Retail fulfillment dispense and decant systems and methods

Abstract

Some embodiments provide automated order fulfillment systems, comprising: mobile robots; a storage structure comprising: multiple vertically spaced levels; multiple vertical tower channels; multiple aisles extending through the storage structure; storage locations at each of the multiple levels and configured to store totes delivered by the mobile robots and retrieved by the mobile robots; and a dynamic workstation cooperated with an entry vertical tower channel and an exit vertical tower channel establishing a lateral first transit path through the workstation along which the mobile robots travel; wherein the workstation comprises an access bay positioned relative to the first transit path and exposes at least one tote transported by a first mobile robot while the at least one tote remains on the first mobile robot without being removed from the first mobile robot as the at least one tote is moved through the workstation.

Description

RETAIL FULFILLMENT DISPENSE AND DECANT SYSTEMS AND M ETHODSCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Application No. 63 / 626,967 filed January 30, 2024, which is incorporated herein by reference in its entirety.TECHN ICAL FI ELD

[0002] This invention relates generally to automated inventory storage and retrieval.BACKGROU N D

[0003] The management of inventory can be critical to the operation of many industries. Some industries use systems to move inventory. There is a need to improve the control and distribution of inventory.BRI EF DESCRI PTION OF DRAWI NGS

[0004] Disclosed herein are embodiments of systems, apparatuses and methods pertaining to automated inventory storage and retrieval. This description includes drawings, wherein:

[0005] FIG. 1 shows a simplified isometric view of at least part of an exemplary order fulfillment system, in accordance with some embodiments.

[0006] FIG. 2 illustrates a simplified overhead view of a portion of an exemplary storage structure, in accordance with some embodiments.

[0007] FIG. 3A illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation within the storage structure, in accordance with some embodiments.

[0008] FIG. 3B illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation with a picking robot and within the storage structure, in accordance with some embodiments.

[0009] FIG. 4 illustrates a partially transparent view of the exemplary workstation 106 within the portion of the exemplary storage structure of FIG. 3A, in accordance with some embodiments.

[0010] FIG. 5 shows the partially transparent view of the exemplary workstation 106 within the portion of the exemplary storage structure of FIG. 4 with a dashed line illustrating an exemplary first transit path, in accordance with some embodiments.

[0011] FIG. 6 illustrates a simplified block diagram of a cutaway view of an exemplary workstation and exemplary mobile robots accessing the lateral transit path through the exemplary workstation, in accordance with some embodiments.

[0012] FIG. 7 illustrates a simplified block diagram of a portion of an exemplary storage structure and a partially transparent exemplary workstation formed within the storage structure and providing multiple lateral portions of the lateral transit path through the workstation, in accordance with some embodiments.

[0013] FIG. 8 illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation formed within the storage structure having an access bay at a first level and one or more access drawers, shelves or the like at a second level, in accordance with some embodiments.

[0014] FIG. 9 illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation formed within the storage structure having an access bay at a first level and multiple access drawers, shelves or the like at a second level, in accordance with some embodiments.

[0015] FIG. 10 illustrates a simplified block diagram of a cutaway view of an exemplary workstation with one or more exemplary safety doors, and exemplary mobile robots accessing a lateral transit path through the exemplary workstation, in accordance with some embodiments.

[0016] FIG. 11 illustrates a simplified side view of an exemplary exit safety door, in accordance with some embodiments.

[0017] FIGS. 12A-12H illustrate simplified side views of a sequence of an exemplary mobile robot passing through an exemplary exit safety door in accordance with some embodiments.

[0018] FIG. 13 illustrates a simplified block diagram of a portion of an exemplary storage structure, and an exemplary workstation within the storage structure having one or more user interfaces, in accordance with some embodiments.

[0019] FIG. 14A illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation formed within the storage structure, in accordance with some embodiments.

[0020] FIG. 14B illustrates a simplified block diagram of a portion of an exemplary storage structure and an exemplary workstation with one or more user interface systems, in accordance with some embodiments.

[0021] FIG. 15 illustrates a partially transparent view of the exemplary workstation of FIG. 14A, in accordance with some embodiments.

[0022] FIG. 16 illustrates a simplified, transparent view of an exemplary workstation cooperated with an exemplary entry rotation deck and an exemplary exit rotation deck, in accordance with some embodiments.

[0023] FIG. 17A illustrates a simplified block diagram, overhead view of exemplary mobile robots entering an exemplary workstation via an exemplary entry track coupled with an exemplary entry rotation deck, in accordance with some embodiments.

[0024] FIG. 17B illustrates the simplified block diagram, overhead of an exemplary workstation of FIG. 17A, with an exemplary mobile robot rotating on the entry rotation deck to orient the tote consistent with an orientation of the access bay, in accordance with some embodiments.

[0025] FIG. 17C illustrates the simplified block diagram, overhead view of the exemplary workstation of FIG. 17A, with the exemplary mobile robot self-propelling into the workstation and climbing within the workstation by an exemplary workstation vertical channel to position the exemplary tote at the exemplary access bay, in accordance with some embodiments.

[0026] FIG. 18 illustrates a simplified block diagram of an exemplary storage structure including at least two exemplary workstations within the storage structure, in accordance with some embodiments.

[0027] FIG. 19 illustrates a perspective view of an exemplary a multi-access bay workstation, in accordance with some embodiments.

[0028] FIG. 20 illustrates a simplified, transparent view of an exemplary multi-access bay workstation cooperated with an exemplary entry rotation deck and an exemplary exit rotation deck, in accordance with some embodiments.

[0029] FIG. 21 illustrates a simplified flow diagram of an exemplary process of obtaining items from a storage structure, in accordance with some embodiments.

[0030] FIG. 22 illustrates a simplified flow diagram of an exemplary process of moving mobile robots along the lateral transit path through the workstation, in accordance with some embodiments.

[0031] FIG. 23 illustrates a simplified flow diagram of an exemplary processing of routing additional mobile robots through one or more other transit paths through a workstation, in accordance with some embodiments.

[0032] FIG. 24 illustrates a simplified flow diagram of an exemplary process of routing totes to workstations within a storage structure, in accordance with some embodiments.

[0033] FIGS. 25-27 illustrate perspective, front-side views of another exemplary workstation or mobile robot receiving system, in accordance with some embodiments.

[0034] FIG. 28 illustrates a perspective, backside view of the exemplary workstation cooperated with a deck, in accordance with some embodiments.

[0035] FIG. 29 illustrates a simplified, perspective front view of an exemplary multi-access bay workstation in accordance with some embodiments.

[0036] FIG. 30 illustrates a simplified, perspective backside view of an exemplary multi-access bay workstation cooperated with a pair of decks in accordance with some embodiments.

[0037] FIG. 31 illustrates an exemplary system 3100 that may be used for implementing any of the components, circuits, circuitry, systems, functionality, apparatuses, processes, or devices of an order fulfillment system, the control circuit 110, mobile robots 102, workstations 106, and / or other above or below mentioned systems or devices, or parts of such circuits, circuitry, functionality, systems, apparatuses, processes, or devices.

[0038] FIG. 31 illustrates an exemplary system for use in implementing methods, techniques, devices, apparatuses, systems, servers, sources and providing product order fulfillment, decanting, consolidation and inventory management, in accordance with some embodiments.

[0039] 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 of various embodiments. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments. Certain actions and / or steps may be described or depicted in a particular order of occurrence while those skilled in the art will understand that such specificity with respect to sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning as is accorded to such terms and expressions by persons skilled in the technical field as set forth above except where different specific meanings have otherwise been set forth herein.DETAI LED DESCRIPTION

[0040] 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 throughoutthis specification to "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 invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," "in some embodiments", "in some implementations", and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0041] Retail facilities receive and temporarily store products to be made available for sale. Some such facilities further consolidate products from the temporarily stored products in fulfilling product orders. Some embodiments provide dynamic workstations of order-fulfillment systems for use in supply chains, for example in retail supply chains. These workstations enhance the decanting of products received into a facility and / or improve the fulfillment of product orders in part by providing a product flow through the workstation to enable items to more easily be acquired and moved in a reduced amount of time. In some embodiments, these workstations are utilized in fulfilling orders from retail stores for products received from manufacturers, in fulfilling orders for discreet product units contained in such cases, referred to herein as "eaches" (other commonly used synonyms include "pieces", "articles", "items"), or generally any articles ordered by stores or individual consumers in less-than-case quantities. Additionally or alternatively, at least some of the dynamic workstations can be utilized in decanting or separating items in pallets, cases and / or other such groupings into cases, sub-groups, eaches and / or other such reduced quantities. While embodiments can be used in other applications, such as storage and retrieval of parts and work-in-process within manufacturing operations, one field of use is order-fulfillment in retail supply chains.

[0042] FIG. 1 shows a simplified isometric view of at least part of an exemplary order fulfillment system 100, in accordance with some embodiments. Although the present embodiments will be described with reference to the embodiments shown in the Figures, it should be understood that the present invention may be embodied in many forms of alternative embodiments. In addition, any suitable size, shape or type of materials or elements could be used. The order fulfillment system 100 and the disclosed embodiments may have features as described and / or may have in any suitable combination features as described in U.S. patent Nos. 9,139,363, entitled "Automated Systems for Transporting Payloads"; 11,142,398 entitled "Order Fulfillment System"; and 10,435,241 entitled "Storage and Retrieval System", each of which is hereby incorporated byreference in its entirety. The order fulfillment system 100 can have product totes and order totes with autonomous mobile robots 102 or vehicles that transfer and transport the totes. Further, the order fulfillment system 100 includes a storage structure 104 with structural support that stores totes. The mobile robots 102 can operate and move in three dimensions throughout the order fulfillment system 100 to transport totes throughout the order fulfillment system 100 along tracks, vertical channels, decks, ramps and / or other sub-structures of the order fulfillment system 100. The operation and movement of the mobile robots is further described in U.S. patent Nos. 9,139,363; 10,435,241; and 11,142,398.

[0043] The order fulfillment system 100 further includes one or more types of workstations 106- 107. The many if not all of the workstations 106 are integrated into and positioned within the storage structure 104, and can be accessed by the mobile robots 102 directly from within the matrix of tracks, vertical tower channels, ramps, ramps and / or other such structures of the storage structure 104.

[0044] FIG. 2 illustrates a simplified overhead view of a portion of an exemplary storage structure 104, in accordance with some embodiments. Referring to FIGS. 1-2, the storage structure provides a three dimensional array or grid of tote storage locations 202 configured to receive and store totes transported by the mobile robots 102. In some embodiments, the storage structure 104 can include multiple vertically spaced levels 108, with multiple vertical tower channels establishing vertical paths between the multiple levels. Multiple aisles 204 extend through the storage structure 104 each comprising tracks extending along a length of each of the multiple aisles and along which mobile robots travel. The tote storage locations 202 are provided at the multiple levels and positioned along both sides of each of the multiple aisles 204. At least some of the storage locations 202 are configured with predefined widths, heights and depths that correspond to dimensions of the totes and are configured to store the totes delivered by the mobile robots 102 and retrieved by the mobile robots. The storage structure 104, tote storage locations 202, the tracks and the movement of the mobile robots 102 through the order fulfillment system 100 can be similar to those described in U.S. Patent Nos. 9,139,363; 10,435,241; and 11,142,398. Some embodiments include one or more central control circuits 110 implemented through one or more processors, microprocessors, computers, software, network equipment and / or other such control circuits that can be communicatively coupled over one or more distributed wired and / or wireless communication and / or computer networks (e.g., local area networks (LAN), wide area networks (WAN), the Internet, cellular networks, local wireless networks (e.g., Bluetooth, Wi-Fi, ZigBee,etc.), other such networks, or a combination of two or more of such networks) with the mobile robots 102, workstations 106-107, worker communication devices (e.g., headsets, smartphones, smartwatches, other wearable systems, computers, laptops, tablets, etc.), customer communication devices (e.g., smartphones, wearable systems, computers, laptops, tablets, etc.), remote databases (e.g., inventory databases, suppliers, delivery vehicles, drones, etc.), other system components, and typically a combination of two or more of such system components.

[0045] The workstations 106 can, in some embodiments, be part of and / or formed within the storage structure 104. Further, in some implementations, the workstations are configured with a predefined size to occupy a volume within the storage structure that is equal to a predefined number of tote storage locations. One or more of the workstations can be utilized for dispense and decant applications within the order fulfillment system 100, enable picking with product totes presented and products retrieved from product totes in fulfilling orders (e.g., placing picked products into bags, order totes, etc.), and / or other operations. Previous workstations were static workstations where order totes are removed from the mobile robots 102, and staged to await use. These static workstations can be relatively slow, at least in part, because of the transfer of the totes from the robots to the static workstations, and subsequent transfer back to a robot.

[0046] Some embodiments, however, provide dynamic workstations 106 that can streamline the tote transfer process, reduce traffic, increase throughput and improve tote distribution, in part by enabling the totes to remain on the mobile robots 102 as the mobile robots transport the totes through the workstations. Dispensing processes, in some implementations, can occur where robots 102 can be sequentially presented at a workstation 106 with filled order totes where orders of multi eaches can be transferred efficiently to shopping carts, bags, other totes, directly to customers and / or other such methods. Decanting processes, in some implementations, can occur where mobile robots can be sequentially moved through a workstation with empty product totes that receive one or more eaches that can be used as inventory for subsequent order fulfillment. Dynamic workstations 106 can, in some embodiments, additionally be used for picking where product totes are presented with items to be retrieved and placed into an order tote within the dynamic workstation, or into an order tote, bag or the like external to the workstation.

[0047] In some embodiments, the dynamic workstations 106 are within and / or cooperated with the storage structure and provide a lateral transit path for the robots 102 through the workstations 106. As such, the robots 102 directly access the workstations from within the storage structure without leaving the storage structure. This can greatly increase the throughput, reducethe number of mobile robots 102 utilized and reduce time between storage locations and the workstations for at least some implementations.

[0048] FIG. 3A illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 within the storage structure 104, in accordance with some embodiments. FIG. 3B illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 with a picking robot 322 and within the storage structure 104, in accordance with some embodiments. FIG. 4 illustrates a partially transparent view of the exemplary workstation 106 within the portion of the exemplary storage structure 104 of FIG. 3A, in accordance with some embodiments. Referring to FIGS. 1-4, in some embodiments the workstation 106 provides at least one lateral transit path through the workstation along which the robots 102 travers to move through the workstation while transporting the respective totes 302. The lateral transit path can include one or more substantially horizontal lateral tracks 402 that the robots engage and along which the robots can traverse through the workstation 106. The lateral tracks 402 can be similar to those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 11,142,398, and U.S. Patent Application Publication Nos. 2019 / 0270591, and 2021 / 0229271, each of which is incorporated herein by reference in its entirety. For example, wheels 404 of the robots 102 are supported by a portion of the lateral tracks 402 and the robots self-propel along the tracks. FIG. 5 shows the partially transparent view of the exemplary workstation 106 within the portion of the exemplary storage structure 104 of FIG. 4 with a dashed line illustrating an exemplary first transit path 502, in accordance with some embodiments. FIG. 6 illustrates a simplified block diagram of a cutaway view of an exemplary workstation 106 and exemplary mobile robots 102 accessing the lateral transit path 502 through the exemplary workstation 106, in accordance with some embodiments.

[0049] Referring to FIGS. 1-6, in some embodiments, the workstation 106 can be cooperated with one or more entry vertical tower channels 304 within and forming part of the storage structure 104. The vertical tower channel 304 can include one or more elevation tracks that can be engaged by one or more climbing systems of the robots that enable the robots to self-propel themselves vertically up and down within the storage structure. The vertical tower channels 304 elevation tracks and climbing system of the robots can be similar to one or more of those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 11,142,398, and U.S. Patent Application Publication Nos. 2019 / 0270591, and 2021 / 0229271. In some embodiments, the entry vertical tower channel 304 can be positioned on a first side 306 of the workstation. Further, theworkstation 106 can cooperated with one or more exit vertical tower channels 308 positioned on a second side 310 of the workstation opposite the workstation from the first side. As such, a lateral first transit path 502 is provided from the entry vertical tower channel 304 within the storage structure and positioned on the first side 306 of the workstation 106, along the lateral tracks 402 through the workstation 106, and cooperated with one or more exit vertical tower channel 308 positioned on the second side 310 of the workstation 106. The robots 102 can be routed along this lateral transit path while transporting the totes 302.

[0050] The workstation 106 further includes one or more access bays 314 that are positioned relative to the transit path 502 and exposes at least one tote 302 as the tote is transported by a respective one of the robot 102 while the tote 302 remains on the robot 102 without being removed from the mobile robot as tote 302 is moved through the workstation 106. In some embodiments, the access bay 314 is sized to expose more than one tote, and in some implementations sized to simultaneously expose all of at least two totes 302 for at least an exposure period of time while each of the at least two totes remained on a respective mobile robot transporting the respective tote through the workstation. This exposure period of time can depend on one or more factors including at least the rate of transport of the robots 102 through the workstation 106, whether the robots slow and / or stop while positioned proximate and / or within the access bay 314, and / or other such factors. Additionally or alternatively, in some embodiments the workstation 106 can include operator controls that can allow an operator to input one or more control commands that may affect the rate of transport of the robots through the workstation 106 and / or passed the access bay 314. Similarly, some embodiments may additionally or alternatively include sensors that can detect actions and / or completion of actions in controlling the rate of transport of one or more mobile robots 102 through the workstation (e.g., one or more sensors may detect that an item within a tote 302 that is intended to be removed from the tote has not been removed (and / or an item is to be inserted into a tote 302 and has not be inserted) within a threshold distance of an exit side of the access bay, and can cause a rate of transport to be adjusted and / or temporarily stopped, for example using sensors similar to those described in U.S. Patent Application Publication No. 20170313514, which is incorporated herein by reference in its entirety). In some embodiments, the transit path 502 can include a horizontal portion within the workstation 106 extending between the entry vertical tower channel 304 and the exit vertical tower channel 308.

[0051] The robots when traversing through the workstation 106 pass the access bay 314 while self-propelling along the horizontal portion through the workstation 106. When the workstation 106 is operated in a dispensing mode, a subset of mobile robots 102 at the facility are directed to respective tote storage locations 202 within the storage structure 104 to retrieve a respective tote based on the particular item or items that are stored within the tote, and directed to selfpropel through the storage structure 104 to a respective workstation 106 transporting the tote, and item or items within the tote, to the workstation to allow a worker 320, robotic arm 322, and / or other such robotic system to retrieve one or more items from the tote 302 as the totes are moved by the robots 102 through the workstation 106 and along the access bay 314. Additionally or alternatively, when operating in a decant mode, robots 102 transport totes 302 along the access bay 314 to receive one or more items and then can be directed to an available tote storage location 202 within the storage structure 104. Typically, multiple mobile robots 102, each carrying a respective tote, are routing to the workstation 106 at any given time during operation of the workstation such that a queue of robots can occur approaching, through and leaving the workstation. The central control circuit(s) 110 and / or other local and / or remote systems can direct robots 102 to be sequentially routed to the workstation 106 with the robots self-propelling to sequentially travel laterally along the transit path 502 through the workstation providing a continuous flow of totes, being transported by the plurality of mobile robots, through the access bay to allow items to be removed and / or inserted into the respective totes 302.

[0052] In some embodiments each of the plurality of mobile robots 102 can comprise one or more sensor that communicatively couple with one or more robot control circuits and / or systems that receive sensor signals and / or data from the one or more sensors. The robot control circuit can, in some implementations, detect movement of a preceding robot, of the plurality of mobile robots moving along the transit path 502 and through the workstation. Based on the detected movement of a preceding robot, a robot control circuit can control one or more drive systems to movement of the robot 102 along the lateral transit path 502. This movement, in some embodiments can mirror the movement(s) of the preceding robot while traveling through the access bay 314 in maintaining a continuous flow of totes 302 through the access bay based on the queued sequence of robots routed to the workstation. This continuous flow does not require the robots to stop, and further does not include the release of the tote 302 from the robot 102. Other known workstations often require totes 302 to be removed from the robot. In some of these other known workstations, the offload totes are queued at a workstation and the workstation includesmechanical systems to move the offloaded tote into a position to be accessed by a worker and / or mechanical system. Such offloading requires additional space to allow robots to move into position and space to receive the offloaded totes. Further, the offloading can add significant amounts of time to finally position the offloaded totes at the access location. Additionally, this offloading typically greatly increases the complexity of the workstation in order to handle and manipulate the offloaded totes within and through these workstations. This complexity and increased time in moving totes is further exacerbated because these offloaded totes have to be subsequently retrieved by a robot after use at the workstation, which typically requires additional loading areas at the workstations, increased complexity to move the totes to a position to allow robots to retrieve the totes and increased delays in the robots loading the totes.

[0053] Some current embodiments, however, provide the flow-through lateral transit path 502 that enables robots 102 to transport totes 302 directly into the workstation 106 while sequentially self-propelling through the workstation 106 in transporting the totes across the access bay 314 to allow continuous access by one or more workers and / or one or more robotic systems to the totes 302 while the totes remain on the robots 102 and are transported by the robots through the workstation 106. This can greatly increase throughput, reduce complexity of the workstations, reduce potential disruptive downtime due to potential failures of one or more portions of other types of workstation, reduce a volumetric footprint of the workstation 106 and provide other benefits as described above and below, as well as other benefits not expressly enumerated. The sequential queuing of the totes enables the order fulfillment system 100 and workstations 106 to control the flow of totes to have a next in line tote ready and available when needed to provide immediate access. This can dramatically reduce delays and increase throughput, in part by not having to wait for a workstation to move a tote that is no longer needed back onto an awaiting robot, move that robot out of the way, wait for a subsequent robot to be in place, unload a tote into the workstation and position that unloaded tote into a position to be accessed by a worker. Further, in some embodiments, the workstations 106 and lateral path enables the system to have totes already queued and available when the worker or picking is ready through the continual flow of totes. Workers and / or picking robots can continue to pick from a tote as needed, and then move to a subsequent tote as it is moved into the access bay and available. As such, there is substantially no time a worker is waiting between tote presentations. Further, the rate of flow of totes can be controlled to match the pace of the worker and / or picking robot. Some embodimentsuse sensors and / or input from the worker to identify when and / or at what rate to move the robots and totes through the access bay.

[0054] In some embodiments, the lateral transit path 502 traverses through the workstation at a single level 108b of the vertical levels 108. Each robot 102 can vertically descend or ascend the entry vertical tower channel 304 to the single level 108b aligned with a first transit path, laterally traverse along a horizontal portion of the lateral transit path 502 at the single level 108b transporting a respective one of the totes 302 through the workstation 106 exposing the totes 302 at the access bay 314, continue laterally through and exit the workstation 106, and enter the exit vertical tower channel 308 to vertically ascend or decent the exit vertical tower channel 308 away from the workstation 106.

[0055] FIG. 7 illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and a partially transparent exemplary workstation 106 formed within the storage structure 104 and providing multiple lateral portions of the lateral transit path 502 through the workstation, in accordance with some embodiments. In some embodiments, one or more of the workstations 106 include multiple horizontal portions each along separate levels (e.g., levels 108a, 108b) where the robots traverse through the workstation 106 traveling laterally along one of the respective single levels 108a, 108b. The one or more additional lateral portions of the lateral path through the workstation 106, in some embodiments, enables additional to one or more additional totes 302 transported by the robots.

[0056] FIG. 8 illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 formed within the storage structure 104 having an access bay 314 at a first level 108b and one or more access drawers 802, shelves or the like at a second level 108a, in accordance with some embodiments. FIG. 9 illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 formed within the storage structure 104 having an access bay 314 at a first level 108b and multiple access drawers 802, shelves or the like at a second level 108a, in accordance with some embodiments. Referring to FIGS. 7-9, a second horizontal transit path through the workstation 106 can be positioned vertically at a second level 108a below the first level 108b and extending from the entry vertical tower channel 304, through the workstation 106 and to the exit vertical tower channel 308. Typically, the second transit path is not accessible from the access bay 314. One or more access drawers 802, shelves or the like can be provided in the workstation 106 separate from the access bay 314.

[0057] The one or more access drawers 802 can, in some embodiments, be positioned along the second lateral portion adjacent to and accessed by one or more additional robots from the second transit path and / or one or more other paths at one or more other levels. The one or more access drawers 802 can be configured to expose at least one additional tote 302 transported by additional mobile robots. In some implementations, the totes are removed from the additional robots to be inserted into the access drawers 802. In some embodiments, the access drawers 802 can extend and retract to expose the interior of the drawer and / or the totes. In other instances, the access drawers may not retract. Further, in some embodiments, one or more of the access drawers may include a lift mechanism that lifts totes 302 to be more readily accessed by an associate and / or a picking robot. For example, in some implementation, an access drawer at a lower level 108a may lift totes, which were inserted into the access drawer, to be approximately at a second higher level 108b similar to level of the access bay 314. The totes 302 supplied by robots to the workstation 106 can be product totes transporting products to the workstation to be picked by an associate, picking robot, or other such retrieval, can be provided as order totes to receive one or more items, sub-totes or the like in collecting and / or consolidating items of an order, can be totes to consolidate items from multiple different totes to open tote storage locations 202 within the storage structure 104, other such totes, or a combination of different totes transported by the robots 102 to the workstation 106 without having to exit the storage structure. Further, in some embodiments, totes may be supplied to the workstation 106 from external to the storage structure 104 and incorporated into the storage structure from the workstation 106. For example, totes can be inserted into an access drawer 802 and retrieved by a robot 102 from the access drawer 802 and moved to a tote storage location 202, another workstation, and / or routed through the storage structure 104 to one or more other portions of the storage structure and / or the facility within which the storage structure is located. Similarly, external carts 806, trollies, movable shelves, pallets, bins, totes and / or other such devices can be moved to the workstation to receive items retrieved from totes 302 at the workstation 106, and / or to supply items to the workstation 106 to be decanted and placed into totes 302 that can be moved by the robots into the storage structure 104. One or more sensors can be incorporated into the workstation 106 to detect identifying information (e.g., barcodes, QR codes, names, alphanumerical identifiers, color patterns, etc.) of one or more totes 302, carts 806, robots 102, items and / or the like in tracking movement of items being removed from and / or ingested into the storage structure, the assembly of orders, the decanting of items and / or other suchmovement of the items, robots, totes and / or other components of the order fulfillment system100.

[0058] In some embodiments, the mobile robots 102 are directed to route product totes to the access bay 314 of the workstation 106 to provide a flow of totes 302 from which items can be retrieved in fulfilling orders. Similarly, in some embodiments, order totes can be supplied to the one or more drawers 802 to be available to receive the picked items in consolidating items of an order. Often, the rate at which the order totes are moved is less than the rate at which the product totes are transported based in part on many orders needing more than one item from different totes. As such, product totes are often moved through the workstation at a faster rate then order totes. Still further, the positioning of order totes in the drawers locates the order totes in easy to reach locations to allow rapid retrieval and consolidation. The workstation can include one or more user interface systems to help direct the placement of picked items into appropriate order totes and / or sub-totes.

[0059] FIG. 10 illustrates a simplified block diagram of a cutaway view of an exemplary workstation 106 with one or more exemplary safety doors 1002-1003, and exemplary mobile robots 102 accessing a lateral transit path through the exemplary workstation 106, in accordance with some embodiments. For example, some embodiments include an exit safety door 1002 positioned between the access bay 314 and the exit vertical tower channel 308, and an entry safety door 1003 positioned between the entry vertical tower channel 304 and the access bay 314. These safety doors can at least in part limit access to the storage structure 104 beyond the access bay 314. In some embodiments, the entry safety door and the exit safety door can be the same. For example, the safety doors can be flaps that are hinged to rotate in response to pressure exerted on the door by the robots. In other embodiments, the exit safety door 1002 can be different than the entry safety door 1003 by including a dampener or other system or structure that slows and / or limits the rate of movement of the safety door. The dampener can be implemented through one or more hydraulic pistons, hydraulic hinges, springs, decent limiter, other such structure, or a combination of two or more of such structures. In some embodiments, one or more motors may be cooperated with each safety door to move the safety door to allow movement of the robots into and out of the access bay.

[0060] FIG. 11 illustrates a simplified side view of an exemplary exit safety door 1002, in accordance with some embodiments. FIGS. 12A-12H illustrate simplified side views of a sequence of an exemplary mobile robot 102 passing through an exemplary exit safety door 1002 inaccordance with some embodiments. Referring to FIGS. 10-12H, the exit safety door 1002 includes a door flap 1102 that is configured to hang vertically and typically has dimensions similar to dimensions of an exit of the workstation 106 to limit access to the storage structure beyond the workstation. In some embodiments, the exit safety door includes one or more mounting hinges 1104 can rotatably couple the door flap 1102 with the workstation while enabling the door flap to swing. A decent limiter 1106 can be cooperated with the door flap 1102 to limit a rate of decent of the door flap as a mobile robot 102 passes by the exit safety door. In some embodiments, the decent limiter 1106 includes one or more rods, boards and / or other such structures that have a predefined length 1108. The predefined length 1108 can be dependent on one or more factors, such as but not limited to a height of the door flap 1102, height of a robot 102 and / or the tote 302 and robot, distance from the exit safety door and an exit vertical tower channel 308, a desired rate of decent and / or other such factors.

[0061] In some embodiments, the entry safety door 1003 is positioned along the transit path through the workstation to be contacted by and opened by each of the robots transporting the respective one of the totes toward the access bay, and the exit safety door 1002 is positioned along the transit path to be contacted by and opened by each of the robots transporting the respective one of the totes away from the access bay. For example, in some implementations, the robots 102 contacts the door flap 1102 (e.g., see FIG. 12B) as the robot moves out of the access bay 314 and pushes the door flap 1102 (e.g., see FIG. 12C), which rotates up in response to the force exerted by the robot and / or one or more motors, springs and / or other such systems may additionally or alternatively be utilized, and allows the robot to move through the exit and leave the access bay. After the robot passes the door flap 1102 (e.g., see FIG. 12E), the door flap 1102 begins to swing back down toward the exit of the access bay. In some embodiments, as the door flap begins to swing back, the decent limiter 1106 contacts one or more portions of the robot 102 (e.g., see FIG. 12F). As the robot continues to move away from the exit, the angle of the decent limiter 1106 reduces and the door flap 1102 to continue swinging toward the exit of the access bay at a reduced speed, until the robot is a threshold distance from the exit of access bay corresponding to the length 1108 of the decent limiter 1106 (e.g. see FIG. 12G) where safety door drops from a trailing edge (e.g., trailing edge 1202) of the robot, and the door flap 1102 continues to swing toward the exit and effectively close the exit (e.g., see FIG. 12G-12H). In some embodiments, one or more latches, locks, hydraulics or other systems may prevent the exit safety door from opening or making it more difficult to open until one or more buttons, levers, latches,sensors and / or other such locking mechanism or combination of such locking mechanisms is triggered by movement of the robot and / or a workstation control circuit triggers the safety locking mechanism to unlock the exit safety door and allow the exit safety door to open.

[0062] FIG. 13 illustrates a simplified block diagram of a portion of an exemplary storage structure 104, and an exemplary workstation 106 within the storage structure 104 having one or more user interfaces, in accordance with some embodiments. The workstation 106, in some embodiments, can include one or more user interfaces, input / output systems, instruction and / or direction systems, or a combination of two or more of such systems, which can for example provide guidance to a worker in retrieving items from and / or inserting items into one or more of the totes accessible through the access bays 314a-314b, enable one or more users at the workstation to input information and / or active one or more actions, other such interactions, or a combination of two or more of such interactions.

[0063] The user interface can include, but is not limited to one or more displays 1302 and / or touch screens, one or more user input interfaces 1304 (e.g., keyboard, mouse, touchpad, buttons, other such input interfaces, or a combination of two or more of such input interfaces), cameras 1306, sensors, lighting systems and / or laser pointer systems 1308, audio systems, other such user interface systems, or a combination of such systems. For example, the user interface system may include one or more machine-vision subsystems ("MVS") included with and / or mounted proximate to the workstation. Camera assembly (including illumination as needed) can be directed at the access bay 314 and / or a user. The cameras can, in some embodiments, be connected to vision-computer that can be programmed to follow the movements of the user and / or user's hands and analyze the contents of totes and the items removed from and / or added to the totes. Similarly, the cameras and / or other sensors can detect movement of the user and / or track the movement of the totes relative to the access bay. The lights and / or lasers 1308 can be aimed and / or focused to illuminate a tote and / or one or more items within a tote to indicate items to be removed and / or totes into which an item is to be moved. The display and / or audio system can provide instructions to the user to provide detailed instructions, which may include images, pictograms, animation, video and / or other relevant content to provide relevant instructions and / or information to the user. The user interface of the workstation can be similar to those described in U.S. Patent Nos. 9,139,363, 10,435,241, and 11,142,398, and U.S. Patent Application Publication Nos. 2019 / 0270591, and 2021 / 0229271, each of which is incorporated herein by reference in its entirety.

[0064] In some embodiments, the lateral transit path within the workstation includes a transition between two or more levels 108. Further, the vertical transition between levels is typically implemented by the robots self-propelling themselves between the change in levels.

[0065] FIG. 14A illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 formed within the storage structure 104, in accordance with some embodiments. FIG. 14B illustrates a simplified block diagram of a portion of an exemplary storage structure 104 and an exemplary workstation 106 with one or more user interface systems, in accordance with some embodiments. FIG. 15 illustrates a partially transparent view of the exemplary workstation 106 of FIG. 14A, in accordance with some embodiments. FIG. 16 illustrates a simplified, transparent view of an exemplary workstation 106 cooperated with an exemplary entry rotation deck 1406 and an exemplary exit rotation deck 1407, in accordance with some embodiments. Referring to FIGS. 14A-16, the workstation 106 can be is embedded within the storage structure 104 occupying an area having a length equal to a predefined number of storage locations 202 (e.g., 8 storage locations, 10 storage locations or other number of storage locations). This can enable seamless integration of the workstations 106 without modification of the basic structure of the storage structure, and simplify the implementation of the workstations 106. Further, the flow-through transit path enables the mobile robots 102 to enter the workstation 106 at the first side and exit the workstation at the second side. In some embodiments, the workstation includes a lower level 1402 and at least one upper level 1404 that is positioned vertically above the lower level 1402. The levels 1402, 1404, in some implementations, correspond to two of the levels 108 of the storage structure 104 (e.g., level 108a corresponds to the lower level 1402 of the workstation 106, and level 108b corresponds to the upper level 1404 of the workstation). In some embodiments, each level 1402, 1404 of the workstation can be cooperated with a respective rotation deck 1406-1407. The rotation decks 1406-1407 can enable the robots to rotate to orient a tote being transported by the robot to be consistent with an orientation of the access bay 314 of the workstation 106.

[0066] Still referring to FIGS. 14A-15, the lower level 1402 of the workstation 106 can be an entry level where robots 102 move in from a lower entry rotation deck 1406. The workstation 106 can include one or more workstation vertical channels 1414 forming part of the transit path. The one or more workstation vertical channels 1414 can be similar to the entry and / or exit vertical tower channel 304, 308. The robots 102 can engage one or more of workstation vertical channels 1414 and self-propel themselves from the lower level 1402 to the upper level 1404. The workstationvertical channel 1414, in some embodiments, vertically aligns with the access bay 314 and is configured to enable the robots 102 to self-propel vertically and move the respective totes 302 into position aligned within the access bay 314. Further, in some embodiments, one or more of the vertical channels 1414 can include one or more charge rails to allow mobile robot to charge while climbing and / or cooperated with the vertical channels. Additionally or alternatively, one or more charge rails can be positioned adjacent to one or move of the vertical channels enabling the mobile robots to contact and recharge internal power source of the mobile robot. Some embodiments may further include one or more charge rails cooperated with and / or adjacent one or more entry vertical tower channels 304 and / or one or more exit vertical tower channels 308.

[0067] The workstation 106 can include and / or cooperate with an entry track 1420 that cooperates with and extends from an entry vertical tower channel 1422. The entry track 1420 can be vertically aligned with and couple with the entry rotation deck 1406 establishing part of the lateral transit path through the workstation 106. In some embodiments, the entry rotation deck 1406 comprises a planar surface upon which the robots 102 rotate to orient the respective tote 302 consistent with an orientation of the access bay 314.

[0068] The workstation 106 can further comprises an exit rotation deck 1407 positioned along the transit path adjacent to the access bay 314 and cooperated with one or more exit vertical tower channels 1426. The mobile robots 102, in some embodiments, exit the access bay and move onto the exit rotation deck 1407, and can rotate upon the exit rotation deck to orient the respective mobile robot 102 with the one or more exit vertical tower channels 1426.

[0069] The user interface systems can include, but are not limited to one or more displays 1302 and / or touch screens, one or more user input interfaces 1304 (e.g., keyboard, mouse, touchpad, buttons, other such input interfaces, or a combination of two or more of such input interfaces), cameras 1306, sensors, lighting systems and / or laser pointer systems 1308, audio systems, other such user interface systems, or a combination of such systems. The user interface systems may be similar to those described above and / or described in U.S. Patent Nos. 9,139,363, 10,435,241, and 11,142,398, and U.S. Patent Application Publication Nos. 2019 / 0270591, and 2021 / 0229271, each of which is incorporated herein by reference in its entirety.

[0070] FIG. 17A illustrates a simplified block diagram, overhead view of exemplary mobile robots 102 entering an exemplary workstation 106 via an exemplary entry track 1420 coupled with an exemplary entry rotation deck 1406, in accordance with some embodiments. FIG. 17B illustrates the simplified block diagram, overhead of an exemplary workstation 106 of FIG. 17A, with anexemplary mobile robot 102 rotating on the entry rotation deck 1406 to orient the tote 302 consistent with an orientation of the access bay 314, in accordance with some embodiments. FIG. 17C illustrates the simplified block diagram, overhead view of the exemplary workstation 106 of FIG. 17A, with the exemplary mobile robot 102 self-propelling into the workstation and climbing within the workstation by an exemplary workstation vertical channel 1414 to position the exemplary tote 302 at the exemplary access bay 314, in accordance with some embodiments.

[0071] Referring to FIGS. 14A-17C, in some embodiments the entry rotation deck 1406 is positioned at a first level of the vertical levels 108, and the exit rotation deck 1407 is at a second level of the vertical levels 108. Each robot vertically descends one of the one or more entry vertical tower channels 1422 to the first level that is vertically aligned with the entry rotation deck 1406 and self-propels onto the entry rotation deck 1406, typically in accordance with a scheduled queue order. The access bay can, in some embodiments, be positioned at a second level, of the vertical levels 108, that is vertically higher than the first level. The mobile robots 102 can advance along the entry rotation deck 1406 to align with and engage the workstation vertical channel 1414 and self-propel to vertically move through the workstation vertical channel to transition from the first level to the second level aligning the respective tote 302 with the access bay 314. Upon confirmation from the workstation control circuit, a central control circuit or other system that no further item is to be removed or inserted into the tote 302, the mobile robot 102 can exit the access bay onto the exit rotation deck 1407, rotate to align with an exit track 1430, and advance along the exit track 1430 to align with and engage one of one or more exit vertical tower channels 1426. In some embodiments, the exit rotation deck 1407 is at the second level, of the vertical levels, and vertically above the entry rotation deck 1406. Sill further, in some implementations, the exit rotation deck 1407 is vertically aligned with the entry rotation deck 1406.

[0072] In some embodiments, the mobile robots 102 continue to sequentially flow into and through the lateral transit path to sequentially expose different totes from which products can be retrieved and / or inserted. The mobile robots 102, in some embodiments, include one or more sensors that can provide information to a robot control circuit that can control movement of the mobile robot based on the sensor information. The sensor information can include one or more sensors that provide movement sensor information corresponding to movement of a preceding mobile robot in a sequence of mobile robots transporting totes to the workstation 106. This can enable a continuous, sequential flow of totes through the workstation.

[0073] FIG. 18 illustrates a simplified block diagram of an exemplary storage structure 104 including at least two exemplary workstations 106 within the storage structure 104, in accordance with some embodiments. The storage structure provides multiple lateral tracks 402 along which the mobile robots 102 can travers through the storage structure transporting totes 302 and / or other objects. Mobile robots 102 directed to one of the workstations advance to an entry vertical tower channel 1422, descend to the level of the entry rotation deck 1406 and move into the workstation. The robots can rotate and self-propel into and up to the access bay of the workstation 106. Upon completion of an action at the workstation (e.g., having an item removed, having an item added to a tote, audit of items in a tote, maintenance, and / or other action), the mobile robots can move to the exit rotation deck, align with an exit track 1430, and advance to an 1426 exit vertical tower channels 1426 to return to a storage location within the storage structure 104 where the tote being transported is to be returned, or routed to another workstation or the same workstation for order fulfillment and / or receiving one or more items into the tote.

[0074] FIG. 19 illustrates a perspective view of an exemplary a multi-access bay workstation 1906, in accordance with some embodiments. FIG. 20 illustrates a simplified, transparent view of an exemplary multi-access bay workstation 1906 cooperated with an exemplary entry rotation deck 1406 and an exemplary exit rotation deck 1407, in accordance with some embodiments. Referring to FIGS. 19-20, the dual workstation 1906, in some embodiments, can include two or more adjacent access bays, for example first access bay 314a and second access bay 314b each cooperated with respective interior workstation vertical channels 1414. In some embodiments, the multiple access bays 314a-314b are each cooperated with an entry rotation deck 1406 and an exit rotation deck 1407 (or a respective entry rotation deck 1406 and exit rotation deck 1407) via input guide tracks 1910 and output guide tracks 1912 upon which the mobile robots 102 traverse in aligning with the respective access bays 314a-314b. The input and / or output guide tracks 1910, 1912 can, in some embodiments, include one or more guide bumpers 1914 that can taper relative to a respective guide track providing a wider entry or exit than the corresponding input and / or output guide tracks 1910, 1912 to help guide the robots 102 relative to the input guide track and / or the output guide track. The guide tracks, in some embodiments, are similar to the lateral tracks of the storage structure 104 and / or similar to the entry track 1420 and / or exit track 1430, and cooperate with the interior workstation vertical channels 1414 similar to the cooperation between the lateral tracks and vertical channels of the storage structure enabling the mobilerobots to transition from horizontal movement to self-propelling vertically within workstation to position the respective totes 302 at a respective access bay 314.

[0075] In some embodiments, the workstation 1906 can be cooperated with one or more entry vertical tower channels 1422 within the storage structure 104 and positioned on a first side of the workstation 1906. Further, the workstation typically cooperates with one or more exit vertical tower channels 1426, which in some embodiments, is positioned on a second opposite side of the workstation providing a lateral path of the mobile robots 102 through the workstation 1906. The multi-access bay workstation 1906 can comprises multiple access bays 314a-314b each cooperated with one or more entry vertical tower channels 1422 and configured to expose respective totes 302 being transported by separate mobile robots 102 while the respective totes remain on the respective mobile robots without being removed from the respective mobile robots as the totes are moved through the workstation 1906.

[0076] In some embodiments, a first access bay 314a of the two or more access bays of the workstation 1906 can be positioned proximate a second access bay 314b of the two or more access bays, with a first tote accessible through the first access bay simultaneously while a second tote is accessible through the second access bay. An entry track 1420 can extend from one or more entry vertical tower channels 1422 and cooperate with one or more entry rotation decks 1406 coupled with the entry track. The entry rotation deck 1406 can comprise a planar surface upon which the mobile robots 102 can rotate to orient the respective tote 302 consistent with an orientation of one of the two or more access bays 314a-314b. The multi-access bay workstation 1906 can, in some embodiments, include multiple workstation vertical channels 1414a-1414b. For example, a first workstation vertical channel 1414a can be positioned to provide mobile robots a climbing path to the first access bay 314a, and a second workstation vertical channel 1414b can be positioned to provide mobile robots a climbing path to the access bay 314b.

[0077] A first workstation vertical channel 1414a can cooperate with the entry rotation deck 1406 and be aligned with the first access bay 314a, and can be configured to enable a first mobile robot 102 to self-propel vertically and move a first tote into position aligned within the first access bay 314a. A second workstation vertical channel 1414b can cooperate with the entry rotation deck 1406 and be align with the second access bay 314b, and be configured to enable a second mobile robot 102 to self-propel vertically and move a second tote into position aligned within the second access bay. The multiple access bays enables multiple totes to be simultaneously accessible.

[0078] The entry rotation deck 1406, in some embodiments, is at a first level of the vertical levels 108. The mobile robots 102 can vertically descend one of the entry vertical tower channels 1422 to the first level vertically aligned with the entry rotation deck 1406. In some embodiments, the first access bay 314a and the second access bay 314b can be positioned at a second level, of the vertical levels, that is vertically higher than the first level. A first mobile robot can self-propel in moving vertically through the first workstation vertical channel 1414a to transition from the first level to the second level aligning the first tote with the first access bay 314a and the second mobile robot can self-propel in moving vertically through the second workstation vertical channel 1414b to transition from the first level to the second level aligning the second tote with the second access bay 314b. In some embodiments, the workstation 1906 can further comprise an exit rotation deck 1407 positioned adjacent to the first access bay 314a and the second access bay 314b, and the exit rotation deck is cooperated with one or more exit vertical tower channels 1426. The exit rotation deck 1407 can comprise a planar surface upon which the mobile robots 102 can rotate. Mobile robots can rotate upon the exit rotation deck 1407 to orient the respective mobile robot with the exit vertical tower channel 1426 (e.g., rotate 90 degrees). The direction of rotation may be dependent on one or more factors, such as but not limited to an intended direction of travel, intended direction of travel after climbing the exit vertical tower channel 1426, weight within a tote, proximity of one or more other mobile robots, other such factors, or a combination of such factors. In other implementations, the robots upon exiting rotate the same direction (e.g., counter clockwise) on the exit rotation deck 1407. The first access bay 314a may be spaced laterally from the one or more other access bay (e.g., second access bay 314b). One or more shelves and / or counters 1908 may be defined between the two or more access bays 314a-314b. The one or more shelves 1908 may be used, for example, by a worker or picking machine in staging items retrieved from one of the totes. In some embodiments, one or more bags, boxes, sub-totes, other such containers or a combination of two or more of such containers may be positioned on or in the shelf 1908 area. Items retrieved by a worker and / or picking robot from product totes accessed through one or more of the multiple access bays 314a-314b can be placed into a bag or other container(s) positioned at the shelf 1908 in consolidating items in fulfilling one or more orders. In some embodiments, the one or more bags and / or other containers can be placed into an order tote, which in some instances may be in one of the multiple access bays, shopping cart or other such device. In other embodiments, the access bays 314a-314b may be directly adjacent with minimal or no separation between two or more of the access bays.

[0079] In some embodiments, when consolidated orders (or partially consolidated orders) are to be stored on the order fulfillment system 100, one or more bags and / or other containers can be placed into one of the totes presented (e.g., presented within one of the access bays, presented at a separate station, placed into a shopping cart, etc.). In some embodiments, such as where an order is to be immediately dispensed or stored outside the order fulfillment system, the two or more access bays 314a-314b can both be used to present product totes thereby nearly doubling picking throughput by significantly reducing times when no product tote is available to pick from.

[0080] In some embodiments, the multi-access bay workstation 1906 is configured to enable product totes to be routed to the first access bay 314a while order totes are routed to the second access bay 314b. This allows products to be retrieved from the product tote (e.g., by a human worker, by an item picking robot, etc.) and consolidated into the order tote in collecting items into one or more order totes in fulfilling an order. In such an operation, product totes are typically moved through the first access bay 314a at a quicker pace than the order totes through the second access bay 314b because multiple totes often are accessed to acquire different items from different totes to fulfill an order. In some implementations, the retrieval of an item from a product tote, in some instances, may include removing a sub-tote from the product tote and placing the sub-tote into the order tote. In other instances, items may be retrieved from a product tote and placed into one of multiple sub-sections or sub-totes within the order tote. One or more user interface systems (e.g., user display 1302, touch screens, one or more user input interfaces (e.g., keyboard, mouse, touchpad, buttons, other such input interfaces, or a combination of two or more of such input interfaces), cameras, sensors, lighting systems and / or laser pointer systems, audio systems, other such user interface systems, or a combination of such systems) may be included in the multi-access bay workstation 1906, which can for example provide guidance to a worker in retrieving items from and / or inserting items into one or more of the totes accessible through the access bays 314a-314b, enable one or more users at the workstation to input information and / or active one or more actions, other such interactions, or a combination of two or more of such interactions.

[0081] FIG. 21 illustrates a simplified flow diagram of an exemplary process 2100 of obtaining items from a storage structure 104, in accordance with some embodiments. The process 2100 can be utilized, in some embodiments, in consolidating items to fulfill one or more orders at one or more retail facilities, such as but not limited to a fulfillment center, a micro-fulfillment center, a retail store, a distribution center, a parts facility of a manufacturing facility, and other suchfulfillment facilities. In step 2102, mobile robots 102 are routed within the storage structure 104 to retrieve and transport totes 302, which are each configured to carry one or more products, between multiple vertically spaced levels 108 of the storage structure, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles 204 extending through the storage structure 104 each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots 102 travel in retrieving totes 302 from and placing totes into different storage locations 202 at each of the multiple levels and positioned along both sides of each of the multiple aisles. In some embodiments, each storage location has a predefined width and depth that correspond to dimensions of the totes 302 and configured to store the totes delivered by the mobile robots 102 and retrieved by the mobile robots. The routing, in some embodiments, is transmitted by a central control circuit 110, which can be autonomously executed by the mobile robots (e.g., providing a location identifier corresponding to a three-dimensional location within the facility and the mobile robot using mapping to determine routing according to predefined routing rules).

[0082] In step 2104, a first set of mobile robots 102, of the mobile robots, can be routed to a dynamic workstation 106 via an entry vertical tower channel 304, within the storage structure 104, which is cooperated with the workstation 106. In some embodiments, the entry vertical tower channel 304 is positioned on a first side 306 of the workstation. In step 2106, each of the first set of mobile robots self-propels vertically along the entry vertical tower channel 304 to the workstation 106 and align with a first transit path 502 extending generally laterally through the workstation along which the mobile robots travel. The mobile robots, in propelling vertically along the entry vertical tower channel can descend the entry vertical tower channel and vertically align with the transit path, which in some embodiments is at a single first level of the vertical levels and extends through the workstation 106. Further, in some embodiments, the workstation 106 is embedded within the storage structure 104 occupying an area having a length equal to a predefined number of storage locations 202, with the first transit path enabling the mobile robots to enter the workstation at the first side 306 and exit the workstation at the second side 310.

[0083] In step 2108, the mobile robots 102 self-propel along the transit path of the workstation. In some embodiments, the mobile robots self-propel along the first transit path that is a horizontal path within the workstation extending from the entry vertical tower channel 304 and the exit vertical tower channel 308. Further, the mobile robots, in some embodiments, laterally traverse the first transit path along a single first level transporting a respective one of the totes 302 throughthe workstation 106 exposing the respective one of the totes at the access bay 314, continue self- propelling laterally along the first level to enter the exit vertical tower channel 308, and vertically ascending the exit vertical tower channel 308 away from the workstation 106.

[0084] In step 2110, the mobile robots align with an access bay 314 of the workstation positioned relative to the transit path, and at least one tote 302 transported by a first mobile robot 102, of the first set of mobile robots, is exposed through the access bay 314 while the tote 302 remains on the first mobile robot 102 without being removed from the first mobile robot as the tote is moved through the workstation 106. The mobile robots, in some embodiments, laterally selfpropel from an entry track 1420 onto an entry rotation deck 1406 comprising a planar surface positioned along the transit path, rotate while on the entry rotation deck and orient the respective tote 302 consistent with an orientation of the access bay 314. In some embodiments, multiple mobile robots 102 simultaneously self-propel along the first transit path to align with the access bay and simultaneously expose, through the access bay, at least two totes each transported by a respective mobile robot of the first set of mobile robots while each of the at least two totes remain on the respective mobile robot transporting the respective tote through the workstation. The simultaneous transporting can, in some embodiments, include mobile robots self-propelling along the access bay sequentially travelling along the first transit path providing a continuous flow of totes 302 through the access bay. The mobile robots 102, in some embodiments, advancing along the first transit path can contact an entry safety door 1003 positioned between the entry vertical tower channel 304, can continuing through the workstation 106 and can contact an exit safety door 1002 positioned between the access bay 314 and the exit vertical tower channel 308. The contacting of the entry and / or exit safety doors can include the mobile robots moving the entry and / or exit safety doors in opening the entry or exit safety doors.

[0085] In some embodiments, the robots in aligning the totes with the access bay engage and self-propel vertically through a workstation vertical channel 1414, aligning the respective tote 302 with the access bay 314 and vertically moving the respective totes into position aligned within the access bay. The access bay 314, in some embodiments, is at a second level higher than a level of the entry track 1420 and / or entry rotation deck 1406. As such, a mobile robot can descend the entry vertical tower channel 1422 to a first level vertically aligned with the entry rotation deck, move into the workstation and self-propel vertically through the workstation vertical channel 1414 to transition from the first level to the second level aligning the respective tote with the access bay at the second level that is vertically higher than the first level.

[0086] In step 2112, the first mobile robot 102 continues to self-propel along the first transit path 502 to exit the workstation 106 and self-propel vertically via an exit vertical tower channel 308 positioned on a second side 310 of the workstation 106 establishing the first transit path 502 generally laterally through the workstation 106 along which the set of mobile robots travel. In some embodiments, mobile robots, upon leaving the access, can self-propel along the transit path moving away from the access bay to an exit rotation deck 1407 positioned along the transit path adjacent the access bay. The mobile robots can rotate while on the exit rotation deck to orient the respective mobile robot with the exit vertical tower channel 1426. The exit rotation deck can, in some implementations, be positioned vertically above the entry rotation deck 1406.

[0087] FIG. 22 illustrates a simplified flow diagram of an exemplary process 2200 of moving mobile robots 102 along the lateral transit path through the workstation, in accordance with some embodiments. The mobile robots 102, in some embodiments, control movement based on received sensor signals from one or more sensor of one or more mobile robots and / or sensors external to the mobile robots (e.g., sensors of the workstation 106, sensors of the storage structure 104, etc.). In step 2202, movement is detected through one or more sensors of a preceding mobile robot, of the set of mobile robots routed to the workstation. In step 2204, sensor signals of the movement is provided to the robot control circuit. In step 2206, the robot control circuit can confirm that the preceding mobile robot has moved a threshold amount. In step 2208, the robot control circuit, in response to confirming the threshold movement, can control the movement of the mobile robot to mirror the movement of the preceding mobile robot while traveling through the workstation in maintaining the continuous flow of totes through the access bay 314.

[0088] FIG. 23 illustrates a simplified flow diagram of an exemplary processing 2300 of routing additional mobile robots 102 through one or more other transit paths through a workstation 106, in accordance with some embodiments. In step 2302, a set of one or more additional mobile robots (e.g., a second mobile robot), of the mobile robots, can be directed to a second transit path through the workstation 106. In some instances, a central control circuit 110 or other routing system can communicate routing instructions and / or a workstation identifier, and the routed second mobile robot can autonomously route to retrieve the relevant tote and move through the storage structure 104 to the second transit path of the intended workstation. The second transit path, in some embodiments, can be positioned vertically at a different level (e.g., below or above) than the first level of the first transit path. The second transit path can, in some implementations,extend from the entry vertical tower channel 304, through the workstation 106 and to the exit vertical tower channel 308. Further, in some embodiments, the second transit path is not accessible from the access bay 314. In step 2304, second mobile robot 102 self-propels through the storage structure 104 to access and vertically move along the entry vertical tower channel 304 to the second level and the second transit path. In step 2306, the second mobile robot selfpropels into the workstation 106 and aligns with a first access drawer 802, which in some embodiments is vertically aligned with the second transit path. Some embodiments include optional step 2308, where the second tote is removed from the second mobile robot and inserted into the access drawer (e.g., laterally pushed by the mobile robot similar to returning a tote to a storage location 202 of the storage structure). In other implementations, the second mobile robot may move itself into the first access drawer while the second tote is maintained on the second mobile robot. In step 2310, a workstation control circuit can activate the first access drawer 802, which is separate from the access bay 314, and exposes at least a second tote 302, of the totes, transported by the second mobile robot.

[0089] FIG. 24 illustrates a simplified flow diagram of an exemplary process 2400 of routing totes to workstations 106 within a storage structure 104, in accordance with some embodiments. In step 2402, mobile robots 102 within a storage structure are routed to transport totes 302 carrying at least one product between multiple vertically spaced levels 108, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles 204 extending through the storage structure 104. The aisles can comprise tracks extending along some or all of the length of each of the multiple aisles and along which the mobile robots 102 travel in retrieving totes from and placing totes into different storage locations 202 at each of the multiple levels and positioned along both sides of each of the multiple aisles. At least some of the storage locations 202 have a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots. In step 2404, a first mobile robot 102, of the mobile robots, is directed to self-propel to a dynamic workstation 106 within the storage structure and accessed from an entry vertical tower channel 304, of the multiple vertical towers channels, within the storage structure and positioned on a first side 306 of the workstation 106, and to self-propel along a lateral transit path extending laterally through the workstation 106.

[0090] In step 2406, a first mobile robots is directed to self-propel along the lateral transit path to align a first tote 302 transported by the first mobile robot with a first access bay 314a of the 1workstation 107 exposing the first tote transported by the first mobile robot while the first tote remains on the first mobile robot as the first tote is moved through the workstation. In step 2408, a second mobile robot 102, of the mobile robots, is directed to the workstation 106 and to selfpropel along the lateral transit path to align a second tote transported by the second mobile robot with a second access bay 314b of the workstation 106 exposing the second tote, transported by the second mobile robot while the second tote remains on the second mobile robot as the second tote is moved through the workstation, through the second access bay 314b while the first tote is exposed through the first access bay. In some embodiments, the first mobile robot laterally selfpropels from an entry track 1420 onto an entry rotation deck 1406 comprising a planar surface positioned along the transit path, rotating while on the entry rotation deck, and orient the first tote consistent with the orientation of the first access bay 314a. Similarly, the second robot can self-propel laterally from the entry track 1420 onto the entry rotation deck 1406, rotate while on the entry rotation deck and orient the second tote consistent with the orientation of the second access bay 314b.

[0091] Some embodiments include step 2410, where the first mobile robot transports the first tote away from the first access bay to an exit rotation deck 1407 positioned along the transit path adjacent the first access bay 314a and rotates while on the exit rotation deck to orient the first mobile robot with an exit track 1430 and / or an exit vertical tower channel 1426 of the multiple vertical tower channels. Similarly, in some embodiments, the second robot self-propels to transport the second tote away from the second access bay 314b to the exit rotation deck 1407 positioned along the transit path adjacent the second access bay 314b, and rotates while on the exit rotation deck to orient the second mobile robot with the exit track 1430 and / or the exit vertical tower channel 1426.

[0092] FIGS. 25-27 illustrate perspective, front-side views of another exemplary workstation 106m or mobile robot receiving system, in accordance with some embodiments. FIG. 28 illustrates a perspective, backside view of the exemplary workstation 106n cooperated with a deck 1407, in accordance with some embodiments. FIG. 29 illustrates a simplified, perspective front view of an exemplary multi-access bay workstation 106o in accordance with some embodiments. FIG. 30 illustrates a simplified, perspective backside view of an exemplary multi-access bay workstation 106p cooperated with a pair of decks 1406, 1407 in accordance with some embodiments. The workstations 106m-106p can be similar, in some embodiments, to one or more of the workstations 106, 1906 described above. It is generally contemplated that workstation 106m-106p can be used to retrieve items in fulfilling orders, incorporate items into a tote 302 and / or sub-tote, transfer items between totes 302, transfer sub-totes between totes, decanting, restocking, other such actions or a combination of two or more of such actions. Further, in some embodiments, the workstations 106m-106p may be used to isolate and / or remove a mobile robot 102 for one or more reasons (e.g., damaged, maintenance, confirm identifying information, other such reasons, or a combination of such reasons). It is also contemplated, however, that workstations 106m-106p may be configured to provide additional capabilities, such as acting as a picking, dispensing, and / or decanting workstation in which products and / or containers (such as totes, sub-totes, etc.) may be removed from or deposited with a mobile robot. This example one or more of the workstations 106m-106p may act as a sort of universal workstation with multiple potential uses. It is generally contemplated that workstations 106m-106p may utilize one or more components of the previously-described workstations, except to the extent inconsistent herewith.

[0093] In some embodiments, one or more of the workstations 106m-106p include one or more gates, doors, panels, other such structures or a combination of two or more of such structures. The gate(s) may be in the form of a pivotable / hinged cover portion (or clam shell structure). In some embodiments, the gate(s) may be pivotable about an axis / hinge 2512 between a first or open position (e.g., see FIG. 26, 27) and a second or closed position (e.g., see FIGS. 25 and 28). In some embodiments, the one or more gates may be pivotable about one or more pivot axes. In some forms, the gate(s) may be sprung, biased and / or counterbalanced to facilitate movement between the open and closed positions. It is also contemplated that the gate(s) may be latched or locked into position after pivoting to either the open or closed positions, such as manually or by a control circuit.

[0094] The workstations 106m-106p can in some embodiments include a first gate 2504 that is positioned at a robot exit 2518 of the workstations 106m-106p. This first gate 2504 may be accessible to a mobile robot 102 leaving the workstations to move along a pathway or deck (e.g., one or more of decks 1406, 1407). The first gate 2504, in some embodiments, can be movable between at least the closed position (e.g., see FIGS. 25 and 28) and the open position (e.g., see FIG. 26, 27) such that the mobile robot 102 can move out of (or into) the workstations via the robot exit 2518 when the gate 2504 is in the closed position (e.g., see FIG. 25), and the mobile robot 102 is blocked from moving out of (or into) the workstation via the robot exit 2518 when the first gate 2504 is in the open position (e.g. see FIG. 26).

[0095] One or more of the workstations 106m-106p, in some embodiments, may also include a second gate 2510 that is movable between a closed position (e.g., see FIGS. 25-26) and an open position (e.g., see FIG. 27). The second gate 2510 provide an access opening or exit 2511 of the workstation when in the open position. The second gate 2510 is movable between a closed position and an open position such that the mobile robot 102 can be moved into or out of the workstation via the access exit 2511 when in closed position, and the mobile robot 102 cannot be moved into or out of the workstation via the access exit 2511 when in the open position.

[0096] FIGS. 25-28 show exemplary workstations in three different states. FIGS. 25 and FIG. 28 show a first state in which the mobile robot 102 can move through the robot exit 2518 in leaving the workstation. In FIGS. 25 and 28, the first gate 2504 is in the first or closed position, and the second gate 2510 is in a closed position. In this orientation, a mobile robot 102 can exit the workstation 106 through the robot exit 2518. Further, in the first state with the first gate 2504 in the closed state, access into an access bay volume of the workstation is blocked such that a user, picking robot or the like cannot insert and remove items to and from the tote 302 when carried by the mobile robot 102 within the workstation. In some embodiments, in this first state, the first gate 2504 acts as a covering portion to block user access to the access bay. When the entry to the workstation is at a different level than the robot exit 2518 (e.g., at a lower level), some embodiments enable a robot to enter the workstation at the lower level while the first gate is in the closed or open position (and another robot does not occupy a lower level) enabling a queuing of one or more robots (e.g., in preparation for the exiting of the robot currently at the access bay).

[0097] FIG. 26 shows the exemplary workstation 106m in a second state. As can be seen, in this second state, the first gate 2504, which may be in the form of a first cover portion, has been pivoted about an axis 2512 to the open position to block the robot exit 2518 and to confine the mobile robot 102 within the workstation. This second state can also block other mobile robots 102 from entering the workstation 106m through the robot exit at least at the level of the first gate. Further in FIG. 26, the first gate 2504 is in the open position while the second gate 2510 is in the respective closed position. When the first gate 2504 is in this open position, user access to the volume of the workstation is provided such that the user can insert and remove items to and from a tote or other container carried by the mobile robot 102 within the workstation (or can insert and remove the containers themselves). In other words, the first gate 2504, which may include a first cover portion, is configured to selectively allow and block access to a tote carried by the mobile robot 102 when the mobile robot 102 is in the workstation.

[0098] With the second gate 2510 still in the closed position, it is contemplated that a wall / barrier 2514 may exist between the mobile robot 102 in the workstation and the user. As can be seen, in some embodiments, the wall / barrier 2514 may generally surround the mobile robot 102 on three sides (and the first gate 2504 blocks the entrance on the fourth side when in the open position). This barrier 2514, at least in part, provides safety and protection to the user in this second state. Additional mobile robot features may be utilized for ensuring user safety, such as, for example, requiring pinions to be extended and in engagement with certain structure of the workstation. In some embodiments, the workstation may act as a workstation in which items in containers (or totes), or the containers themselves, are transferred to or from the mobile robot 102 occupying the workstation. For example, a user can perform operations such as picking or dispensing eaches from a container or decanting items into the container or bagging the container therein.

[0099] FIG. 1 shows the exemplary workstation 106m in a third state. As can be seen, in this third state, the second gate 2510, which may be in the form of a second cover portion, has been pivoted about the rotational axis 2512 (or a different axis of rotation) allowing user access to an interior of the workstation and / or the mobile robot 102 (e.g., to remove the mobile robot 102 from the workstation, insert a robot into the workstation, perform maintenance on the workstation, perform maintenance on the robot, etc.). In some embodiments, the first gate 2504 and / or the second gate 2510 may be pivotable about the same axis 2512. Alternatively, in other embodiments, the first and second gates 2504, 2510 may be configured so as to be pivotable about different axes, not the same axis.

[0100] In FIG. 1 , the first gate 2504 is in the second position, while the second gate 2510 is now in the open position. When the second gate 2510 is in this open position, a user may be able in some embodiments to remove the mobile robot 102 and / or the tote via the front exit 2511. In other words, the second gate 2510, which may include a second cover portion, is configured to selectively reveal and block the front exit 2511 of the workstation. In some embodiments, it may be desirable to have the mobile robot 102 deactivated prior to allowing the workstation to be converted to this third state, i.e., prior to pivoting the second gate 2510 from the closed position to the open position. For example, one or more sensors, detectors, processors, control circuits, programmable logic controllers (PLC), other such components or a combination of two or more of such components of the robot and / or workstation may be used to detect and / or prevent pivoting of the second gate 2510 until the mobile robot 102 has been deactivated. Generally,some embodiments may provide one or more interlocked safety device(s) controlling access for the performance of certain actions, such as removal of the mobile robot 102. Further, it may also be desirable to provide approved technicians with the authority to remove the mobile robot 102. Alternatively, it should also be understood that a mobile robot 102 may be inducted (or introduced) into the workstation and the storage structure 104 via the front exit 2511 when the workstation 106 is in this third state.

[0101] In some embodiments, such as shown in FIGS. 25-30, the first and second gates 2504, 2510 may include first and second cover portions such that one is nested within the other (forming a double clam shell). In some nested forms, for example, the second gate 2510 cannot be moved unless the first gate 2504 has been pivoted from the closed position to the open position. Alternatively, in other embodiments, the first and second gates 2504, 2510 may be configured so that they can be moved independently of one another. Further, in some embodiments, it is contemplated that the gates 2504, 2510 may be moved manually and / or may involve the use of one or more sensors and / or one or more control circuits.

[0102] FIG. 28 shows an exemplary workstation 106n in the first state where the robot exit 2518 is open. The workstation 106n may include a bridge or arch 2505 defining the robot exit 2518. In some implementations, the arch 2505 may pivot as part of the first gate 2504 or about which the first gate 2504 pivots. FIG. 29 shows the multi-access bay workstation 106o with a first access bay workstation 106u that is in the first state with the first and second gates in the closed position, and a second access bay workstation 106v that is in the third state with first and second gates in the open state. FIG. 30 show an exemplary multi-access bay workstation 106p, with a first access bay workstation 106w that is in the first state next to another access bay workstation 106x that is in the second state with the first gate 2504 in the open position while the second gate 2510 is in the closed position. In some embodiments, the mobile robots enter the access bay workstations 106w-106x by traveling on the entry rotation deck 1406 and into the access bay workstation through a robot entry 3002 that is vertically aligned with the entry rotation deck 1406. When the access bay is vacant (e.g., a previous robot has exited), the robot can self-propel vertically from the entry level to align with the access bay. When the robot is no longer needed, the robot can exit through the robot exit 2518 when the first and second gates 2504, 2510 are in the closed positions, respectively. Additionally or alternatively, in some embodiments, the opening of the first gate can block both the robot exit 2518 and the robot entry 3002 (e.g., through a secondary lower sub-gate (not shown) that moves in cooperation with the first gate 2504).

[0103] In some embodiments, the workstations 106m-106p may be disposed at or near the edge of one or more decks (e.g., entry rotation deck 1406, and / or exit rotation deck 1407) (or transit area / plane). In some forms, a workstation may be positioned toward the end of a deck, or a deck may be further extended to accommodate a workstation. For example, an extended area 2517 may stretch next to and / or from one or more decks, and may be composed of one or more panels. Some embodiments include horizontal rails in the workstation for efficient transition in and out of the workstation via the decks 1406, 1407.

[0104] Further, 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. 31 illustrates an exemplary system 3100 that may be used for implementing any of the components, circuits, circuitry, systems, functionality, apparatuses, processes, or devices of an order fulfillment system, the control circuit 110, mobile robots 102, workstations 106, and / or other above or below mentioned systems or devices, or parts of such circuits, circuitry, functionality, systems, apparatuses, processes, or devices. However, the use of the system 3100 or any portion thereof is certainly not required.

[0105] By way of example, the system 3100 may comprise one or more control circuits or processor modules 3112, one or more memory 3114, and one or more communication links, paths, buses or the like 3118. Some embodiments may include one or more user interfaces 3116, and / or one or more internal and / or external power sources or supplies 3140. The control circuit 3112 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 3112 can be part of control circuitry and / or a control system 3110, which may be implemented through one or more processors with access to one or more memory 3114 that can store instructions, code and the like that is implemented by the control circuit and / or processors to implement intended functionality. 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 system3100 may be used to implement one or more of the above or below, or parts of, components, circuits, systems, processes and the like.

[0106] The user interface 3116 can allow a user to interact with the system 3100 and receive information through the system. In some instances, the user interface 3116 includes a display 3122 and / or one or more user inputs 3124, such as buttons, touch screen, track ball, keyboard, mouse, etc., which can be part of or wired or wirelessly coupled with the system 3100. Typically, the system 3100 further includes one or more communication interfaces, ports, transceivers 3120 and the like allowing the system 3100 to communicate over a communication bus, a distributed wired and / or computer and / or communication networks (e.g., a local area network (LAN), the Internet, wide area network (WAN), etc.), communication link 3118, 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 3120 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 3134 that allow one or more devices to couple with the system 3100. 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 3134 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.

[0107] In some embodiments, the system may include one or more sensors 3126 to provide information to the system and / or sensor information that is communicated to another component, such as the central control system, a delivery vehicle, etc. 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), radio frequency identification (RFID) tag reader sensors capable of reading RFID tags in proximity to the sensor, accelerometers, GPS, movement sensors, and / or other such sensors. The foregoing examples are intended to be illustrative and are not intended to conveyan 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.

[0108] The system 3100 comprises an example of a control and / or processor-based system with the control circuit 3112. Again, the control circuit 3112 can be implemented through one or more processors, controllers, central processing units, logic, software and the like. Further, in some implementations the control circuit 3112 may provide multiprocessor functionality.

[0109] The memory 3114, which can be accessed by the control circuit 3112, typically includes one or more processor-readable and / or computer-readable media accessed by at least the control circuit 3112, and can include volatile and / or nonvolatile media, such as RAM, ROM, EEPROM, flash memory and / or other memory technology. Further, the memory 3114 is shown as internal to the control system 3110; however, the memory 3114 can be internal, external or a combination of internal and external memory. Similarly, some or all of the memory 3114 can be internal, external or a combination of internal and external memory of the control circuit 3112. The external memory can be substantially any relevant memory such as, but not limited to, solid- state storage devices or drives, hard drive, 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 the computer network. The memory 3114 can store code, software, executables, scripts, data, content, lists, programming, programs, log or history data, user information, customer information, product information, and the like. While FIG. 31 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.

[0110] In some embodiments, an apparatus and a corresponding method performed by the apparatus, comprises: mobile robots configured to transport totes carrying products; a storage structure accessible by the mobile robots, wherein the storage structure comprises: multiple vertically spaced levels; multiple vertical tower channels establishing vertical paths between the multiple levels; multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel; storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots andretrieved by the mobile robots; and a dynamic workstation cooperated with an entry vertical tower channel within the storage structure and positioned on a first side of the workstation, and cooperated with an exit vertical tower channel positioned on a second side of the workstation establishing a lateral first transit path through the workstation along which the mobile robots travel; wherein the workstation comprises an access bay positioned relative to the first transit path and exposes at least one tote transported by a first mobile robot while the at least one tote remains on the first mobile robot without being removed from the first mobile robot as the at least one tote is moved through the workstation.

[0111] Some embodiments provide methods of order fulfillment, comprising: routing mobile robots within a storage structure to retrieve and transport totes carrying at least one product between multiple vertically spaced levels, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel in retrieving totes from and placing totes into different storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; and directing a first set of mobile robots, of the mobile robots, to a dynamic workstation via an entry vertical tower channel within the storage structure and cooperated with the workstation on a first side of the workstation; each of the first set of mobile robots: self-propelling vertically along the entry vertical tower channel to the workstation and align with a first transit path extending laterally through the workstation along which the mobile robots travel; self-propelling along the first transit path to align with an access bay of the workstation and positioned relative to the first transit path and exposing at least one tote transported by a first mobile robot, of the first set of mobile robots, while the at least one tote remains on the first mobile robot without being removed from the first mobile robot as the at least one tote is moved through the workstation; and self-propelling along the first transit path to exit the workstation and self-propelling vertically via an exit vertical tower channel positioned on a second side of the workstation establishing the first transit path through the workstation along which the first set of mobile robots travel.

[0112] Further, some embodiments provide an automated order fulfillment system, comprising: mobile robots configured to transport totes carrying products; a storage structure accessible bythe mobile robots, wherein the storage structure comprises: multiple vertically spaced levels; multiple vertical tower channels establishing vertical paths between the multiple levels; multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots can travel; storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; and a dynamic workstation cooperated with an entry vertical tower channel within the storage structure and positioned on a first side of the workstation, and cooperated with an exit vertical tower channel positioned on a second side of the workstation; wherein the workstation comprises a first access bay and a second access bay, wherein the first access bay is cooperated with the entry vertical tower channel and configured to expose a first tote transported by a first mobile robot while the first tote remains on the first mobile robot without being removed from the first mobile robot as the first tote is moved through the workstation, and the second access bay is cooperated with the entry vertical tower channel and configured to expose a second tote transported by a second mobile robot while the second tote remains on the second mobile robot without being removed from the second mobile robot as the second tote is moved through the workstation.

[0113] In some embodiments, methods of order fulfillment comprise: routing mobile robots within a storage structure to transport totes carrying at least one product between multiple vertically spaced levels, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel in retrieving totes from and placing totes into different storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; directing a first mobile robot, of the mobile robots, to self-propel to a dynamic workstation within the storage structure and accessed from an entry vertical tower channel, of the multiple vertical towers channels, within the storage structure and positioned on a first side of the workstation and self-propelling along a lateral transit path extending laterally through the workstation, comprising self-propelling along the lateral transit path to align a first totetransported by the first mobile robot with a first access bay of the workstation exposing the first tote transported by the first mobile robot while the first tote remains on the first mobile robot as the first tote is moved through the workstation; and directing a second mobile robot, of the mobile robots, to the workstation and to self-propel along the lateral transit path comprising self- propelling along the lateral transit path to align a second tote transported by the second mobile robot with a second access bay of the workstation exposing the second tote, transported by the second mobile robot while the second tote remains on the second mobile robot as the second tote is moved through the workstation, through the second access bay while the first tote is exposed through the first access bay.

[0114] This application incorporates by reference the entirety of each of the following U.S. patent publications: U.S. Publication No. 2014 / 0288696 published September 25, 2014, having U.S. Application Serial No. 14 / 213,187, filed on March 14, 2014, and entitled "Automated system for transporting payloads"; U.S. Patent Publication No. 2017 / 0313514 published November 2,2017, having U.S. Application Serial No. 15 / 591,956, filed on May 10, 2017, and entitled "Order fulfillment system"; U.S. Patent Publication No. 2019 / 0270591 published September s, 2019, having U.S. Application Serial No. 16 / 419,910, filed on May 22, 2019, and entitled "Order fulfillment system"; U.S. Patent Publication No. 2018 / 0134492 published May 17, 2018, having U.S. Application Serial No. 15 / 816,832, filed on November 17, 2017, and entitled "Automated- service retail system and method"; U.S. Patent Publication No. 2018 / 0194556 published July 12,2018, having U.S. Application Serial No. 15 / 867,373, filed on January 10, 2018, and entitled "Interchangeable automated mobile robots with a plurality of operating modes configuring a plurality of different robot task capabilities"; U.S. Patent Publication No. 2018 / 0150793 published May 31, 2018, having U.S. Application Serial No. 15 / 826,045, filed on November 29, 2017, and entitled "Automated retail supply chain and inventory management system"; U.S. Patent Publication No. 2018 / 0305123 published October 25, 2018, having U.S. Application Serial No. 15 / 956,346, filed on April 18, 2018, and entitled "Picking workstation with mobile robots & machine vision verification of each transfers performed by human operators"; U.S. Patent Publication No. 2018 / 0247257 published August 30, 2018, having U.S. Application Serial No. 15 / 903,993, filed on February 23, 2018, and entitled "Inventory management system and method"; U.S. Patent Publication No. 2018 / 0341908 published November 29, 2018, having U.S. Application Serial No. 15 / 987,736, filed on May 23, 2018, and entitled "Fully automated self- service store"; U.S. Patent Publication No. 2019 / 0047787 published February 14, 2019, havingU.S. Application Serial No. 16 / 058,065, filed on August 8, 2018, and entitled "Universal gripper for tote and sub-tote transport"; U.S. Patent Publication No. 2020 / 071076 published March 5, 2020, having U.S. Application Serial No. 16 / 554,512, filed on August 28, 2019, and entitled "Tote handling for chilled or frozen goods"; U.S. Patent Publication No. 2020 / 0156871 published May 21, 2020, having U.S. Application Serial No. 16 / 676,732, filed on November 7, 2019, and entitled "System having robotic workstation"; U.S. Patent Publication No. 2020 / 0223630 published July 16, 2020, having U.S. Application Serial No. 16 / 742,119, filed on January 14, 2020, and entitled "System having workstation with tote retention and release mechanism"; U.S. Patent Publication No. 2021 / 0300664 published September 30, 2021, having U.S. Application Serial No. 16 / 831,468, filed on March 26, 2020, and entitled "Tote handling for chilled or frozen goods"; U.S. Provisional Application Serial No. 63 / 013,504, filed on April 21, 2020, and entitled "T ransport Rack Cartridge"; U.S. Provisional Application Serial No. 63 / 067,759, filed on August 19, 202, and entitled "High Density Micro Fulfillment Center "HD-MFC" with Nightly G2P Storage Batch Pick Replenishment from Store Floor and Method of Operating Same"; U.S. Provisional Application No. 63 / 127,762, filed on December 18, 2020, entitled, "Micro-Fulfillment Center with Automated Dispense and Return Using Mobile Robots and Method of Operating Same"; and U.S. Provisional Application No. 63 / 544,763, filed October 18, 2023, entitled "Automated Item Retrieval and Consolidation Systems and Methods."

[0115] 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.

Claims

Claims1. An automated order fulfillment system, comprising: mobile robots configured to transport totes carrying products; a storage structure accessible by the mobile robots, wherein the storage structure comprises: multiple vertically spaced levels; multiple vertical tower channels establishing vertical paths between the multiple levels; multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel; storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; and a dynamic workstation cooperated with an entry vertical tower channel within the storage structure and positioned on a first side of the workstation, and cooperated with an exit vertical tower channel positioned on a second side of the workstation establishing a lateral first transit path through the workstation along which the mobile robots travel; wherein the workstation comprises an access bay positioned relative to the first transit path and exposes at least one tote transported by a first mobile robot while the at least one tote remains on the first mobile robot without being removed from the first mobile robot as the at least one tote is moved through the workstation.

2. The system of claim 1, wherein the first transit path comprises a horizontal path within the workstation extending from the entry vertical tower channel and the exit vertical tower channel.

3. The system of claim 1, wherein the access bay is sized to simultaneously expose at least two totes while each of the at least two totes remained on a respective mobile robot, of the mobile robots, transporting the respective tote through the workstation.

4. The system of claim 3, wherein a plurality of mobile robots, of the mobile robots, are configured to sequentially route to the workstation and sequentially travel along the first transit path providing a continuous flow of totes, being transported by the plurality of mobile robots, through the access bay.

5. The system of claim 4, wherein each of the plurality of mobile robots comprise a sensor and a robot control circuit coupled with the sensor, wherein robot control circuit receives sensor signals from the sensor to detect movement of a preceding mobile robot, of the plurality of mobile robots, along the first transit path and controls movement of the respective mobile robot to mirror the movement of the preceding mobile robot while traveling through the access bay in maintaining the continuous flow of totes through the access bay.

6. The system of claim 1, wherein the first transit path is at a single first level of the multiple levels, wherein each of the mobile robots vertically descends the entry vertical tower channel to the single first level aligned with the first transit path, laterally traverses the first transit path along the single first level transporting a respective one of the totes through the workstation exposing the respective one of the totes at the access bay, continuing laterally to enter the exit vertical tower channel and vertically ascending the exit vertical tower channel away from the workstation.

7. The system of claim 6, further comprising: a second transit path through the workstation positioned vertically at a second level below the first level and extending from the entry vertical tower channel, through the workstation and to the exit vertical tower channel, wherein the second transit path is not accessible from the access bay; and at least a first access drawer separate from the access bay, wherein the first access drawer is positioned adjacent to and accessed by at least one additional mobile robot, of the mobile robots, from the second transit path and is configured to expose at least one additional tote, of the totes, transported by the at least one additional mobile robot.

8. The system of claim 1, wherein the workstation further comprises: a first safety door positioned between the entry vertical tower channel; and a second safety door positioned between the access bay and the exit vertical tower channel.

9. The system of claim 8, wherein the first safety door is positioned along the first transit path to be contacted by and opened by each of the mobile robots transporting the respective one of the totes toward the access bay, and the second safety door is positioned along the first transit path to be contacted by and opened by each of the mobile robots transporting the respective one of the totes away from the access bay.

10. The system of claim 1, further comprising: an entry track extending from the entry vertical tower channel; and wherein the workstation further comprises an entry rotation deck coupled with the entry track as part of the first transit path, wherein the entry rotation deck comprises a planar surface upon which the mobile robots rotate to orient the respective tote consistent with an orientation of the access bay.

11. The system of claim 10, wherein the workstation comprises: a first workstation vertical channel forming part of the first transit path, wherein the first workstation vertical channel vertically aligns with the access bay and is configured to enable the mobile robots to self-propel vertically and move the respective totes into position aligned within the access bay.

12. The system of claim 11, wherein the entry rotation deck is at a first level of the multiple levels, wherein each of the mobile robots vertically descends the entry vertical tower channel to the first level vertically aligned with the entry rotation deck; and the access bay is positioned at a second level, of the vertical levels, that is vertically higher than the first level, wherein the mobile robots self-propel in moving vertically through the first workstation vertical channel to transition from the first level to the second level aligning the respective tote with the access bay.

13. The system of claim 10, wherein the workstation further comprises: an exit rotation deck positioned along the first transit path adjacent to the access bay and cooperated with exit vertical tower channel and upon which the mobile robots rotate to orient the respective mobile robot with the exit vertical tower channel.

14. The system of claim 13, wherein the exit rotation deck is at the second level, of the multiple levels, and vertically above the entry rotation deck.

15. The system of claim 1, wherein the workstation is embedded within the storage structure occupying an area having a length equal to a predefined number of storage locations, and wherein the first transit path enables the mobile robots to enter the workstation at the first side and exit the workstation at the second side.

16. The system of claim 1, wherein the workstation further comprises a first gate movable between a first position and a second position, wherein the first mobile robot can move out of the workstation via a robot exit when the first gate is in the first position, wherein the first mobile robot is blocked from moving out of the workstation via the robot exit when the first portion is in the second position.

17. The system of claim 16, wherein the workstation further comprises a second gate movable between a third position and a fourth position, wherein the first mobile robot can be moved into or out of the workstation via an access exit when in the third position, and wherein the first mobile robot cannot be removed out of the workstation via the access exit when in the fourth position.

18. A method of order fulfillment, comprising: routing mobile robots within a storage structure to retrieve and transport totes carrying at least one product between multiple vertically spaced levels, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel in retrieving totes from and placing totes into different storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; and directing a first set of mobile robots, of the mobile robots, to a dynamic workstation via an entry vertical tower channel within the storage structure and cooperated with the workstation on a first side of the workstation; each of the first set of mobile robots: self-propelling vertically along the entry vertical tower channel to the workstation and align with a first transit path extending laterally through the workstation along which the mobile robots travel; self-propelling along the first transit path to align with an access bay of the workstation and positioned relative to the first transit path and exposing at least one tote transported by a first mobile robot, of the first set of mobile robots, while the at least one tote remains on the first mobile robotwithout being removed from the first mobile robot as the at least one tote is moved through the workstation; and self-propelling along the first transit path to exit the workstation and self-propelling vertically via an exit vertical tower channel positioned on a second side of the workstation establishing the first transit path through the workstation along which the first set of mobile robots travel.

19. The method of claim 18, wherein the self-propelling along the first transit path comprises self- propelling the first transit path that is a horizontal path within the workstation extending from the entry vertical tower channel and the exit vertical tower channel.

20. The method of claim 18, wherein the self-propelling along the first transit path to align with the access bay comprises self-propelling along the access bay simultaneously exposing at least two totes each transported by a respective mobile robot of the first set of mobile robots while each of the at least two totes remain on the respective mobile robot transporting the respective tote through the workstation.

21. The method of claim 20, wherein the self-propelling along the access bay comprises the first set of the mobile robots sequentially travelling along the first transit path providing a continuous flow of totes through the access bay.

22. The method of claim 21, further comprising: receiving sensor signals from a sensor of a first mobile robot of the set of mobile robots; detecting movement of a preceding mobile robot, of the set of mobile robots, along the first transit path; and controlling movement of the first mobile robot to mirror the movement of the preceding mobile robot while traveling through the access bay in maintaining the continuous flow of totes through the access bay.

23. The method of claim 18, wherein the self-propelling vertically along the entry vertical tower channel comprises descending the entry vertical tower channel and vertically aligning with the first transit path that is at a single first level of the multiple levels extending through the workstation;wherein the self-propelling along the first transit path comprises laterally traversing the first transit path along the single first level transporting a respective one of the totes through the workstation exposing the respective one of the totes at the access bay; wherein the self-propelling along the first transit path to exit the workstation comprises self- propelling laterally along the first level to enter the exit vertical tower channel; and vertically ascending the exit vertical tower channel away from the workstation.

24. The method of claim 23, further comprising: directing a second mobile robot, of the mobile robots, to a second transit path through the workstation, wherein the second transit path is positioned vertically at a second level below the first level and extending from the entry vertical tower channel, through the workstation and to the exit vertical tower channel, wherein the second transit path is not accessible from the access bay; and activating a first access drawer of the workstation that is separate from the access bay and vertically aligned with the second transit path exposing at least a second tote, of the totes, transported by the second mobile robot.

25. The method of claim 18, wherein the self-propelling along the first transit path to align with the access bay comprises each of the first set of mobile robots advancing and contacting a first safety door positioned between the entry vertical tower channel, continuing through the workstation and contacting a second safety door positioned between the access bay and the exit vertical tower channel.

26. The method of claim 18, wherein the self-propelling along the first transit path to align with the access bay comprises contacting and moving by each of the first set of mobile robots a first safety door positioned along the first transit path in opening first safety door in accessing the access bay; and the self-propelling along the first transit path to exit the workstation comprises contacting and moving by each of the first set of mobile robots a second safety door positioned along the first transit path and opening the second safety door in moving away from the access bay.

27. The method of claim 18, wherein the self-propelling along the first transit path comprises laterally propelling from an entry track onto an entry rotation deck comprising a planar surface positioned along the first transit path, rotating while on the entry rotation deck and orienting the respective tote consistent with an orientation of the access bay.

28. The method of claim 27 , wherein the self-propelling along the first transit path comprises engaging and self-propelling vertically through a workstation vertical channel, aligning the respective tote with the access bay and vertically moving the respective totes into position aligned within the access bay.

29. The method of claim 28, wherein the self-propelling vertically along the entry vertical tower channel comprises vertically descending the entry vertical tower channel to a first level vertically aligned with the entry rotation deck; and the self-propelling vertically through the workstation vertical channel comprises vertically ascending to the access bay at a second level, of the vertical levels, that is vertically higher than the first level transition from the first level to the second level aligning the respective tote with the access bay.

30. The method of claim 27, wherein the self-propelling along the first transit path comprises moving away from the access bay to an exit rotation deck positioned along the first transit path adjacent the access bay and rotating while on the exit rotation deck to orient the respective mobile robot with the exit vertical tower channel.

31. The method of claim 30, wherein the exit rotation deck is at the second level, of the vertical levels, and vertically above the entry rotation deck.

32. The method of claim 18, wherein the workstation is embedded within the storage structure occupying an area having a length equal to a predefined number of storage locations, and wherein the first transit path enables the first set of mobile robots to enter the workstation at the first side and exit the workstation at the second side.

33. An automated order fulfillment system, comprising: mobile robots configured to transport totes carrying products; a storage structure accessible by the mobile robots, wherein the storage structure comprises: multiple vertically spaced levels; multiple vertical tower channels establishing vertical paths between the multiple levels; multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots can travel;storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots; and a dynamic workstation cooperated with an entry vertical tower channel within the storage structure and positioned on a first side of the workstation, and cooperated with an exit vertical tower channel positioned on a second side of the workstation; wherein the workstation comprises a first access bay and a second access bay, wherein the first access bay is cooperated with the entry vertical tower channel and configured to expose a first tote transported by a first mobile robot while the first tote remains on the first mobile robot without being removed from the first mobile robot as the first tote is moved through the workstation, and the second access bay is cooperated with the entry vertical tower channel and configured to expose a second tote transported by a second mobile robot while the second tote remains on the second mobile robot without being removed from the second mobile robot as the second tote is moved through the workstation.

34. The system of claim 33, wherein the first access bay is positioned proximate the second access bay with the first tote accessible through the first access bay simultaneously while the second tote is accessible through the second access bay.

35. The system of claim 34, wherein the first tote comprises a product tote carrying an item to be retrieved through the first access bay, and the second tote comprises an order tote that is configured to receive the item retrieved from the product tote in consolidating items in fulfilling an order.

36. The system of claim 34, further comprising: an entry track extending from the entry vertical tower channel; wherein the workstation further comprises an entry rotation deck coupled with the entry track, wherein the entry rotation deck comprises a planar surface upon which the mobile robots rotate to orient the respective tote consistent with an orientation of one of the first access bay and the second access bay.

37. The system of claim 36, wherein the workstation comprises:a first workstation vertical channel cooperated with the entry rotation deck and aligned with the first access bay and configured to enable the first mobile robot to self-propel vertically and move the first tote into position aligned within the first access bay. a second workstation vertical channel cooperated with the entry rotation deck and aligned with the second access bay and configured to enable the second mobile robot to self-propel vertically and move the second tote into position aligned within the second access bay.

38. The system of claim 37, wherein the entry rotation deck is at a first level of the vertical levels, wherein each of the mobile robots vertically descends the entry vertical tower channel to the first level vertically aligned with the entry rotation deck; and the first access bay and the second access bay are positioned at a second level, of the vertical levels, that is vertically higher than the first level, wherein the first mobile robot self-propel in moving vertically through the first workstation vertical channel to transition from the first level to the second level aligning the first tote with the first access bay and the second mobile robot self-propel in moving vertically through the second workstation vertical channel to transition from the first level to the second level aligning the second tote with the second access bay.

39. The system of claim 36, wherein the workstation further comprises: an exit rotation deck positioned adjacent to the first access bay and the second access bay, and the exit rotation deck is cooperated with the exit vertical tower channel and upon which the mobile robots rotate to orient the respective mobile robot with the exit vertical tower channel.

40. A method of order fulfillment, comprising: routing mobile robots within a storage structure to transport totes carrying at least one product between multiple vertically spaced levels, via multiple vertical tower channels establishing vertical paths between the multiple levels, and along multiple aisles extending through the storage structure each comprising tracks extending along a length of each of the multiple aisles and along which the mobile robots travel in retrieving totes from and placing totes into different storage locations at each of the multiple levels and positioned along both sides of each of the multiple aisles, wherein each storage location has a predefined width and depth that correspond to dimensions of the totes and configured to store the totes delivered by the mobile robots and retrieved by the mobile robots;directing a first mobile robot, of the mobile robots, to self-propel to a dynamic workstation within the storage structure and accessed from an entry vertical tower channel, of the multiple vertical towers channels, within the storage structure and positioned on a first side of the workstation and self-propelling along a lateral transit path extending laterally through the workstation, comprising self-propelling along the lateral transit path to align a first tote transported by the first mobile robot with a first access bay of the workstation exposing the first tote transported by the first mobile robot while the first tote remains on the first mobile robot as the first tote is moved through the workstation; and directing a second mobile robot, of the mobile robots, to the workstation and to self-propel along the lateral transit path comprising self-propelling along the lateral transit path to align a second tote transported by the second mobile robot with a second access bay of the workstation exposing the second tote, transported by the second mobile robot while the second tote remains on the second mobile robot as the second tote is moved through the workstation, through the second access bay while the first tote is exposed through the first access bay.

41. The method of claim 40, wherein the self-propelling the first mobile robot along the lateral transit path comprises laterally propelling from an entry track onto an entry rotation deck comprising a planar surface positioned along the lateral transit path, rotating while on the entry rotation deck and orienting the first tote consistent with the orientation of the first access bay; and wherein the self-propelling the second robot along the lateral transit path comprises laterally propelling from the entry track onto the entry rotation deck, rotating while on the entry rotation deck and orienting the second tote consistent with the orientation of the second access bay.

42. The method of claim 41, wherein the self-propelling the first mobile robot along the lateral transit path comprises transporting the first tote away from the first access bay to an exit rotation deck positioned along the lateral transit path adjacent the first access bay and rotating while on the exit rotation deck to orient the first mobile robot with an exit vertical tower channel of the multiple vertical tower channels; and wherein the self-propelling the second robot along the lateral transit path comprises transporting the second tote away from the second access bay to the exit rotation deck positioned along the lateral transit path adjacent the second access bay and rotating while on the exit rotation deck to orient the second mobile robot with the exit vertical tower channel.