), the central computer system 220 may electronically replace or reshuffle the particular order to be filled with another order to be filled at the assigned workstation (or the central computer system 220 may send an instruction to the workstation and / or an order management system to perform this function) and the central computer system 220 may dispatch another mobile robot to obtain a second tote containing a same or different product and to proceed 11 8842-158682-WO_8495WO01to the assigned workstation. In this way, the process flow is minimally disrupted, if at all, as the system can continue filling orders while the cause of the deviation is investigated and / or corrected.

[0043] The validation computer system 230 may include a control circuit 231, a memory 233, and a network interface device 237. The validation computer system 230 may include one or more of a server, a computing system, a cloud-based compute engine, a desktop computer system, a personal computer, a portable device, and the like. The control circuit 231 may include a processor, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), and the like and may be configured to execute computer-readable instructions stored on a computer-readable storage memory 233. The computer-readable storage memory 233 may include volatile and / or non-volatile memory and have stored upon it, a set of computer-readable instructions which, when executed by the control circuit 231, causes the validation computer system 230 to perform one or more functions described herein, such as steps described with reference to FIGS.5 to 7.

[0044] The network interface device 237 may include a data port, a wired or wireless network adapter, and the like. In some embodiments, the validation computer system 230 may communicate with the central computer system 220 and the sensors 240 over one or more networks 204 such as a local network, a private network, a cloud computing network, or the Internet. The network 204 can include wired and / or wireless links and all other relays, switches, transceivers, and / or networking components. In some embodiments, the validation computer system 230 may further communicate with other systems and devices such as one or more databases, associate user interface devices, etc.

[0045] In some embodiments, the computer-executable instructions may cause the control circuit 231 of the validation computer system 230 to receive, from the central computer system 220, an identity of a particular mobile robot 210 approaching the associated validation zone, along with an expected state of the mobile robot, the tote, and / or the product in the tote. This allows the validation computer system 230 to prepare for the arrival of the mobile robot through the validation zone. In one non-limiting example, the validation computer system may prepare for the arrival of the mobile robot 210 in the validation zone by activating one or more sensors 240 in the validation zone. The validation computer system 230 then receives data captured by the sensors 240 as the mobile robot 210 traverses the validation zone. In some approaches, the captured data may include a signal or code that may identify the mobile robot 210. The validation computer system 230 may 12 8842-158682-WO_8495WO01be configured to compare the received identification of the mobile robot with the captured encoded identity of the mobile robot to ensure the correct mobile robot is approaching and / or has traversed the validation zone. As described above, the validation zone may include one or more sensors positioned to capture data associated with the identification of the mobile robot 210 and / or the tote carried by the mobile robot 210. In some approaches, one or more sensors identifying the mobile robot 210 may be positioned in advance of other sensors in the validation zone, which may allow the validation computer system 230 to confirm the identity of the mobile robot 210 (e.g., by comparing the captured identification of the mobile robot with an identification of the mobile robot received from the central computer system) prior to the remaining sensors 240 capturing data associated with the current state of the mobile robot 210, the tote, and or the product contained in the tote.

[0046] As described herein, data captured by the sensors 240 relate to indicators of the current state of the mobile robot, the tote, and / or the product. In some approaches, the current state of the mobile robot may be an operational state of the mobile robot. For example, the sensors 240 may detect indicators of a malfunction or an impending malfunction of the mobile robot or a part of the mobile robot. In some approaches, the sensors may detect indicators of liquid or foreign debris in the bottom of the tote, which may taint the product(s) in the tote. In some approaches, the sensors may detect indicators associated with the product in the tote, such as, for example quantity, quality, temperature, color, ripeness, spillage, and / or the presence or absence of damage to the product.

[0047] The validation computer system 230 is configured to analyze the sensor data to determine a current state of the mobile robot, tote, and / or product. In some approaches, the validation computer system 230 may associate data captured by the sensors with known current states, which may be stored in memory 233 validation computer system 230. For example, tote carried by the mobile robot may contain three eaches of a product. One of the sensors 240 in the validation zone may be an optical sensor (e.g., a camera), which takes a top-down image of the eaches in the tote as the mobile robot 210 traverses the validation zone. The validation computer system 230 may be configured to count the number of eaches in the image to determine the current state of the product. In some approaches, determining the quantity of eaches in the product tote may be determined by the validation computer system 230 performing a volumetric calculation. In another example, one of the sensors 240 in the validation zone may be a thermal sensor, which 13 8842-158682-WO_8495WO01scans the temperature of the eaches in the tote as the mobile robot 210 traverses the validation zone. The validation computer system 230 may be configured to associate the temperatures with the eaches in the tote to determine the current state of the product.

[0048] In some embodiments, the validation computer system 230 may query one or more databases 238 to associate captured sensor data with known current state(s) of the mobile robot 210, the tote, and / or the product contained in the tote. In some embodiments, the validation computer system 230 may execute a trained machine learning model to associate captured sensor data with known current state(s) of the mobile robot 210, the tote, and / or the product contained in the tote.

[0049] The validation computer system 230 is further configured to compare the current state with the expected state to detect or otherwise determine if there is a deviation between the current state and the expected state. Deviations from the expected state of a product may include, but are not limited to, an insufficient number of products in the tote, a different number of products in the tote than expected, a product temperature outside of a target range, a product color outside of a target range, an unacceptable appearance of the product (too ripe, not ripe enough, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of a tote may include, but are not limited to, visual irregularities indicating damage to an interior or exterior of the tote, spillage in the tote, etc. Deviations from the expected state of a mobile robot may include, but are not limited to, a temperature outside of a thermal range, which may indicate overheating of the mobile robot, visual irregularities that may indicate damage to (or reduced functionality of) one or more components of the mobile robot, etc.

[0050] In some approaches, a trained machine learning model may be executed by the validation computer system 230 to determine if there is a deviation between the current state and the expected state of the mobile robot 210, the tote, and / or the product. In some approaches, the validation computer system 230 may query one or more databases 238 and / or run one or more rules-based algorithms to determine if there is a deviation between the current state and the expected state of the mobile robot 210, the tote, and / or the product. In some approaches, acceptable current states, acceptable sensor data ranges, acceptable deviations, and / or deviation thresholds may be previously defined and considered by the validation computer system 230 to determine a deviation result. 14 8842-158682-WO_8495WO01

[0051] Once the validation computer system 230 has determined if there is a deviation, the validation computer system 230 may transmit an indication of the deviation result to the central computer system 220.

[0052] As described above, the system 200 includes one or more sensors positioned in the validation zone. The sensors may be any sensor configured to, or otherwise capable of, capturing data associated with the mobile robot 210, the tote, and / or the product in the tote as the mobile robot 210 traverses the validation zone. Non-limiting examples of suitable sensors may include, but are not limited to, optical sensors, imaging sensors, radio frequency identification (RFID) sensors / readers, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or proximity sensors. In some approaches, one or more of the sensors may be in the form of an optical sensor (e.g., a camera) configured to take one or more images of the mobile robot 210, tote, and / or product. The sensors may be communicatively coupled to the validation computer system 230 via one or more networks 204 such as a local network, a private network, a cloud computing network, or the Internet. The sensors are configured to capture data associated with the mobile robot 210, the tote, and / or the product as the mobile robot 210 traverses the validation zone to transmit the captured data to the validation computer system via network 204.

[0053] FIG. 4 illustrates an example of a validation zone 400 in a storage structure 402 according to some embodiments. The storage structure 402 may form part of an order fulfillment facility, such as order fulfillment facility 100 described herein with reference to FIGS.1A and 1B. In some approaches, the storage structure 402 be the structure 102 described herein with reference to FIGS.1A and 1B. The storage structure 402 includes horizontal rails 405 associated with a track system configured to allow the mobile robot 410 to traverse the structure. The validation zone 400 includes sensors 443, 444, and 445, which are affixed to positions above and below the horizontal rails 405.

[0054] In the non-limiting example shown in FIG.4, sensor 443 may be an optical sensor, which may be configured to read an identifying machine-readable code affixed to the front of the mobile robot 410. Sensors 444 may be a combination of various sensors, include optical sensors, imaging sensors, radio frequency identification (RFID) sensors, temperature sensors, infrared sensors, humidity sensors, sound sensors, weight sensors, and / or a proximity sensors configured to capture data about the current state of the mobile robot 410, the tote 406 carried by the mobile robot, and / or the product 407 in the tote as the mobile robot passes through the validation zone. 15 8842-158682-WO_8495WO01Sensor 445 may be an RFID reader configured to read an identifying RFID tag affixed to the tote 406 and / or the mobile robot. In some approaches, one or more sensors 443 identifying the mobile robot may be positioned in advance of other sensors 444 and 445 in the validation zone 400. As the mobile robot proceeds though the validation zone 400, the sensors 443, 444, and 445 capture data and transmit the data to a validation computer system, which may be validation computer system described herein with reference to FIG.2.

[0055] Although FIG. 4 illustrates the validation zone 400 being in the storage structure 402, one or more validations zones 400 may be positioned in any suitable location of an order fulfillment facility, such as the order fulfillment facility 100 described herein with reference to FIGS.1A and 1B. For example, validation zones may be located in the storage structure 102, bays 104 (including level changing towers), storage locations 106, aisles 108, decks 112, workstations 110, loading stations, etc. of order fulfillment facility 100. And multiple mobile robots 410 may traverse multiple validation zones on their way to their assigned workstation(s).

[0056] Referring now to FIG.5, an automated validation method 500 for a robotic storage and retrieval system according to some embodiments is shown. In some embodiments, one or more steps of FIG. 5 may be executed by a processor-based device executing computer-readable instructions stored on a memory device. In some embodiments, one or more steps of FIG.5 may be performed by the central computer system 220 and / or the validation computer system 230 (and / or components thereof) described herein with reference to FIG.2 or other similar devices.

[0057] The method starts at step 501. In step 502, a central computer system dispatches a mobile robot to retrieve a tote from a target area of a storage structure and deliver the tote to an assigned workstation by traversing a validation zone of the storage structure located between the target area and the assigned workstation. The mobile robot may be the mobile robot 210 and / or 310 described herein with reference to FIGS.2 and 3A. The storage structure may be the storage structure 102 described herein with reference to FIGS.1A and 1B.

[0058] In step 503, the mobile robot travels to the target area and retrieves the target tote from its location in the storage structure.

[0059] In step 504, the central computer system transmits to a validation computer system an identification of the mobile robot that will traverse the validation zone, as well as an expected state of the mobile robot, the tote, and / or the product in the tote. In some approaches, the expected state of a product may include, but is not limited to, the quantity of the product in the tote, the 16 8842-158682-WO_8495WO01quality of the product, the temperature of the product, the color of the product, ripeness, spillage, and / or the absence of damage to a product. In some approaches, the expected state of the mobile robot may include, but is not limited to, the expected operational state and / or functionality of the mobile robot (e.g., good working order). In some approaches, the expected state of the tote may include, but is not limited to, an intact tote with clean inner surfaces.

[0060] In step 505, the validation computer system receives the identification of the mobile robot, as well as the expected state of the mobile robot, the tote, and / or the product in the tote, and the validation computer system prepares for the arrival of the mobile robot in the validation zone. In some approaches, the validation computer system may prepare for the arrival of the mobile robot in the validation zone by activating one or more sensors in the validation zone. The sensors may be the sensors 240 described herein with reference to FIG.2.

[0061] In step 506, the mobile robot arrives at, and traverses, the validation zone. The validation zone may be located in the storage structure, storage bays, bays, level changing towers, storage locations, storage aisles, decks, workstations, loading stations, and the like.

[0062] In step 507, one or more sensors positioned in the validation zone capture data relating to the current state of the mobile robot, tote, and / or product. The sensors in the validation zone may be affixed to the storage structure in any suitable manner to allow the sensors to capture data about the mobile robots, totes, and products as the mobile robots traverse the validation zone. The sensors transmit the captured data to the validation computer system and the validation computer system analyzes the data to determine the current state of the mobile robot, the tote, and / or the product. In some embodiments, the validation computer system may query one or more databases to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote. In some embodiments, the validation computer system may execute a trained machine learning model to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote.

[0063] The validation computer system then compares the current state with the expected state to detect or otherwise determine if there is a deviation between the current state and the expected state. Deviations from the expected state of a product may include, but are not limited to, an insufficient number of products in the tote, a different number of products in the tote than expected, a product temperature outside of a target range, a product color outside of a target range, an unacceptable appearance of the product (too ripe, not ripe enough, visual irregularities 17 8842-158682-WO_8495WO01indicating product damage, spillage, etc.). Deviations from the expected state of a tote may include, but are not limited to, visual irregularities indicating damage to the interior or exterior of the tote, spillage in the tote, etc. Deviations from the expected state of a mobile robot may include, but are not limited to, a temperature outside of a thermal range, which may indicate overheating of the mobile robot, visual irregularities that may indicate damage to (or reduced functionality of) one or more components of the mobile robot, etc.

[0064] In some approaches, a trained machine learning model may be executed by the validation computer system to determine if there is a deviation between the current state and the expected state of the mobile robot, the tote, and / or the product. In some approaches, the validation computer system may query one or more databases and / or run one or more rules-based algorithms to determine if there is a deviation between the current state and the expected state of the mobile robot, the tote, and / or the product. In some approaches, acceptable current states, acceptable sensor data ranges, acceptable deviations, and / or deviation thresholds may be previously defined and considered by the validation computer system to determine a deviation result.

[0065] In step 508, the validation computer system transmits to the central computer system an indication of the deviation result.

[0066] In step 509, the central computer system makes a decision as to how to proceed based on the deviation result. Acceptable deviations and / or deviation thresholds may be previously defined and considered by the central computer system. If there is a deviation but the deviation does not exceed the deviation threshold, or if there is no deviation, the central computer system may decide in step 509 that the mobile robot should proceed to the assigned workstation.

[0067] In step 510, the central computer system transmits an instruction to the mobile robot to proceed to the assigned workstation and in step 511 the mobile robot proceeds to the assigned workstation.

[0068] In step 512, the central computer system communicates to the assigned workstation that the mobile robot is proceeding to the assigned workstation.

[0069] In step 513, the assigned workstation processes a task associated with fulfilling a purchase order. For example, when the mobile robot arrives at the workstation, the workstation may display on a user interface an instruction to remove (i.e., pick) a certain number of products from the tote carried by the mobile robot and to place the products in an order tote. 18 8842-158682-WO_8495WO01

[0070] In step 514, the task is completed at the workstation and in step 515 the workstation communicates to the central computer system that the task is complete.

[0071] In step 516, the mobile robot clears or otherwise departs from the workstation.

[0072] The method is complete at step 517.

[0073] Referring now to FIG.6, an automated validation method 600 for a robotic storage and retrieval system according to some embodiments is shown. In some embodiments, one or more steps of FIG. 6 may be executed by a processor-based device executing computer-readable instructions stored on a memory device. In some embodiments, one or more steps of FIG.6 may be performed by the central computer system 220 and / or the validation computer system 230 (and / or components thereof) described herein with reference to FIG.2 or other similar devices.

[0074] The method starts at step 601. In step 602, a central computer system dispatches a mobile robot to retrieve a tote from a target area of a storage structure and deliver the tote to an assigned workstation by traversing a validation zone of the storage structure located between the target area and the assigned workstation. The mobile robot may be the mobile robot 210 and / or 310 described herein with reference to FIGS.2 and 3A. The storage structure may be the storage structure 102 described herein with reference to FIGS.1A and 1B.

[0075] In step 603, the mobile robot travels to the target area and retrieves the target tote from its location in the storage structure.

[0076] In step 604, the central computer system transmits to a validation computer system an identification of the mobile robot that will traverse the validation zone, as well as an expected state of the mobile robot, the tote, and / or the product in the tote. In some approaches, the expected state of a product may include, but is not limited to, the quantity of the product in the tote, the quality of the product, the temperature of the product, the color of the product, ripeness, spillage, and / or the absence of damage to a product. In some approaches, the expected state of the mobile robot may include, but is not limited to, the expected operational state and / or functionality of the mobile robot (e.g., good working order). In some approaches, the expected state of the tote may include, but is not limited to, an intact tote with clean inner surfaces.

[0077] In step 605, the validation computer system receives the identification of the mobile robot, as well as the expected state of the mobile robot, the tote, and / or the product in the tote, and the validation computer system prepares for the arrival of the mobile robot in the validation zone. In some approaches, the validation computer system may prepare for the arrival of the mobile 19 8842-158682-WO_8495WO01robot in the validation zone by activating one or more sensors in the validation zone. The sensors may be the sensors 240 described herein with reference to FIG.2.

[0078] In step 606, the mobile robot arrives at, and traverses, the validation zone. The validation zone may be located in the storage structure, storage bays, bays, level changing towers, storage locations, storage aisles, decks, workstations, loading stations, and the like.

[0079] In step 607, one or more sensors positioned in the validation zone capture data relating to the current state of the mobile robot, tote, and / or product. The sensors in the validation zone may be affixed to the storage structure in any suitable manner to allow the sensors to capture data about the mobile robots, totes, and products as the mobile robots traverse the validation zone. The sensors transmit the captured data to the validation computer system and the validation computer system analyzes the data to determine the current state of the mobile robot, the tote, and / or the product. In some embodiments, the validation computer system may query one or more databases to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote. In some embodiments, the validation computer system may execute a trained machine learning model to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote.

[0080] The validation computer system then compares the current state with the expected state to detect or otherwise determine if there is a deviation between the current state and the expected state. Deviations from the expected state of a product may include, but are not limited to, an insufficient number of products in the tote, a different number of products in the tote than expected, a product temperature outside of a target range, a product color outside of a target range, an unacceptable appearance of the product (too ripe, not ripe enough, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of a tote may include, but are not limited to, visual irregularities indicating damage to the interior or exterior of the tote, spillage in the tote, etc. Deviations from the expected state of a mobile robot may include, but are not limited to, a temperature outside of a thermal range, which may indicate overheating of the mobile robot, visual irregularities that may indicate damage to (or reduced functionality of) one or more components of the mobile robot, etc.

[0081] In some approaches, a trained machine learning model may be executed by the validation computer system to determine if there is a deviation between the current state and the expected state of the mobile robot, the tote, and / or the product. In some approaches, the validation 20 8842-158682-WO_8495WO01computer system may query one or more databases and / or run one or more rules-based algorithms to determine if there is a deviation between the current state and the expected state of the mobile robot, the tote, and / or the product. In some approaches, acceptable current states, acceptable sensor data ranges, acceptable deviations, and / or deviation thresholds may be previously defined and considered by the validation computer system to determine a deviation result.

[0082] In step 608, the validation computer system transmits to the central computer system an indication of the deviation result.

[0083] In step 609, the central computer system makes a decision as to how to proceed based on the deviation result. Acceptable deviations and / or deviation thresholds may be previously defined and considered by the central computer system. If there is a deviation, or this deviation exceeds a deviation threshold, the central computer system may decide in step 609 that the mobile robot should not proceed to the assigned workstation.

[0084] In step 610, the central computer system updates the mobile robot with an instruction.

[0085] Based on the central computer system’s decision (611), the mobile robot is flagged and aborts the process of proceeding to the assigned workstation in step 612. In some approaches, the mobile robot may proceed to a location other than the assigned workstation, such as, for example, an inspection station.

[0086] In step 613, a new mobile robot travels to the target area and retrieves the target tote from its location in the storage structure, based on an instruction transmitted by the central computer system. In this way, the process flow is minimally disrupted, if at all, as the system can continue filling orders while the cause of the deviation is investigated and / or corrected.

[0087] In step 614, the central computer system communicates to the assigned workstation that a new mobile robot is proceeding to the workstation. In some approaches, the central computer control system may instruct the workstation to electronically reshuffle purchase orders being filled based on the time it will take the new mobile robot to arrive at the workstation. In some embodiments, the workstation may electronically reshuffle the orders to be filled based on the communication from the central computer system to that a new mobile robot is proceeding to the workstation. The order reshuffling decision may be based on, for example order priority, whether the order is chilled or ambient temperature, and / or other relevant factors. 21 8842-158682-WO_8495WO01

[0088] In step 615, the assigned workstation processes a task associated with fulfilling the purchase order. For example, when the new mobile robot arrives at the workstation, the workstation may display on a user interface an instruction to remove (i.e., pick) a certain number of products from the tote carried by the new mobile robot and to place the products in an order tote.

[0089] In step 616, the task is completed at the workstation and in step 617 the workstation communicates to the central computer system that the task is complete.

[0090] In step 618, the new mobile robot clears or otherwise departs from the workstation.

[0091] The method is complete at step 619.

[0092] The methods described in FIG.5 and / or FIG.6 may be repeated until one or more purchase orders are fulfilled. In some embodiments, one or more additional validation zones with associated sensors may be positioned in a manner to allow a mobile robot carrying a completed order tote to pass through a validation zone after clearing the workstation. This configuration allows an automated validation of the order tote before the order tote is presented to the customer.

[0093] FIG.7 illustrates a simplified flow diagram of an exemplary automated validation method 700 for a robotic storage and retrieval system according to some embodiments. In some embodiments, one or more steps of FIG.7 may be executed by a processor-based device executing computer-readable instructions stored on a memory device. In some embodiments, one or more steps of FIG. 7 may be performed by the central computer system 220 and / or the validation computer system 230 (and / or components thereof) described herein with reference to FIG. 2 or other similar devices.

[0094] In step 710, an expected state of at least one of a mobile robot, a tote, and a product is received prior to the mobile robot traversing a validation zone of a structure. In some embodiments, the expected state may be received by a validation computer system from a central computer system. In some embodiments, the central computer system may be the central computer system 220 and the validation computer system may be the validation computer system 230. In some embodiments, the mobile robot may be the mobile robot 210 or 310 or a similar device. In some approaches, the expected state of a product may include, but is not limited to, the quantity of the product in the tote, the quality of the product, the temperature of the product, the color of the product, ripeness, spillage, and / or the absence of damage to a product. In some approaches, the expected state of the mobile robot may include, but is not limited to, the expected operational state 22 8842-158682-WO_8495WO01and / or functionality of the mobile robot (e.g., good working order). In some approaches, the expected state of the tote may include, but is not limited to, an intact tote with clean inner surfaces. The validation computer system may also receive from the central computer system and identification of the mobile robot.

[0095] In step 720, the validation computer system receives, from one or more sensors in the validation zone of the structure, data relating to the current state of at least one of the mobile robot, the tote, and the product. The one or more sensors may be the sensors 240. The one or more sensors capture the data as the mobile robot traverses the validation zone.

[0096] In step 730, the validation computer system analyzes the data received from the one or more sensors to determine the current state of the at least one of the mobile robot, the tote, and the product. In some embodiments, the validation computer system may query one or more databases to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote. In some embodiments, the validation computer system may execute a trained machine learning model to associate captured sensor data with known current state(s) of the mobile robot, the tote, and / or the product contained in the tote.

[0097] In step 740, the validation computer system compares the current state with the expected state.

[0098] In step 750, the validation computer system detects a deviation result. determine if there is a deviation between the current state and the expected state. Deviations from the expected state of a product may include, but are not limited to, an insufficient number of products in the tote, a different number of products in the tote than expected, a product temperature outside of a target range, a product color outside of a target range, an unacceptable appearance of the product (too ripe, not ripe enough, visual irregularities indicating product damage, spillage, etc.). Deviations from the expected state of a tote may include, but are not limited to, visual irregularities indicating damage to the interior or exterior of the tote, spillage in the tote, etc. Deviations from the expected state of a mobile robot may include, but are not limited to, a temperature outside of a thermal range, which may indicate overheating of the mobile robot, visual irregularities that may indicate damage to (or reduced functionality of) one or more components of the mobile robot, etc.

[0099] In step 760, the validation computer system transmits an indication of the deviation result. In some approaches, the validation computer system transmits the indication of the 23 8842-158682-WO_8495WO01deviation result to the central computer system. The central computer system then make a decision as to how to instruct the mobile robot based on the indication of the deviation result.

[0100] The circuits, circuitry, systems, devices, processes, methods, techniques, functionality, services, servers, sources, and the like described herein may be utilized, implemented and / or run on many different types of devices and / or systems. FIG.8 illustrates an exemplary system 800 that may be used for implementing the methods illustrated in FIGS.5 to 7 as well as any of the components, devices, circuits, circuitry, systems, functionality, apparatuses, processes, or devices described herein. However, the use of the system 800 or any portion thereof is certainly not required.

[0101] By way of example, the system 800 may comprise one or more control circuits or processors 812, memory 814, and one or more communication links, paths, buses 818 or the like. Some embodiments may include one or more user interfaces 816, and / or one or more internal and / or external power sources or supplies 840. The processor 812 (which may form all or part of control circuit 221 and / or control circuit 231) can be implemented through one or more processors, microprocessors, central processing unit, logic, local digital storage, firmware, software, and / or other control hardware and / or software, and may be used to execute or assist in executing the steps of the processes, methods, functionality and techniques described herein, and control various communications, decisions, programs, content, listings, services, interfaces, logging, reporting, etc. Further, in some embodiments, the control circuit 812 can be part of control circuitry and / or a control system 810, which may be implemented through one or more processors with access to one or more memory 814 that can store instructions, code and the like that is implemented by the control circuit and / or processors to implement intended functionality, processing modules, and the like. In some applications, the control circuit and / or memory may be distributed over a communications network (e.g., LAN, WAN, Internet) providing distributed and / or redundant processing and functionality. Again, the system 800 may be used to implement one or more of the above or below, or parts of, components, circuits, systems, processes and the like.

[0102] The user interface 816 can allow a user to interact with the system 800 and receive information through the system. In some instances, the user interface 816 includes a display 822 and / or one or more user inputs 824, such as buttons, touch screen, track ball, keyboard, mouse, etc., which can be part of or wired or wirelessly coupled with the system 800. Typically, the system 800 further includes one or more communication interfaces, ports, transceivers 820 and the like 24 8842-158682-WO_8495WO01allowing the system 800 to communicate over a communication bus, a distributed computer and / or communication network 818 (e.g., a local area network (LAN), the Internet, wide area network (WAN), etc.), communication link 818, other networks or communication channels with other devices and / or other such communications or combination of two or more of such communication methods. Further the transceiver 820 can be configured for wired, wireless, optical, fiber optical cable, satellite, or other such communication configurations or combinations of two or more of such communications. Some embodiments include one or more input / output (I / O) ports 834 that allow one or more devices to couple with the system 800. The I / O ports can be substantially any relevant port or combinations of ports, such as but not limited to USB, Ethernet, or other such ports. The I / O interface 834 can be configured to allow wired and / or wireless communication coupling to external components. For example, the I / O interface can provide wired communication and / or wireless communication (e.g., Wi-Fi, Bluetooth, cellular, RF, and / or other such wireless communication), and in some instances may include any known wired and / or wireless interfacing device, circuit and / or connecting device, such as but not limited to one or more transmitters, receivers, transceivers, or combination of two or more of such devices.

[0103] In some embodiments, the system may include one or more sensors 826 to provide information to the system and / or sensor information that is communicated to another component, such as the control circuit 812 and one or more databases. The sensors can include substantially any relevant sensor, such as distance measurement sensors (e.g., optical units, sound / ultrasound units, etc.), optical-based scanning sensors to sense and read optical patterns (e.g., bar codes, QR codes, etc.), imaging sensors, thermal sensors, cameras, RFID reader, other such sensors or a combination of two or more of such sensor systems. The foregoing examples are intended to be illustrative and are not intended to convey an exhaustive listing of all possible sensors. Instead, it will be understood that these teachings will accommodate sensing any of a wide variety of circumstances in a given application setting.

[0104] The system 800 comprises an example of a control and / or processor-based system with the control circuit 812. Again, the control circuit 812 can be implemented through one or more processors, controllers, central processing units, logic, software and the like. Further, in some implementations the control circuit 812 may provide multiprocessor functionality.

[0105] The memory 814, which can be accessed by the control circuit 812, typically includes one or more processor readable and / or computer readable media accessed by at least the 25 8842-158682-WO_8495WO01control circuit 812, and can include volatile and / or nonvolatile media, such as RAM, ROM, EEPROM, flash memory and / or other memory technology. Further, the memory 814 is shown as internal to the control system 810; however, the memory 814 can be internal, external or a combination of internal and external memory. Similarly, some or all of the memory 814 can be internal, external or a combination of internal and external memory of the control circuit 812. The external memory can be substantially any relevant memory such as, but not limited to, solid-state storage devices (SSDs) or drives, hard disk drive (HDDs), one or more of universal serial bus (USB) stick or drive, flash memory secure digital (SD) card, other memory cards, and other such memory or combinations of two or more of such memory, and some or all of the memory may be distributed at multiple locations over a computer network. The memory 814 can store code, software, executables, scripts, data, content, lists, programming, programs, log or history data, user information, coupon information, manufacturer information, customer information, product information, and the like. While FIG.8 illustrates the various components being coupled together via a bus, it is understood that the various components may actually be coupled to the control circuit and / or one or more other components directly.

[0106] In some embodiments, an automated validation system for a robotic storage and retrieval system comprises: a structure having a plurality of sections configured to allow a mobile robot to traverse the structure, wherein one of the plurality of sections comprises a validation zone; the mobile robot configured to traverse the structure to transport a tote containing a product to an assigned section of the structure; one or more sensors positioned in the validation zone, the one or more sensors configured to capture data relating to a current state of at least one of the mobile robot, the tote, and the product as the mobile robot traverses the validation zone; a central control circuit communicatively coupled to the mobile robot, the one or more sensors, and a validation control circuit, the central control circuit configured to: transmit, to the validation control circuit, an expected state of the at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone; the validation control circuit configured to: receive, from the central control circuit, the expected state of the at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone; receive, from the one or more sensors positioned in the validation zone, data relating to the current state of the at least one of the mobile robot, the tote, and the product; analyze the data received from the one or more sensors to determine the current state of the at least one of the mobile robot, the tote, and the product; compare 26 8842-158682-WO_8495WO01the current state with the expected state; detect a deviation result; and transmit an indication of the deviation result to the central control circuit.

[0107] In some embodiments, an automated validation method for a robotic storage and retrieval system comprises: receiving, by a validation control circuit from a central control circuit, prior to a mobile robot traversing a validation zone of a structure, an expected state of at least one of the mobile robot, a tote, and a product, wherein the mobile robot is configured to traverse the structure to transport the tote containing the product to an assigned section of the structure; receiving, by the validation control circuit from one or more sensors positioned in the validation zone of the structure, data relating to the current state of the at least one of the mobile robot, the tote, and the product; analyzing, by the validation control circuit, the data received from the one or more sensors to determine the current state of the at least one of the mobile robot, the tote, and the product; comparing, by the validation control circuit, the current state with the expected state; and detecting, by the validation control circuit, a deviation result; and transmitting, by the validation control circuit to the central control circuit, an indication of the deviation result.

[0108] Those skilled in the art will recognize that a wide variety of other modifications, alterations, and combinations can also be made with respect to the above-described embodiments without departing from the scope of the invention, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept. 27 8842-158682-WO_8495WO01

Claims

CLAIMS What is claimed is:

1. An automated validation system for a robotic storage and retrieval system, the automated validation system comprising: a structure having a plurality of sections configured to allow a mobile robot to traverse the structure, wherein one of the plurality of sections comprises a validation zone; the mobile robot configured to traverse the structure to transport a tote containing a product to an assigned section of the structure; one or more sensors positioned in the validation zone, the one or more sensors configured to capture data relating to a current state of at least one of the mobile robot, the tote, and the product as the mobile robot traverses the validation zone; and a central control circuit communicatively coupled to the mobile robot, the one or more sensors, and a validation control circuit, the central control circuit configured to: transmit, to the validation control circuit, an expected state of the at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone; the validation control circuit configured to: receive, from the central control circuit, the expected state of the at least one of the mobile robot, the tote, and the product prior to the mobile robot traversing the validation zone; receive, from the one or more sensors positioned in the validation zone, data relating to the current state of the at least one of the mobile robot, the tote, and the product; analyze the data received from the one or more sensors to determine the current state of the at least one of the mobile robot, the tote, and the product; compare the current state with the expected state; detect a deviation result; and transmit an indication of the deviation result to the central control circuit. 28 8842-158682-WO_8495WO012. The system of claim 1, wherein, based on the deviation result, the central control circuit communicates an instruction to the mobile robot to proceed to the assigned section of the structure.

3. The system of claim 1, wherein, based on the deviation result, the central control circuit communicates an instruction to the mobile robot to proceed to a location other than the assigned section of the structure.

4. The system of claim 1, wherein, based on the deviation result, the central control circuit is configured to dispatch another mobile robot to obtain a second tote containing the same product and to proceed to the assigned section of the structure.

5. The system of claim 1, wherein the assigned section is a workstation associated with a particular order to be filled, and, based on the deviation result, the central control circuit is configured to: electronically replace the particular order to be filled with another order to be filled at the assigned workstation; and dispatch another mobile robot to obtain a second tote containing a different product and to proceed to the assigned workstation.

6. The system of claim 1, wherein the one or more sensors comprise an optical sensor, an imaging sensor, a radio frequency identification (RFID) sensor, a temperature sensor, an infrared sensor, a humidity sensor, a sound sensor, a weight sensor, and / or a proximity sensor.

7. The system of claim 1, wherein the current state of the mobile robot comprises an operational state of the mobile robot.

8. The system of claim 1, wherein the current state of the product in the tote comprises one or more of quantity, quality, temperature, color, ripeness, spillage, and damage. 29 8842-158682-WO_8495WO019. The system of claim 1, wherein the assigned section of the structure is a workstation associated with a particular order to be filled, and the central control circuit instructs the mobile robot to obtain the tote containing the product from a storage section of the structure and to transport the tote to the workstation by traversing the validation zone before arriving at the workstation, wherein the validation zone is located between the storage section and the workstation.

10. The system of claim 1, wherein the assigned section of the structure is a storage section, and the central control circuit instructs the mobile robot to obtain the tote containing the product from a loading section of the structure and to transport the tote to the storage section by traversing the validation zone before arriving at the storage section, wherein the validation zone is located between the loading section and the storage section.

11. An automated validation method for a robotic storage and retrieval system, the automated validation method comprising: receiving, by a validation control circuit from a central control circuit, prior to a mobile robot traversing a validation zone of a structure, an expected state of at least one of the mobile robot, a tote, and a product, wherein the mobile robot is configured to traverse the structure to transport the tote containing the product to an assigned section of the structure; receiving, by the validation control circuit from one or more sensors positioned in the validation zone of the structure, data relating to a current state of the at least one of the mobile robot, the tote, and the product; analyzing, by the validation control circuit, the data received from the one or more sensors to determine the current state of the at least one of the mobile robot, the tote, and the product; comparing, by the validation control circuit, the current state with the expected state; detecting, by the validation control circuit, a deviation result; and transmitting, by the validation control circuit to the central control circuit, an indication of the deviation result. 30 8842-158682-WO_8495WO0112. The method of claim 11, wherein, based on the deviation result, the central control circuit communicates an instruction to the mobile robot to proceed to the assigned section of the structure.

13. The method of claim 11, wherein, based on the deviation result, the central control circuit communicates an instruction to the mobile robot to proceed to a location other than the assigned section of the structure.

14. The method of claim 11, wherein, based on the deviation result, the central control circuit is configured to dispatch another mobile robot to obtain a second tote containing the same product and to proceed to the assigned section of the structure.

15. The method of claim 11, wherein the assigned section is a workstation associated with a particular order to be filled, and, based on the deviation result, the central control circuit is configured to: electronically replace the particular order to be filled with another order to be filled at the assigned workstation; and dispatch another mobile robot to obtain a second tote containing a different product and to proceed to the assigned workstation.

16. The method of claim 11, wherein the one or more sensors comprise an optical sensor, an imaging sensor, a radio frequency identification (RFID) sensor, a temperature sensor, an infrared sensor, a humidity sensor, a sound sensor, a weight sensor, and / or a proximity sensor.

17. The method of claim 11, wherein the current state of the mobile robot comprises an operational state of the mobile robot.

18. The method of claim 11, wherein the current state of the product in the tote comprises one or more of quantity, quality, temperature, color, ripeness, spillage, and damage. 31 8842-158682-WO_8495WO0119. The method of claim 11, wherein the assigned section of the structure is a workstation associated with a particular order to be filled, and the central control circuit instructs the mobile robot to obtain the tote containing the product from a storage section of the structure and to transport the tote to the workstation by traversing the validation zone before arriving at the workstation, wherein the validation zone is located between the storage section and the workstation.

20. The method of claim 11, wherein the assigned section of the structure is a storage section, and the central control circuit instructs the mobile robot to obtain the tote containing the product from a loading section of the structure and to transport the tote to the storage section by traversing the validation zone before arriving at the storage section, wherein the validation zone is located between the loading section and the storage section. 32 8842-158682-WO_8495WO01